godot/modules/jolt_physics/joints/jolt_hinge_joint_3d.h

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/*  jolt_hinge_joint_3d.h                                                 */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#ifndef JOLT_HINGE_JOINT_3D_H
#define JOLT_HINGE_JOINT_3D_H

#include "../jolt_physics_server_3d.h"
#include "jolt_joint_3d.h"

#include "Jolt/Jolt.h"

#include "Jolt/Physics/Constraints/SliderConstraint.h"

class JoltHingeJoint3D final : public JoltJoint3D {
	typedef PhysicsServer3D::HingeJointParam Parameter;
	typedef JoltPhysicsServer3D::HingeJointParamJolt JoltParameter;
	typedef PhysicsServer3D::HingeJointFlag Flag;
	typedef JoltPhysicsServer3D::HingeJointFlagJolt JoltFlag;

	double limit_lower = 0.0;
	double limit_upper = 0.0;

	double limit_spring_frequency = 0.0;
	double limit_spring_damping = 0.0;

	double motor_target_speed = 0.0f;
	double motor_max_torque = FLT_MAX;

	bool limits_enabled = false;
	bool limit_spring_enabled = false;

	bool motor_enabled = false;

	JPH::Constraint *_build_hinge(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b, float p_limit) const;
	JPH::Constraint *_build_fixed(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b) const;

	bool _is_sprung() const { return limit_spring_enabled && limit_spring_frequency > 0.0; }
	bool _is_fixed() const { return limits_enabled && limit_lower == limit_upper && !_is_sprung(); }

	void _update_motor_state();
	void _update_motor_velocity();
	void _update_motor_limit();

	void _limits_changed();
	void _limit_spring_changed();
	void _motor_state_changed();
	void _motor_speed_changed();
	void _motor_limit_changed();

public:
	JoltHingeJoint3D(const JoltJoint3D &p_old_joint, JoltBody3D *p_body_a, JoltBody3D *p_body_b, const Transform3D &p_local_ref_a, const Transform3D &p_local_ref_b);

	virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_HINGE; }

	double get_param(Parameter p_param) const;
	void set_param(Parameter p_param, double p_value);

	double get_jolt_param(JoltParameter p_param) const;
	void set_jolt_param(JoltParameter p_param, double p_value);

	bool get_flag(Flag p_flag) const;
	void set_flag(Flag p_flag, bool p_enabled);

	bool get_jolt_flag(JoltFlag p_flag) const;
	void set_jolt_flag(JoltFlag p_flag, bool p_enabled);

	float get_applied_force() const;
	float get_applied_torque() const;

	virtual void rebuild() override;
};

#endif // JOLT_HINGE_JOINT_3D_H