Show joint.h syntax highlighted
/***************************************************************************
joint.h - Joint Abstraction
-------------------
begin : Wed Feb 14 2007
copyright : (C) 2007 by Arcadia Design srl
***************************************************************************
The contents of this file are subject to the Mozilla Public License Version
1.1 (the "License"); you may not use this file except in compliance with
the License. You may obtain a copy of the License at
http://www.mozilla.org/MPL/
Software distributed under the License is distributed on an "AS IS" basis,
WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
for the specific language governing rights and limitations under the
License.
The Initial Developer of the Original Code is Mattias Jansson.
Portions created by Mattias Jansson are Copyright (C) 2004
Reality Rift Studios. All Rights Reserved.
***************************************************************************/
#ifndef __NEJOINT_H
#define __NEJOINT_H
#include "rigidbody.h"
#include "nemath.h"
/**
* \file joint.h
* Joint constraint between two rigid bodies
*/
namespace NeoEngine
{
/**
* \brief Joint Physics simulation class
* Abstraction of joint between two rigid bodies
* \author Giancarlo Cherchi
*/
class NEOENGINE_API Joint
{
protected:
RigidBody * m_pkChildBody;
RigidBody * m_pkParentBody;
PhysicWorld * m_pkWorld;
/**
*/
Joint() : m_pkWorld( 0 ), m_pkChildBody( 0 ), m_pkParentBody( 0 ) { }
public:
/**
*/
virtual ~Joint()
{
}
/**
*/
virtual void Destroy() = 0;
/**
*/
virtual void AttachToWorld( PhysicWorld * pkWorld )
{
// Detach???
m_pkWorld = pkWorld;
}
/**
*/
virtual void Attach( RigidBody * pkParent, RigidBody * pkChild )
{
m_pkParentBody = pkParent;
m_pkChildBody = pkChild;
}
/**
* \param fStiffness
*/
virtual void SetStiffness( float fStiffness ) = 0;
/**
* \return
*/
virtual float GetStiffness() = 0;
};
/**
* \brief Ball and socket joint simulation class
* \author Giancarlo Cherchi
*/
class NEOENGINE_API BallAndSocketJoint : public virtual Joint
{
protected:
/*! Origin of the ball and socket in global space */
Vector3d m_kPivot;
public:
/**
* \param rkPivot Origin of the ball and socket in global space
*/
BallAndSocketJoint( const Vector3d & rkPivot ) : m_kPivot( rkPivot ) { }
/**
* \param pkChild The pointer to the attached rigid body. It cannot be NULL or cannot have an infinity (zero) mass
* \param pkParent Pointer to the parent rigid body. This can be NULL or any kind of rigid body
*/
//virtual void Attach( RigidBody * pkParent, RigidBody * pkChild ) = 0;
/**
* \param rkPin Unit vector defining the cone axis in global space
* \param fMaxConeAngle Max angle in radians the attached body is allow to swing relative to the pin axis, a value of zero will disable this limits
* \param fMaxTwistAngle Max angle in radians the attached body is allow to twist relative to the pin axis, a value of zero will disable this limits
*/
virtual void SetConeLimits( const Vector3d & rkPin, float fMaxConeAngle, float fMaxTwistAngle ) = 0;
};
/**
* \brief Hinge joint simulation class
* \author Giancarlo Cherchi
*/
class NEOENGINE_API HingeJoint : public virtual Joint
{
protected:
/*! Origin of the hinge in global space */
Vector3d m_kPivot;
/*! Line of action of the hinge in global space */
Vector3d m_kPin;
public:
/**
* \param rkPivot Origin of the hinge in global space
* \param rkPin Line of action of the hinge in global space
*/
HingeJoint( const Vector3d & rkPivot, const Vector3d & rkPin ) : m_kPivot( rkPivot ), m_kPin( rkPin ) { }
};
/**
* \brief Slider joint simulation class
* \author Giancarlo Cherchi
*/
class NEOENGINE_API SliderJoint : public virtual Joint
{
protected:
/*! Origin of the hinge in global space */
Vector3d m_kPivot;
/*! Line of action of the hinge in global space */
Vector3d m_kPin;
public:
/**
* \param rkPivot Origin of the slider in global space
* \param rkPin Line of action of the slider in global space
*/
SliderJoint( const Vector3d & rkPivot, const Vector3d & rkPin ) : m_kPivot( rkPivot ), m_kPin( rkPin ) { }
};
/**
* \brief Slider joint simulation class
* \author Giancarlo Cherchi
*/
class NEOENGINE_API CorkscrewJoint : public virtual Joint
{
protected:
/*! Origin of the hinge in global space */
Vector3d m_kPivot;
/*! Line of action of the hinge in global space */
Vector3d m_kPin;
public:
/**
* \param rkPivot Origin of the corkscrew in global space
* \param rkPin Line of action of the corkscrew in global space
* \param pkChild The pointer to the attached rigid body. It cannot be NULL or cannot have an infinity (zero) mass
* \param pkParent Pointer to the parent rigid body. This can be NULL or any kind of rigid body
*/
CorkscrewJoint( const Vector3d & rkPivot, const Vector3d & rkPin ) : m_kPivot( rkPivot ), m_kPin( rkPin ) { }
};
}; // end namespace neoengine
#endif
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