initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Physics/Constraints/TwoBodyConstraint.h

@@ -0,0 +1,65 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Constraints/Constraint.h>
+#include <Jolt/Physics/Body/Body.h>
+
+JPH_NAMESPACE_BEGIN
+
+class TwoBodyConstraint;
+
+/// Base class for settings for all constraints that involve 2 bodies
+class JPH_EXPORT TwoBodyConstraintSettings : public ConstraintSettings
+{
+	JPH_DECLARE_SERIALIZABLE_ABSTRACT(JPH_EXPORT, TwoBodyConstraintSettings)
+
+public:
+	/// Create an instance of this constraint
+	/// You can use Body::sFixedToWorld for inBody1 if you want to attach inBody2 to the world
+	virtual TwoBodyConstraint *	Create(Body &inBody1, Body &inBody2) const = 0;
+};
+
+/// Base class for all constraints that involve 2 bodies. Body1 is usually considered the parent, Body2 the child.
+class JPH_EXPORT TwoBodyConstraint : public Constraint
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+								TwoBodyConstraint(Body &inBody1, Body &inBody2, const TwoBodyConstraintSettings &inSettings) : Constraint(inSettings), mBody1(&inBody1), mBody2(&inBody2) { }
+
+	/// Get the type of a constraint
+	virtual EConstraintType		GetType() const override				{ return EConstraintType::TwoBodyConstraint; }
+
+	/// Solver interface
+	virtual bool				IsActive() const override				{ return Constraint::IsActive() && (mBody1->IsActive() || mBody2->IsActive()) && (mBody2->IsDynamic() || mBody1->IsDynamic()); }
+#ifdef JPH_DEBUG_RENDERER
+	virtual void				DrawConstraintReferenceFrame(DebugRenderer *inRenderer) const override;
+#endif // JPH_DEBUG_RENDERER
+
+	/// Access to the connected bodies
+	Body *						GetBody1() const						{ return mBody1; }
+	Body *						GetBody2() const						{ return mBody2; }
+
+	/// Calculates the transform that transforms from constraint space to body 1 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc.
+	virtual Mat44				GetConstraintToBody1Matrix() const = 0;
+
+	/// Calculates the transform that transforms from constraint space to body 2 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc.
+	virtual Mat44				GetConstraintToBody2Matrix() const = 0;
+
+	/// Link bodies that are connected by this constraint in the island builder
+	virtual void				BuildIslands(uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager) override;
+
+	/// Link bodies that are connected by this constraint in the same split. Returns the split index.
+	virtual uint				BuildIslandSplits(LargeIslandSplitter &ioSplitter) const override;
+
+protected:
+	/// The two bodies involved
+	Body *						mBody1;
+	Body *						mBody2;
+};
+
+JPH_NAMESPACE_END