hingeconstraint.cpp

// © Copyright 2010 - 2014 BlackTopp Studios Inc.
/* This file is part of The Mezzanine Engine.

    The Mezzanine Engine is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
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    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with The Mezzanine Engine.  If not, see <http://www.gnu.org/licenses/>.
*/
/* The original authors have included a copy of the license specified above in the
   'Docs' folder. See 'gpl.txt'
*/
/* We welcome the use of the Mezzanine engine to anyone, including companies who wish to
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   However there are some practical restrictions, so if your project involves
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   Joseph Toppi - toppij@gmail.com
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*/
#ifndef _physicshingeconstraint_cpp
#define _physicshingeconstraint_cpp

#include "Physics/hingeconstraint.h"
#include "Physics/rigidproxy.h"

#include "stringtool.h"
#include "serialization.h"

#include <btBulletDynamicsCommon.h>

namespace Mezzanine
{
    namespace Physics
    {
        ////////////////////////////////////////////////////////////////////////////////
        // Hinge Constraint Functions

        btTypedConstraint* HingeConstraint::GetConstraintBase() const
            { return this->Hinge; }

        ////////////////////////////////////////////////////////////////////////////////
        // HingeConstraint Construction and Destruction

        HingeConstraint::HingeConstraint(RigidProxy* ProxyA, RigidProxy* ProxyB, const Vector3& PivotInA, const Vector3& PivotInB, const Vector3& AxisInA, const Vector3& AxisInB, bool UseReferenceFrameA)
        {
            this->SetBodies(ProxyA,ProxyB);

            btVector3 tempA(AxisInA.GetBulletVector3());
            btVector3 tempB(AxisInB.GetBulletVector3());
            this->Hinge = new btHingeConstraint(*(ProxA->_GetPhysicsObject()), *(ProxB->_GetPhysicsObject()), PivotInA.GetBulletVector3(), PivotInB.GetBulletVector3(), tempA, tempB, bool(UseReferenceFrameA));
        }

        HingeConstraint::HingeConstraint(RigidProxy* ProxyA, const Vector3& PivotInA, const Vector3& AxisInA, bool UseReferenceFrameA)
        {
            this->SetBodies(ProxyA);

            btVector3 tempA(AxisInA.GetBulletVector3());
            this->Hinge = new btHingeConstraint(*(ProxA->_GetPhysicsObject()), PivotInA.GetBulletVector3(), tempA, bool(UseReferenceFrameA));
        }

        HingeConstraint::HingeConstraint(RigidProxy* ProxyA, RigidProxy* ProxyB, const Vector3& VectorA, const Vector3& VectorB, const Quaternion& QuaternionA, const Quaternion& QuaternionB, bool UseReferenceFrameA)
        {
            this->SetBodies(ProxyA,ProxyB);

            btTransform transa(QuaternionA.GetBulletQuaternion(), VectorA.GetBulletVector3());
            btTransform transb(QuaternionB.GetBulletQuaternion(), VectorB.GetBulletVector3());
            this->Hinge = new btHingeConstraint(*(ProxA->_GetPhysicsObject()), *(ProxB->_GetPhysicsObject()), transa, transb, UseReferenceFrameA);
        }

        HingeConstraint::HingeConstraint(RigidProxy* ProxyA, RigidProxy* ProxyB, const Transform& TransformA, const Transform& TransformB, bool UseReferenceFrameA)
        {
            this->SetBodies(ProxyA,ProxyB);
            this->Hinge = new btHingeConstraint(*(ProxA->_GetPhysicsObject()), *(ProxB->_GetPhysicsObject()), TransformA.GetBulletTransform(), TransformB.GetBulletTransform(), UseReferenceFrameA);
        }


        HingeConstraint::~HingeConstraint()
        {
            if(this->Hinge)
                delete this->Hinge;
        }

        ////////////////////////////////////////////////////////////////////////////////
        // HingeConstraint Position and Orientation

        void HingeConstraint::SetPivotALocation(const Vector3& Location)
            { this->Hinge->getAFrame().setOrigin(Location.GetBulletVector3()); }

        void HingeConstraint::SetPivotBLocation(const Vector3& Location)
            { this->Hinge->getBFrame().setOrigin(Location.GetBulletVector3()); }

        Vector3 HingeConstraint::GetPivotALocation() const
            { return Vector3(this->Hinge->getAFrame().getOrigin()); }

        Vector3 HingeConstraint::GetPivotBLocation() const
            { return Vector3(this->Hinge->getBFrame().getOrigin()); }

        void HingeConstraint::SetAPivotRotation(const Quaternion& Rotation)
            { this->Hinge->getBFrame().setRotation(Rotation.GetBulletQuaternion()); }

        void HingeConstraint::SetBPivotRotation(const Quaternion& Rotation)
            { this->Hinge->getBFrame().setRotation(Rotation.GetBulletQuaternion()); }

        Quaternion HingeConstraint::GetAPivotRotation() const
            { return Quaternion(this->Hinge->getAFrame().getRotation()); }

        Quaternion HingeConstraint::GetBPivotRotation() const
            { return Quaternion(this->Hinge->getBFrame().getRotation()); }

        void HingeConstraint::SetPivotATransform(const Transform& TranA)
            { this->Hinge->getAFrame() << TranA; }

        void HingeConstraint::SetPivotBTransform(const Transform& TranB)
            { this->Hinge->getBFrame() << TranB; }

        Transform HingeConstraint::GetPivotATransform() const
            { return Transform(this->Hinge->getAFrame()); }

        Transform HingeConstraint::GetPivotBTransform() const
            { return Transform(this->Hinge->getBFrame()); }

        ////////////////////////////////////////////////////////////////////////////////
        // HingeConstraint Angular Motor

        void HingeConstraint::EnableMotor(bool EnableMotor, Real TargetVelocity, Real MaxMotorImpulse)
            { this->Hinge->enableAngularMotor(EnableMotor, TargetVelocity, MaxMotorImpulse); }

        void HingeConstraint::EnableMotor(bool EnableMotor)
            { this->Hinge->enableMotor(EnableMotor); }

        bool HingeConstraint::GetMotorEnabled() const
            { return this->Hinge->getEnableAngularMotor(); }

        void HingeConstraint::SetMaxMotorImpulse(Real MaxMotorImpulse)
            { this->Hinge->setMaxMotorImpulse(MaxMotorImpulse); }

        Real HingeConstraint::GetMaxMotorImpulse() const
            { return this->Hinge->getMaxMotorImpulse(); }

        void HingeConstraint::SetMotorTarget(const Quaternion& QuatAInB, Real Dt)
            { this->Hinge->setMotorTarget(QuatAInB.GetBulletQuaternion(), Dt); }

        void HingeConstraint::SetMotorTarget(Real TargetAngle, Real Dt)
            { this->Hinge->setMotorTarget(TargetAngle, Dt); }

        void HingeConstraint::SetMotorTargetVelocity(Real TargetVelocity)
            { this->Hinge->setMotorTargetVelocity(TargetVelocity); }

        Real HingeConstraint::GetMotorTargetVelocity() const
            { return this->Hinge->getMotorTargetVelosity(); }

        ////////////////////////////////////////////////////////////////////////////////
        // HingeConstraint Limits

        void HingeConstraint::SetLimit(Real Low, Real High, Real Softness, Real BiasFactor, Real RelaxationFactor)
            { this->Hinge->setLimit(Low, High, Softness, BiasFactor, RelaxationFactor); }

        Real HingeConstraint::GetLimitLow() const
            { return this->Hinge->getLowerLimit(); }

        Real HingeConstraint::GetLimitHigh() const
            { return this->Hinge->getUpperLimit(); }

        Real HingeConstraint::GetLimitSoftness() const
            { return this->Hinge->getLimitSoftness(); }

        Real HingeConstraint::GetLimitBiasFactor() const
            { return this->Hinge->getLimitBiasFactor(); }

        Real HingeConstraint::GetLimitRelaxationFactor() const
            { return this->Hinge->getLimitRelaxationFactor(); }

        ////////////////////////////////////////////////////////////////////////////////
        // HingeConstraint Details

        void HingeConstraint::SetAxis(const Vector3& AxisInA)
        {
            btVector3 temp(AxisInA.GetBulletVector3());
            this->Hinge->setAxis(temp);
        }

        Real HingeConstraint::GetHingeAngle()
        {
            return this->Hinge->getHingeAngle();
        }

        Constraint::ParamList HingeConstraint::ValidParamOnAxis(int Axis) const
        {
            Constraint::ParamList Results;
            if(-1==Axis||5==Axis)
            {
                Results.push_back(Con_Stop_ERP);
                Results.push_back(Con_CFM);
                Results.push_back(Con_Stop_CFM);
            }
            return Results;
        }

        Constraint::AxisList HingeConstraint::ValidLinearAxis() const
        {
            Constraint::AxisList Results;
            Results.push_back(-1);
            return Results;
        }

        Constraint::AxisList HingeConstraint::ValidAngularAxis() const
        {
            Constraint::AxisList Results;
            Results.push_back(5);
            return Results;
        }

        bool HingeConstraint::HasParamBeenSet(ConstraintParam Param, int Axis) const
        {
            // the logic here should match the logic in the source at http://bulletphysics.com/Bullet/BulletFull/btHingeConstraint_8cpp_source.html#l00962
            if ( -1!=Axis && 5!=Axis )
                { return false; }
            return  ( Con_Stop_ERP==Param && this->Hinge->getFlags() & BT_HINGE_FLAGS_ERP_STOP )   ||  //if we are checking the stop_erp AND the stop_erp bit is set
                    ( Con_Stop_CFM==Param && this->Hinge->getFlags() & BT_HINGE_FLAGS_CFM_STOP )   ||  //if we are checking the stop_cfm AND the stop_cfm bit is set
                    ( Con_CFM==Param      && this->Hinge->getFlags() & BT_HINGE_FLAGS_CFM_NORM )   ;   //if we are checking the cfm AND the cfm bit is set
        }

        bool HingeConstraint::GetUseReferenceFrameA() const
            { return this->Hinge->getUseReferenceFrameA(); }

        void HingeConstraint::SetUseReferenceFrameA(bool UseReferenceFrameA)
            { this->Hinge->setUseReferenceFrameA(UseReferenceFrameA); }

        bool HingeConstraint::GetUseFrameOffset() const
            { return this->Hinge->getUseFrameOffset(); }

        void HingeConstraint::SetUseFrameOffset(bool FrameOffset)
            { this->Hinge->setUseFrameOffset(FrameOffset); }

        ////////////////////////////////////////////////////////////////////////////////
        // HingeConstraint Serialization

        void HingeConstraint::ProtoSerialize(XML::Node& CurrentRoot) const
        {
            XML::Node HingeNode = CurrentRoot.AppendChild(SerializableName());          // The base node all the base constraint stuff will go in
            if (!HingeNode)
                { SerializeError("Create HingeNode", SerializableName()); }

            XML::Attribute VerAttr = HingeNode.AppendAttribute("Version");              // Base Attributes
            XML::Attribute RefA = HingeNode.AppendAttribute("ReferenceInA");
            XML::Attribute FrameOff = HingeNode.AppendAttribute("UseFrameOffset");
            if( VerAttr && RefA && FrameOff )
            {
                VerAttr.SetValue(1);
                RefA.SetValue(this->GetUseReferenceFrameA());
                FrameOff.SetValue(this->GetUseFrameOffset());
            }else{
                SerializeError("Create HingeNode Attributes", SerializableName());
            }

            XML::Node MotorNode = HingeNode.AppendChild("Motor");                       // Motor Node
            if (!MotorNode)
                { SerializeError("Create MotorNode", SerializableName()); }

            XML::Attribute MotEnabled = MotorNode.AppendAttribute("Enabled");           // Motor Attributes
            XML::Attribute MotImpulse = MotorNode.AppendAttribute("MaxImpulse");
            XML::Attribute MotTarget = MotorNode.AppendAttribute("TargetVelocity");
            if( MotEnabled && MotImpulse && MotTarget )
            {
                MotEnabled.SetValue(this->GetMotorEnabled());
                MotImpulse.SetValue(this->GetMaxMotorImpulse());
                MotTarget.SetValue(this->GetMotorTargetVelocity());
            }else{
                SerializeError("Create MotorNode Attributes", SerializableName());
            }

            XML::Node LimitNode =  HingeNode.AppendChild("Limits");                      // Limits Node
            if (!LimitNode)
                { SerializeError("Create LimitNode", SerializableName()); }

            XML::Attribute LimLow = LimitNode.AppendAttribute("Low");                   // Limits Attributes
            XML::Attribute LimHigh = LimitNode.AppendAttribute("High");
            XML::Attribute LimSoft = LimitNode.AppendAttribute("Softness");
            XML::Attribute LimBias = LimitNode.AppendAttribute("BiasFactor");
            XML::Attribute LimRelax = LimitNode.AppendAttribute("RelaxationFactor");
            if( LimLow && LimHigh && LimSoft && LimBias && LimRelax )
            {
                LimLow.SetValue(this->GetLimitLow());
                LimHigh.SetValue(this->GetLimitHigh());
                LimSoft.SetValue(this->GetLimitSoftness());
                LimBias.SetValue(this->GetLimitBiasFactor());
                LimRelax.SetValue(this->GetLimitRelaxationFactor());
            }else{
                SerializeError("Create MotorNode Attributes", SerializableName());
            }

            DualTransformConstraint::ProtoSerialize(HingeNode);
        }

        void HingeConstraint::ProtoDeSerialize(const XML::Node& OneNode)
        {
            if ( Mezzanine::String(OneNode.Name())==this->HingeConstraint::SerializableName() )
            {
                if(OneNode.GetAttribute("Version").AsInt() == 1)
                {
                    XML::Node DualTranny = OneNode.GetChild("DualTransformConstraint");
                    if(!DualTranny)
                        { DeSerializeError("locate DualTransforn node",SerializableName()); }
                    this->DualTransformConstraint::ProtoDeSerialize(DualTranny);

                    XML::Node MotorNode = OneNode.GetChild("Motor");
                    if(!MotorNode)
                        { DeSerializeError("locate Motor node",SerializableName()); }

                    XML::Node LimitNode = OneNode.GetChild("Limits");
                    if(!LimitNode)
                        { DeSerializeError("locate Limits node",SerializableName()); }

                    this->SetUseReferenceFrameA(OneNode.GetAttribute("ReferenceInA").AsBool());
                    this->SetUseFrameOffset(OneNode.GetAttribute("UseFrameOffset").AsBool());

                    this->EnableMotor(
                        MotorNode.GetAttribute("Enabled").AsBool(),
                        MotorNode.GetAttribute("TargetVelocity").AsReal(),
                        MotorNode.GetAttribute("MaxImpulse").AsReal() );

                    this->SetLimit(
                        LimitNode.GetAttribute("Low").AsReal(),
                        LimitNode.GetAttribute("High").AsReal(),
                        LimitNode.GetAttribute("Softness").AsReal(),
                        LimitNode.GetAttribute("BiasFactor").AsReal(),
                        LimitNode.GetAttribute("RelaxationFactor").AsReal() );
                }else{
                    DeSerializeError("find usable serialization version",SerializableName());
                }
            }else{
                DeSerializeError(String("find correct class to deserialize, found a ")+OneNode.Name(),SerializableName());
            }
        }

        String HingeConstraint::SerializableName()
            { return String("HingeConstraint"); }

    }//Physics
}//Mezzanine

///////////////////////////////////////////////////////////////////////////////
// Class External << Operators for streaming or assignment

std::ostream& operator << (std::ostream& stream, const Mezzanine::Physics::HingeConstraint& x)
{
    Mezzanine::Serialize(stream,x);
    return stream;
}

std::istream& operator >> (std::istream& stream, Mezzanine::Physics::HingeConstraint& x)
    { return Mezzanine::DeSerialize(stream, x); }

void operator >> (const Mezzanine::XML::Node& OneNode, Mezzanine::Physics::HingeConstraint& x)
    { x.ProtoDeSerialize(OneNode); }

#endif