sliderconstraint.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
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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'
*/
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   Joseph Toppi - toppij@gmail.com
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*/
#ifndef _physicssliderconstraint_cpp
#define _physicssliderconstraint_cpp

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

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

#include <btBulletDynamicsCommon.h>

namespace Mezzanine
{
    namespace Physics
    {
        /////////////////////////////////////////
        // Slider Constraint Functions

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

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

        SliderConstraint::SliderConstraint(RigidProxy* ProxyA, RigidProxy* ProxyB, const Transform& TransformA, const Transform& TransformB, bool UseLinearReferenceA)
        {
            this->SetBodies(ProxyA,ProxyB);
            this->Slider = new btSliderConstraint(*(ProxA->_GetPhysicsObject()), *(ProxB->_GetPhysicsObject()), TransformA.GetBulletTransform(), TransformB.GetBulletTransform(), UseLinearReferenceA);
        }

        SliderConstraint::SliderConstraint(RigidProxy* ProxyB, const Vector3& VectorB, const Quaternion& QuaternionB, bool UseLinearReferenceA)
        {
            this->SetBodies(ProxyB);

            btTransform transb(QuaternionB.GetBulletQuaternion(), VectorB.GetBulletVector3());
            this->Slider = new btSliderConstraint(*(ProxA->_GetPhysicsObject()), transb, UseLinearReferenceA);
        }

        SliderConstraint::~SliderConstraint()
        {
            delete this->Slider;
        }

        ////////////////////////////////////////////////////////////////////////////////
        // Generic6DofConstraint Location and Rotation

        void SliderConstraint::SetPivotATransform(const Transform& TranA)
            { this->Slider->getFrameOffsetA() = TranA.GetBulletTransform(); }

        void SliderConstraint::SetPivotBTransform(const Transform& TranB)
            { this->Slider->getFrameOffsetB() = TranB.GetBulletTransform(); }

        Transform SliderConstraint::GetPivotATransform() const
            { return this->Slider->getFrameOffsetA(); }

        Transform SliderConstraint::GetPivotBTransform() const
            { return this->Slider->getFrameOffsetB(); }


        void SliderConstraint::SetPivotALocation(const Vector3& Location)
            { this->Slider->getFrameOffsetA().setOrigin(Location.GetBulletVector3()); }

        void SliderConstraint::SetPivotBLocation(const Vector3& Location)
            { this->Slider->getFrameOffsetB().setOrigin(Location.GetBulletVector3()); }

        Vector3 SliderConstraint::GetPivotALocation() const
            { return Vector3(this->Slider->getFrameOffsetA().getOrigin()); }

        Vector3 SliderConstraint::GetPivotBLocation() const
            { return Vector3(this->Slider->getFrameOffsetB().getOrigin()); }


        void SliderConstraint::SetPivotARotation(const Quaternion& Rotation)
            { this->Slider->getFrameOffsetA().setRotation(Rotation.GetBulletQuaternion()); }

        void SliderConstraint::SetPivotBRotation(const Quaternion& Rotation)
            { this->Slider->getFrameOffsetA().setRotation(Rotation.GetBulletQuaternion()); }

        Quaternion SliderConstraint::GetPivotARotation() const
            { return Quaternion(this->Slider->getFrameOffsetA().getRotation()); }

        Quaternion SliderConstraint::GetPivotBRotation() const
            { return Quaternion(this->Slider->getFrameOffsetB().getRotation()); }

        void SliderConstraint::SetUpperLinLimit(const Real& UpperLimit)
        {
            this->Slider->setUpperLinLimit(UpperLimit);
        }

        void SliderConstraint::SetUpperAngLimit(const Real& UpperLimit)
        {
            this->Slider->setUpperAngLimit(UpperLimit);
        }

        void SliderConstraint::SetLowerLinLimit(const Real& LowerLimit)
        {
            this->Slider->setLowerLinLimit(LowerLimit);
        }

        void SliderConstraint::SetLowerAngLimit(const Real& LowerLimit)
        {
            this->Slider->setLowerAngLimit(LowerLimit);
        }

        void SliderConstraint::SetPoweredLinMotor(bool OnOff)
        {
            this->Slider->setPoweredLinMotor(OnOff);
        }

        void SliderConstraint::SetTargetLinMotorVelocity(const Real& TargetLinMotorVelocity)
        {
            this->Slider->setTargetLinMotorVelocity(TargetLinMotorVelocity);
        }

        void SliderConstraint::SetMaxLinMotorForce(const Real& MaxLinMotorForce)
        {
            this->Slider->setMaxLinMotorForce(MaxLinMotorForce);
        }

        void SliderConstraint::SetPoweredAngMotor(bool OnOff)
        {
            this->Slider->setPoweredAngMotor(OnOff);
        }

        void SliderConstraint::SetTargetAngMotorVelocity(const Real& TargetAngMotorVelocity)
        {
            this->Slider->setTargetAngMotorVelocity(TargetAngMotorVelocity);
        }

        void SliderConstraint::SetMaxAngMotorForce(const Real& MaxAngMotorForce)
        {
            this->Slider->setMaxAngMotorForce(MaxAngMotorForce);
        }

        void SliderConstraint::SetUseFrameOffset(bool FrameOffset)
        {
            this->Slider->setUseFrameOffset(FrameOffset);
        }

        void SliderConstraint::SetSoftnessDirLin(const Real& SoftnessDirLin)
        {
            this->Slider->setSoftnessDirLin(SoftnessDirLin);
        }

        void SliderConstraint::SetRestitutionDirLin(const Real& RestitutionDirLin)
        {
            this->Slider->setRestitutionDirLin(RestitutionDirLin);
        }

        void SliderConstraint::SetDampingDirLin(const Real& DampingDirLin)
        {
            this->Slider->setDampingDirLin(DampingDirLin);
        }

        void SliderConstraint::SetSoftnessDirAng(const Real& SoftnessDirAng)
        {
            this->Slider->setSoftnessDirAng(SoftnessDirAng);
        }

        void SliderConstraint::SetRestitutionDirAng(const Real& RestitutionDirAng)
        {
            this->Slider->setRestitutionDirAng(RestitutionDirAng);
        }

        void SliderConstraint::SetDampingDirAng(const Real& DampingDirAng)
        {
            this->Slider->setDampingDirAng(DampingDirAng);
        }

        void SliderConstraint::SetSoftnessLimLin(const Real& SoftnessLimLin)
        {
            this->Slider->setSoftnessLimLin(SoftnessLimLin);
        }

        void SliderConstraint::SetRestitutionLimLin(const Real& RestitutionLimLin)
        {
            this->Slider->setRestitutionLimLin(RestitutionLimLin);
        }

        void SliderConstraint::SetDampingLimLin(const Real& DampingLimLin)
        {
            this->Slider->setDampingLimLin(DampingLimLin);
        }

        void SliderConstraint::SetSoftnessLimAng(const Real& SoftnessLimAng)
        {
            this->Slider->setSoftnessLimAng(SoftnessLimAng);
        }

        void SliderConstraint::SetRestitutionLimAng(const Real& RestitutionLimAng)
        {
            this->Slider->setRestitutionLimAng(RestitutionLimAng);
        }

        void SliderConstraint::SetDampingLimAng(const Real& DampingLimAng)
        {
            this->Slider->setDampingLimAng(DampingLimAng);
        }

        void SliderConstraint::SetSoftnessOrthoLin(const Real& SoftnessOrthoLin)
        {
            this->Slider->setSoftnessOrthoLin(SoftnessOrthoLin);
        }

        void SliderConstraint::SetRestitutionOrthoLin(const Real& RestitutionOrthoLin)
        {
            this->Slider->setRestitutionOrthoLin(RestitutionOrthoLin);
        }

        void SliderConstraint::SetDampingOrthoLin(const Real& DampingOrthoLin)
        {
            this->Slider->setDampingOrthoLin(DampingOrthoLin);
        }

        void SliderConstraint::SetSoftnessOrthoAng(const Real& SoftnessOrthoAng)
        {
            this->Slider->setSoftnessOrthoAng(SoftnessOrthoAng);
        }

        void SliderConstraint::SetRestitutionOrthoAng(const Real& RestitutionOrthoAng)
        {
            this->Slider->setRestitutionOrthoAng(RestitutionOrthoAng);
        }

        void SliderConstraint::SetDampingOrthoAng(const Real& DampingOrthoAng)
        {
            this->Slider->setDampingOrthoAng(DampingOrthoAng);
        }

        ////////////////////////////////////////////////////////////////////////////////
        // SliderConstraint Axis, Params and other Details

        Constraint::ParamList SliderConstraint::ValidParamOnAxis(int Axis) const
        {
            Constraint::ParamList Results;
            if(0<=Axis && 5>=Axis)
            {
                Results.push_back(Con_Stop_ERP);
                Results.push_back(Con_CFM);
                Results.push_back(Con_Stop_CFM);
            }
            return Results;
        }

        Constraint::AxisList SliderConstraint::ValidLinearAxis() const
        {
            Constraint::AxisList Results;
            Results.push_back(0);
            Results.push_back(1);
            Results.push_back(2);
            return Results;
        }

        Constraint::AxisList SliderConstraint::ValidAngularAxis() const
        {
            Constraint::AxisList Results;
            Results.push_back(3);
            Results.push_back(4);
            Results.push_back(5);
            return Results;
        }

        bool SliderConstraint::HasParamBeenSet(ConstraintParam Param, int Axis) const
        {
            // the logic here should match the logic in the source at http://bulletphysics.com/Bullet/BulletFull/btGeneric6DofConstraint_8cpp_source.html#l00964
            if(0>Axis || 5<Axis)
                { return false; }

            if( Con_Stop_ERP == Param )
            {
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_ERP_LIMLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_ERP_ORTLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_ERP_LIMANG ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_ERP_ORTANG ) return true;
            }
            else if( Con_Stop_CFM == Param )
            {
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_DIRLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_DIRANG ) return true;
            }
            else if( Con_CFM == Param )
            {
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_LIMLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_ORTLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_LIMANG ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_ORTANG ) return true;
            }
            return false;
        }

        btTypedConstraint* SliderConstraint::GetConstraintBase() const
            { return this->Slider; }
    }//Physics
}//Mezzanine

#endif