113 lines
4.5 KiB
113 lines
4.5 KiB
/****************************************************************************
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Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.
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http://www.cocos.com
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights to
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use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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of the Software, and to permit persons to whom the Software is furnished to do so,
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subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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#pragma once
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#include <cstdint>
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#include "core/scene-graph/Node.h"
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#include "physics/spec/ILifecycle.h"
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namespace cc {
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namespace physics {
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class IBaseJoint : virtual public ILifecycle {
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public:
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~IBaseJoint() override = default;
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virtual void initialize(Node *node) = 0;
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virtual void setEnableCollision(bool v) = 0;
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virtual void setConnectedBody(uint32_t rigidBodyID) = 0;
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virtual uint32_t getObjectID() const = 0;
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};
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class ISphericalJoint : virtual public IBaseJoint {
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public:
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~ISphericalJoint() override = default;
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virtual void setPivotA(float x, float y, float z) = 0;
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virtual void setPivotB(float x, float y, float z) = 0;
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};
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class IRevoluteJoint : virtual public IBaseJoint {
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public:
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~IRevoluteJoint() override = default;
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virtual void setPivotA(float x, float y, float z) = 0;
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virtual void setPivotB(float x, float y, float z) = 0;
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virtual void setAxis(float x, float y, float z) = 0;
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virtual void setLimitEnabled(bool v) = 0;
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virtual void setLowerLimit(float v) = 0;
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virtual void setUpperLimit(float v) = 0;
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virtual void setMotorEnabled(bool v) = 0;
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virtual void setMotorVelocity(float v) = 0;
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virtual void setMotorForceLimit(float v) = 0;
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};
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class IFixedJoint : virtual public IBaseJoint {
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public:
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~IFixedJoint() override = default;
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virtual void setBreakForce(float force) = 0;
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virtual void setBreakTorque(float torque) = 0;
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};
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class IGenericJoint : virtual public IBaseJoint {
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public:
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~IGenericJoint() override = default;
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virtual void setConstraintMode(uint32_t index, uint32_t mode) = 0;
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virtual void setLinearLimit(uint32_t index, float lower, float upper) = 0;
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virtual void setAngularExtent(float twist, float swing1, float swing2) = 0;
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virtual void setLinearSoftConstraint(bool enable) = 0;
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virtual void setLinearStiffness(float stiffness) = 0;
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virtual void setLinearDamping(float damping) = 0;
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virtual void setLinearRestitution(float restitution) = 0;
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virtual void setSwingSoftConstraint(bool enable) = 0;
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virtual void setTwistSoftConstraint(bool enable) = 0;
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virtual void setSwingStiffness(float stiffness) = 0;
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virtual void setSwingDamping(float damping) = 0;
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virtual void setSwingRestitution(float restitution) = 0;
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virtual void setTwistStiffness(float stiffness) = 0;
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virtual void setTwistDamping(float damping) = 0;
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virtual void setTwistRestitution(float restitution) = 0;
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// motor
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virtual void setDriverMode(uint32_t index, uint32_t mode) = 0;
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virtual void setLinearMotorTarget(float x, float y, float z) = 0;
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virtual void setLinearMotorVelocity(float x, float y, float z) = 0;
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virtual void setLinearMotorForceLimit(float limit) = 0;
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virtual void setAngularMotorTarget(float x, float y, float z) = 0;
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virtual void setAngularMotorVelocity(float x, float y, float z) = 0;
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virtual void setAngularMotorForceLimit(float limit) = 0;
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virtual void setPivotA(float x, float y, float z) = 0;
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virtual void setPivotB(float x, float y, float z) = 0;
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virtual void setAutoPivotB(bool enable) = 0;
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virtual void setAxis(float x, float y, float z) = 0;
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virtual void setSecondaryAxis(float x, float y, float z) = 0;
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virtual void setBreakForce(float force) = 0;
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virtual void setBreakTorque(float torque) = 0;
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};
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} // namespace physics
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} // namespace cc
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