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App/v8kernel/Link.h

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+/* Copyright 2003-2006 ROBLOX Corporation, All Rights Reserved */
+
+#pragma once
+
+#include "Util/G3DCore.h"
+#include "rbx/Declarations.h"
+#include "Util/Memory.h"
+#include "Util/Math.h"
+
+namespace RBX {
+
+	class Body;
+
+	class RBXBaseClass Link
+	{
+		friend class Body;
+
+	protected:
+		Body*						body;			// body I'm affilliated with (child)
+		CoordinateFrame				parentCoord;
+		CoordinateFrame				childCoord;
+		CoordinateFrame				childCoordInverse;
+
+		CoordinateFrame				childInParent;
+		unsigned int							stateIndex;
+
+		virtual void computeChildInParent(CoordinateFrame& answer) const = 0;
+		
+		void dirty();
+
+		void setBody(Body* b)	{body = b;}
+
+	public:
+		Link();
+
+		~Link();
+
+		const CoordinateFrame& getChildInParent();
+
+		Body* getBody() const {return body;}
+
+		void reset(
+			const CoordinateFrame& parentC,
+			const CoordinateFrame& childC);
+	};
+
+
+	class RevoluteLink 
+		: public Link
+		, public Allocator<RevoluteLink>
+	{
+	private:
+		float					jointAngle;
+
+		/*override*/ void computeChildInParent(CoordinateFrame& answer) const;
+
+	public:
+		RevoluteLink() : jointAngle(0.0f) 
+		{
+		}
+
+		void setJointAngle(float value) {
+			jointAngle = value;
+			dirty();
+		}
+	};
+
+	class D6Link 
+		: public Link
+		, public Allocator<D6Link>
+	{
+	private:
+		CoordinateFrame					offsetCFrame;
+
+		/*override*/ void computeChildInParent(CoordinateFrame& answer) const;
+
+	public:
+		void setJointOffsetCFrame(const CoordinateFrame& value) {
+			offsetCFrame = value;
+			RBXASSERT(!Math::hasNanOrInf(value));
+			dirty();
+		}
+	};
+
+} // namespace
+