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https://github.com/copyrighttxt/watrbx-game-engine.git
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fahhh
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watrabi
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#pragma once
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#include "V8World/Edge.h"
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#include "Util/SurfaceType.h"
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#include "Util/Face.h"
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#include "Util/Extents.h"
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#include "Util/SpanningEdge.h"
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#include "G3D/Array.h"
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#include "boost/intrusive/list.hpp"
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namespace RBX {
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class Channel;
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class Link;
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class Joint;
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class RBXInterface IJointOwner
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{
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public:
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virtual Joint* getJoint(void) { RBXASSERT(0); return NULL; }
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};
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class StepJointsStage;
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typedef boost::intrusive::list_base_hook< boost::intrusive::tag<StepJointsStage> > StepJointsStageHook;
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class MovingAssemblyStage;
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typedef boost::intrusive::list_base_hook< boost::intrusive::tag<MovingAssemblyStage> > MovingAssemblyStageHook;
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class Joint : public Edge
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, public SpanningEdge
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, public StepJointsStageHook
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, public MovingAssemblyStageHook // TODO: Can we share the same hooks?
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{
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private:
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typedef Edge Super;
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IJointOwner* jointOwner;
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static bool canBuildJoint(
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Primitive* p0,
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Primitive* p1,
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NormalId nId0,
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NormalId nId1,
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float angleMax,
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float planarMax);
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protected:
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CoordinateFrame jointCoord0; // in object space
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CoordinateFrame jointCoord1; // this coord is aligned with Coord0, so it points into the body
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public:
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static bool canBuildJointLoose(Primitive* p0, Primitive* p1, NormalId nId0, NormalId nId1);
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static bool canBuildJointTight(Primitive* p0, Primitive* p1, NormalId nId0, NormalId nId1);
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protected:
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///////////////////////////////////////////////////
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// Edge
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//
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/*override*/ EdgeType getEdgeType() const {return Edge::JOINT;}
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Joint();
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Joint( Primitive* prim0,
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Primitive* prim1,
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const CoordinateFrame& _jointCoord0,
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const CoordinateFrame& _jointCoord1);
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public:
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~Joint();
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void setJointCoord(int i, const CoordinateFrame& c);
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const CoordinateFrame& getJointCoord(int i) const {
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return (i == 0) ? jointCoord0 : jointCoord1;
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}
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CoordinateFrame getJointWorldCoord(int i);
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void notifyMoved();
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// In precedence order - greatest to least
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// GROUND KINEMATIC SPRING KERNEL
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typedef enum { ANCHOR_JOINT, // X
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WELD_JOINT, // X
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MANUAL_WELD_JOINT, // X
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SNAP_JOINT, // X
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MOTOR_1D_JOINT, // X
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MOTOR_6D_JOINT, // X
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ROTATE_JOINT, // X
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ROTATE_P_JOINT, // X
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ROTATE_V_JOINT, // X
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GLUE_JOINT, // X
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MANUAL_GLUE_JOINT, // X
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FREE_JOINT, // X
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KERNEL_JOINT, // X
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NO_JOINT //
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} JointType;
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//////////////////////////////////////////////////
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// IJointOwner
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//
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void setJointOwner(IJointOwner* value);
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IJointOwner* getJointOwner() const;
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///////////////////////////////////////////////////
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// Edge Virtuals
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//
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/*override*/ void setPrimitive(int i, Primitive* p);
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///////////////////////////////////////////////////
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// Joint Virtuals
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//
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virtual JointType getJointType() const {RBXASSERT(0); return Joint::NO_JOINT;}
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virtual bool isBreakable() const {return false;}
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virtual bool isBroken() const {return false;}
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virtual bool joinsFace(Primitive* g, NormalId faceId) const {return false;}
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virtual bool isAligned() {return true;}
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virtual CoordinateFrame align(Primitive* pMove, Primitive* pStay) {RBXASSERT(0); return CoordinateFrame();}
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virtual void setPhysics() {} // occurs after networking read;
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virtual bool canStepWorld() const {return false;}
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virtual bool canStepUi() const {return false;}
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virtual void stepWorld() {}
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virtual bool stepUi(double distributedGameTime) {return false;}
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//////////////////////////////////////////////////////////
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//
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static bool isJoint(const Edge* e) {return (e->getEdgeType() == Edge::JOINT);}
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static JointType getJointType(const Edge* e) {
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return isJoint(e) ? rbx_static_cast<const Joint*>(e)->getJointType() : Joint::NO_JOINT;
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}
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static bool isGroundJoint(const Edge* e) { // alternately, created by AutoJoin
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Joint::JointType jt = getJointType(e);
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return ((jt == FREE_JOINT) || (jt == ANCHOR_JOINT));
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}
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static bool isRigidJoint(const Edge* e) {
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Joint::JointType jt = getJointType(e);
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return ((jt == WELD_JOINT) || (jt == SNAP_JOINT) || (jt == MANUAL_WELD_JOINT));
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}
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static bool isKinematicJoint(const Edge* e) {
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Joint::JointType jt = getJointType(e);
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return ((jt >= WELD_JOINT) && (jt <= MOTOR_6D_JOINT));
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}
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static bool isSpringJoint(const Edge* e) {
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Joint::JointType jt = getJointType(e);
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return ((jt >= ROTATE_JOINT) && (jt <= GLUE_JOINT)) || (jt == MANUAL_GLUE_JOINT);
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}
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static bool isMotorJoint(const Edge* e) {
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Joint::JointType jt = getJointType(e);
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return ((jt >= MOTOR_1D_JOINT) && (jt <= MOTOR_6D_JOINT));
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}
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static bool isKernelJoint(const Edge* e) {
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Joint::JointType jt = getJointType(e);
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return (jt == Joint::KERNEL_JOINT);
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}
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static bool isManualJoint(const Edge* e) {
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Joint::JointType jt = getJointType(e);
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return (jt == Joint::MANUAL_WELD_JOINT || jt == Joint::MANUAL_GLUE_JOINT);
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}
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static bool isSpanningTreeJoint(const Edge* e) {
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return (isKinematicJoint(e) || isSpringJoint(e) || isGroundJoint(e));
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}
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static bool isAutoJoint(const Joint* j) { // alternately, created by AutoJoin
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return (!isGroundJoint(j) && !isKernelJoint(j) && !isManualJoint(j));
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}
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static Joint* getJoint(Primitive* p, Joint::JointType jointType);
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static const Joint* getConstJoint(const Primitive* p, Joint::JointType jointType);
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static const Joint* findConstJoint(const Primitive* p, Joint::JointType jointType);
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NormalId getNormalId(int i) const {
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RBXASSERT((i==0)||(i==1));
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return (i == 0)
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? Matrix3ToNormalId(jointCoord0.rotation)
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: normalIdOpposite(Matrix3ToNormalId(jointCoord1.rotation));
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}
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virtual Link* resetLink() { RBXASSERT(!"Not Implemented"); return 0; }
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static bool FacesOverlapped( const Primitive* p0, size_t face0Id, const Primitive* p1, size_t face1Id, float adjustPartTolerance = 1.0 );
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static bool FaceVerticesOverlapped( const Primitive* p0, size_t face0Id, const Primitive* p1, size_t face1Id, float adjustPartTolerance );
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static bool FaceEdgesOverlapped( const Primitive* p0, size_t face0Id, const Primitive* p1, size_t face1Id, float adjustPartTolerance );
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static bool findTouchingSurfacesConvex( const Primitive& p0, size_t& face0Id, const Primitive& p1, size_t& face1Id );
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static bool compatibleForGlueAutoJoint( const Primitive& p0, size_t& face0Id, const Primitive& p1, size_t& face1Id );
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static bool compatibleForWeldAutoJoint( const Primitive& p0, size_t& face0Id, const Primitive& p1, size_t& face1Id );
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static bool compatibleForHingeAutoJoint( const Primitive& p0, size_t& face0Id, const Primitive& p1, size_t& face1Id );
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static bool compatibleForStudAutoJoint( const Primitive& p0, size_t& face0Id, const Primitive& p1, size_t& face1Id );
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static bool inCompatibleForAnyJoint( const Primitive& p0, size_t& face0Id, const Primitive& p1, size_t& face1Id );
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static bool positionedForStudAutoJoint( const Primitive& p0, size_t& face0Id, const Primitive& p1, size_t& face1Id );
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static SurfaceType getSurfaceTypeFromNormal( const Primitive& primitive, const NormalId& normalId ); // helper function for correct "isCompatible" function behavior
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/////////////////////////////////////////////////////////////////
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// SpanningEdge
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private:
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/*override*/ bool isHeavierThan(const SpanningEdge* other) const;
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/*override*/ SpanningNode* otherNode(SpanningNode* n);
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/*override*/ const SpanningNode* otherConstNode(const SpanningNode* n) const;
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/*override*/ SpanningNode* getNode(int i);
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/*override*/ const SpanningNode* getConstNode(int i) const;
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};
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class AnchorJoint : public Joint
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{
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private:
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/*override*/ virtual JointType getJointType() const {return Joint::ANCHOR_JOINT;}
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public:
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AnchorJoint(Primitive* prim) : Joint(prim, NULL, CoordinateFrame(), CoordinateFrame())
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{}
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static bool isAnchorJoint(const Joint* j) {
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return (j->getJointType() == Joint::ANCHOR_JOINT);
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}
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};
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class FreeJoint : public Joint
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{
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private:
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/*override*/ virtual JointType getJointType() const {return Joint::FREE_JOINT;}
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public:
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FreeJoint(Primitive* prim) : Joint(prim, NULL, CoordinateFrame(), CoordinateFrame())
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{}
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static bool isFreeJoint(const Joint* j) {
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return (j->getJointType() == Joint::FREE_JOINT);
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}
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};
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} // namespace
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