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App/v8world/RotateJoint.h

@@ -0,0 +1,173 @@
+/* Copyright 2003-2005 ROBLOX Corporation, All Rights Reserved */
+
+#pragma once
+
+#include "V8World/MultiJoint.h"
+#include "Util/NormalId.h"
+
+namespace RBX {
+	
+	class RotateConnector;
+    class ConstraintAlign2Axes;
+    class ConstraintBallInSocket;
+    class ConstraintAngularVelocity;
+    class Constraint;
+
+	class RotateJoint : public MultiJoint
+	{
+	private:
+		typedef MultiJoint Super;
+		static RotateJoint* surfaceTypeToJoint(
+			SurfaceType surfaceType,
+			Primitive* axlePrim,
+			Primitive* holePrim,
+			const CoordinateFrame& c0,
+			const CoordinateFrame& c1);
+
+
+        void update();
+
+	protected:
+		typedef enum {AXLE_ID = 0, HOLE_ID} AxleHoleId;
+
+		// Edge
+		/*override*/ void putInKernel(Kernel* kernel);
+		/*override*/ void removeFromKernel();
+        /*override*/ JointType getJointType() const	{return Joint::ROTATE_JOINT;}
+	
+		void getPrimitivesTorqueArmLength(float& axleArmLength, float& holeArmLength);
+
+        ConstraintAlign2Axes* align2Axes;
+        ConstraintBallInSocket* ballInSocket;
+
+	public:
+		RotateJoint();
+
+		RotateJoint(
+			Primitive* axlePrim,
+			Primitive* holePrim,
+			const CoordinateFrame& c0,
+			const CoordinateFrame& c1);
+
+		virtual ~RotateJoint();
+
+		static RotateJoint* canBuildJoint(
+			Primitive* p0, 
+			Primitive* p1, 
+			NormalId nId0, 
+			NormalId nId1);
+
+		Primitive* getAxlePrim() {return getPrimitive(AXLE_ID);}
+		Primitive* getHolePrim() {return getPrimitive(HOLE_ID);}
+
+		NormalId getAxleId() {return getNormalId(AXLE_ID);}
+		NormalId getHoleId() {return getNormalId(HOLE_ID);}
+
+		Vector3 getAxleWorldDirection();
+
+		float getAxleVelocity();
+	};
+
+	class DynamicRotateJoint : public RotateJoint
+	{
+	private:
+		typedef RotateJoint Super;
+		/*override*/ bool canStepWorld() const {return true;}
+		/*override*/ bool canStepUi() const {return true;}
+
+		/*override*/ bool stepUi(double distributedGameTime);
+		/*override*/ void setPhysics();			// occurs after networking read;
+
+
+       	float getChannelValue(double distributedGameTime);
+
+	protected:
+        // Edge
+        /*override*/ void putInKernel(Kernel* kernel);
+        /*override*/ void removeFromKernel();
+
+        float baseAngle;						// what is the initial assembled rotation angle
+		RotateConnector* rotateConnector;		// here when in kernel
+		float uiValue;
+
+	public:
+		DynamicRotateJoint() : uiValue(0.0f), rotateConnector(NULL)
+		{}
+
+		DynamicRotateJoint(
+			Primitive* axlePrim,
+			Primitive* holePrim,
+			const CoordinateFrame& c0,
+			const CoordinateFrame& c1,
+			float baseAngle);
+
+		~DynamicRotateJoint();
+
+		float getBaseAngle() const {		
+			return baseAngle;
+		}
+
+        float getTorqueArmLength();
+
+		void setBaseAngle(float value);
+	};
+
+	class RotatePJoint : public DynamicRotateJoint
+	{
+	private:
+		// Joint
+		/*override*/ JointType getJointType() const	{return Joint::ROTATE_P_JOINT;}
+
+		/*override*/ void stepWorld();
+
+        /*override*/ void putInKernel(Kernel* kernel);
+        /*override*/ void removeFromKernel();
+
+        float currentAngle;
+        ConstraintAlign2Axes* alignmentConstraint;
+	public:
+		RotatePJoint(): currentAngle( 0.0f ), alignmentConstraint(NULL)
+		{}
+
+		RotatePJoint(
+			Primitive* axlePrim,
+			Primitive* holePrim,
+			const CoordinateFrame& c0,
+			const CoordinateFrame& c1,
+			float baseAngle)
+			: DynamicRotateJoint(axlePrim, holePrim, c0, c1, baseAngle), currentAngle( 0.0f ), alignmentConstraint(NULL)
+		{}
+
+        ~RotatePJoint();
+	};
+
+	class RotateVJoint : public DynamicRotateJoint
+	{
+	private:
+		// Joint
+		/*override*/ JointType getJointType() const	{return Joint::ROTATE_V_JOINT;}
+
+		/*override*/ void stepWorld();
+
+        /*override*/ void putInKernel(Kernel* kernel);
+        /*override*/ void removeFromKernel();
+
+        ConstraintAngularVelocity* angularVelocityConstraint;
+
+	public:
+		RotateVJoint(): angularVelocityConstraint( NULL )
+		{}
+
+		RotateVJoint(
+			Primitive* axlePrim,
+			Primitive* holePrim,
+			const CoordinateFrame& c0,
+			const CoordinateFrame& c1,
+			float baseAngle);
+
+        ~RotateVJoint();
+	};
+
+
+
+} // namespace