File indexing completed on 2023-05-30 10:50:04

 /*
     SPDX-FileCopyrightText: 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>
 
     SPDX-License-Identifier: GPL-2.0-or-later
 */
 
 /** \file joint.h
  *  \brief Joint classes
  */
 
 #ifndef STEPCORE_JOINTS_H
 #define STEPCORE_JOINTS_H
 
 #include "joint.h"
 
 
 namespace StepCore
 {
 
 class Particle;
 class RigidBody;
 
 /** \ingroup joints
  *  \brief Fixes position of the body
  */
 class Anchor : public Joint
 {
     STEPCORE_OBJECT(Anchor)
         
 public:
     /** Constructs Anchor */
     explicit Anchor(Object* body = nullptr, const Vector2d& position = Vector2d::Zero(), double angle = 0);
 
     /** Get pointer to the body */
     Object* body() const { return _body; }
     /** Set pointer to the body */
     void setBody(Object* body);
 
     /** Get position of the anchor */
     const Vector2d& position() const { return _position; }
     /** Set position of the anchor */
     void setPosition(const Vector2d& position) { _position = position; }
 
     /** Get angle of the anchor */
     double angle() const { return _angle; }
     /** Set angle of the anchor */
     void setAngle(double angle) { _angle = angle; }
 
     int constraintsCount() override;
     void getConstraintsInfo(ConstraintsInfo* info, int offset) override;
 
     //void getConstraints(double* value, double* derivative);
     //void getJacobian(GmmSparseRowMatrix* value, GmmSparseRowMatrix* derivative, int offset);
 
 protected:
     Object*  _body;
     Vector2d _position;
     double   _angle;
 
     Particle*  _p;
     RigidBody* _r;
 };
 
 /** \ingroup joints
  *  \brief Fixes position of a given point on the body
  */
 class Pin : public Joint
 {
     STEPCORE_OBJECT(Pin)
 
 public:
     /** Constructs Pin */
     explicit Pin(Object* body = nullptr, const Vector2d& localPosition = Vector2d::Zero(),
                         const Vector2d& position = Vector2d::Zero());
 
     /** Get pointer to the body */
     Object* body() const { return _body; }
     /** Set pointer to the body */
     void setBody(Object* body);
 
     /** Local position of the pin on the body */
     const Vector2d& localPosition() const { return _localPosition; }
     /** Set local position of the pin on the body */
     void setLocalPosition(const Vector2d& localPosition) { _localPosition = localPosition; }
 
     /** Get global position of the pin */
     const Vector2d& position() const { return _position; }
     /** Set global position of the pin */
     void setPosition(const Vector2d& position) { _position = position; }
 
     int constraintsCount() override;
     void getConstraintsInfo(ConstraintsInfo* info, int offset) override;
 
     //void getConstraints(double* value, double* derivative);
     //void getJacobian(GmmSparseRowMatrix* value, GmmSparseRowMatrix* derivative, int offset);
 
 protected:
     Object*  _body;
     Vector2d _localPosition;
     Vector2d _position;
 
     Particle*  _p;
     RigidBody* _r;
 };
 
 /** \ingroup joints
  *  \brief Massless stick: fixed distance between two points on particles or rigid bodies
  */
 class Stick : public Joint
 {
     STEPCORE_OBJECT(Stick)
 
 public:
     /** Constructs Stick */
     explicit Stick(double restLength = 1, 
                Object* body1 = nullptr, Object* body2 = nullptr,
                const Vector2d& localPosition1 = Vector2d::Zero(),
                const Vector2d& localPosition2 = Vector2d::Zero());
 
     /** Get the restLength of the stick */
     double restLength() const { return _restLength; }
     /** Set the restLength of the stick */
     void   setRestLength(double restLength) { _restLength = restLength; }
 
     /** Get pointer to the first connected body */
     Object* body1() const { return _body1; }
     /** Set pointer to the first connected body */
     void setBody1(Object* body1);
 
     /** Get pointer to the second connected body */
     Object* body2() const { return _body2; }
     /** Set pointer to the second connected body */
     void setBody2(Object* body2);
 
     /** Local position of the first end of the stick on the body
      *  or in the world (if the end is not connected) */
     Vector2d localPosition1() const { return _localPosition1; }
     /** Set local position of the first end of the stick on the body
      *  or in the world (if the end is not connected) */
     void setLocalPosition1(const Vector2d& localPosition1) { _localPosition1 = localPosition1; }
 
     /** Local position of the second end of the stick on the body
      *  or in the world (if the end is not connected) */
     Vector2d localPosition2() const { return _localPosition2; }
     /** Set local position of the second end of the stick on the body
      *  or in the world (if the end is not connected) */
     void setLocalPosition2(const Vector2d& localPosition2) { _localPosition2 = localPosition2; }
 
     /** Position of the first end of the stick */
     Vector2d position1() const;
     /** Position of the second end of the stick */
     Vector2d position2() const;
 
     /** Velocity of the first end of the stick */
     Vector2d velocity1() const;
     /** Velocity of the second end of the stick */
     Vector2d velocity2() const;
 
     /** Get first connected Particle */
     Particle* particle1() const { return _p1; }
     /** Get second connected Particle */
     Particle* particle2() const { return _p2; }
     /** Get first connected RigidBody */
     RigidBody* rigidBody1() const { return _r1; }
     /** Get second connected RigidBody */
     RigidBody* rigidBody2() const { return _r2; }
 
     int constraintsCount() override;
     void getConstraintsInfo(ConstraintsInfo* info, int offset) override;
 
 protected:
     double   _restLength;
     Object*  _body1;
     Object*  _body2;
     Vector2d _localPosition1;
     Vector2d _localPosition2;
 
     Particle*  _p1;
     Particle*  _p2;
     RigidBody* _r1;
     RigidBody* _r2;
 };
 
 /** \ingroup joints
  *  \brief Massless rope: maximal distance between two points on particles or rigid bodies
  */
 class Rope: public Stick
 {
     STEPCORE_OBJECT(Rope)
 
 public:
     void getConstraintsInfo(ConstraintsInfo* info, int offset) override;
 };
 
 } // namespace StepCore
 
 #endif