conetwistconstraint.cpp

// © Copyright 2010 - 2016 BlackTopp Studios Inc.
/* This file is part of The Mezzanine Engine.

    The Mezzanine Engine is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
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    The Mezzanine Engine is distributed in the hope that it will be useful,
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    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with The Mezzanine Engine.  If not, see <http://www.gnu.org/licenses/>.
*/
/* The original authors have included a copy of the license specified above in the
   'Docs' folder. See 'gpl.txt'
*/
/* We welcome the use of the Mezzanine engine to anyone, including companies who wish to
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   However there are some practical restrictions, so if your project involves
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   Joseph Toppi - toppij@gmail.com
   John Blackwood - makoenergy02@gmail.com
*/
#ifndef _physicsconetwistconstraint_cpp
#define _physicsconetwistconstraint_cpp

#include "Physics/conetwistconstraint.h"
#include "Physics/rigidproxy.h"

#include "stringtool.h"
#include "serialization.h"

#include <btBulletDynamicsCommon.h>

namespace Mezzanine
{
    namespace Physics
    {
        /////////////////////////////////////////
        // ConeTwist Constraint Functions

        ConeTwistConstraint::ConeTwistConstraint(const UInt32 ID, RigidProxy* ProxyA, RigidProxy* ProxyB, const Transform& TransA, const Transform& TransB, PhysicsManager* Creator) :
            DualTransformConstraint(ID,ProxyA,ProxyB,Creator),
            ConeTwist(NULL)
            { this->CreateConstraint(ProxyA,ProxyB,TransA,TransB); }

        ConeTwistConstraint::ConeTwistConstraint(const UInt32 ID, RigidProxy* ProxyA, const Transform& TransA, PhysicsManager* Creator) :
            DualTransformConstraint(ID,ProxyA,Creator),
            ConeTwist(NULL)
            { this->CreateConstraint(ProxyA,NULL,TransA,Transform()); }

        ConeTwistConstraint::ConeTwistConstraint(const XML::Node& SelfRoot, PhysicsManager* Creator) :
            DualTransformConstraint(0,NULL,Creator),
            ConeTwist(NULL)
            { this->ProtoDeSerialize(SelfRoot); }

        ConeTwistConstraint::~ConeTwistConstraint()
            { this->DestroyConstraint(); }

        void ConeTwistConstraint::CreateConstraint(RigidProxy* RigidA, RigidProxy* RigidB, const Transform& TransA, const Transform& TransB)
        {
            if( this->ConeTwist == NULL ) {
                if( RigidA && RigidB ) {
                    this->ConeTwist = new btConeTwistConstraint(*(RigidA->_GetPhysicsObject()),*(RigidB->_GetPhysicsObject()),TransA.GetBulletTransform(),TransB.GetBulletTransform());
                }else if( RigidA ) {
                    this->ConeTwist = new btConeTwistConstraint(*(RigidA->_GetPhysicsObject()),TransA.GetBulletTransform());
                }
            }
        }

        void ConeTwistConstraint::DestroyConstraint()
        {
            this->EnableConstraint(false);
            if( this->ConeTwist != NULL ) {
                delete this->ConeTwist;
                this->ConeTwist = NULL;
            }
            this->ProxA = NULL;
            this->ProxB = NULL;
        }

        ///////////////////////////////////////////////////////////////////////////////
        // Utility Methods

        Boole ConeTwistConstraint::IsPassedSwingLimit() const
            { return this->ConeTwist->isPastSwingLimit(); }

        Real ConeTwistConstraint::GetTwistAngle() const
            { return this->ConeTwist->getTwistAngle(); }

        void ConeTwistConstraint::SetPivotATransform(const Transform& TransA)
        {
            btTransform BTrans = this->ConeTwist->getBFrame();
            this->ConeTwist->setFrames(TransA.GetBulletTransform(),BTrans);
        }

        void ConeTwistConstraint::SetPivotBTransform(const Transform& TransB)
        {
            btTransform ATrans = this->ConeTwist->getAFrame();
            this->ConeTwist->setFrames(ATrans,TransB.GetBulletTransform());
        }

        Transform ConeTwistConstraint::GetPivotATransform() const
            { return Transform( this->ConeTwist->getAFrame() ); }

        Transform ConeTwistConstraint::GetPivotBTransform() const
            { return Transform( this->ConeTwist->getBFrame() ); }

        ///////////////////////////////////////////////////////////////////////////////
        // Configuration Methods

        void ConeTwistConstraint::EnableMotor(const Boole Enable)
            { this->ConeTwist->enableMotor(Enable); }

        Boole ConeTwistConstraint::IsMotorEnabled() const
            { return this->ConeTwist->isMotorEnabled(); }

        void ConeTwistConstraint::SetAngularOnly(const Boole AngularOnly)
            { this->ConeTwist->setAngularOnly(AngularOnly); }

        Boole ConeTwistConstraint::GetAngularOnly() const
            { return this->ConeTwist->getAngularOnly(); }

        void ConeTwistConstraint::SetLimit(const Integer LimitIndex, const Real LimitValue)
            { this->ConeTwist->setLimit(LimitIndex, LimitValue); }

        void ConeTwistConstraint::SetLimits(const Real SwingSpan1, const Real SwingSpan2, const Real TwistSpan, const Real Softness, const Real BiasFactor, const Real RelaxationFactor)
            { this->ConeTwist->setLimit(SwingSpan1, SwingSpan2, TwistSpan, Softness, BiasFactor, RelaxationFactor); }

        Real ConeTwistConstraint::GetLimit(const Integer LimitIndex) const
            { return this->ConeTwist->getLimit(LimitIndex); }

        Real ConeTwistConstraint::GetSwingSpan1() const
            { return this->ConeTwist->getSwingSpan1(); }

        Real ConeTwistConstraint::GetSwingSpan2() const
            { return this->ConeTwist->getSwingSpan2(); }

        Real ConeTwistConstraint::GetTwistSpan() const
            { return this->ConeTwist->getTwistAngle(); }

        Real ConeTwistConstraint::GetLimitSoftness() const
            { return this->ConeTwist->getLimitSoftness(); }

        Real ConeTwistConstraint::GetBiasFactor() const
            { return this->ConeTwist->getBiasFactor(); }

        Real ConeTwistConstraint::GetRelaxationFactor() const
            { return this->ConeTwist->getRelaxationFactor(); }

        void ConeTwistConstraint::SetDamping(const Real Damping)
            { this->ConeTwist->setDamping(Damping); }

        Real ConeTwistConstraint::GetDamping() const
            { return this->ConeTwist->getDamping(); }

        void ConeTwistConstraint::SetMaxMotorImpulse(const Real MaxMotorImpulse)
            { this->ConeTwist->setMaxMotorImpulse(MaxMotorImpulse); }

        void ConeTwistConstraint::SetMaxMotorImpulseNormalized(const Real MaxMotorImpulse)
            { this->ConeTwist->setMaxMotorImpulseNormalized(MaxMotorImpulse); }

        Boole ConeTwistConstraint::IsMaxMotorImpulseNormalized() const
            { return this->ConeTwist->isMaxMotorImpulseNormalized(); }

        Real ConeTwistConstraint::GetMaxMotorImpulse() const
            { return this->ConeTwist->getMaxMotorImpulse(); }

        void ConeTwistConstraint::SetFixThresh(const Real FixThresh)
            { this->ConeTwist->setFixThresh(FixThresh); }

        Real ConeTwistConstraint::GetFixThresh() const
            { return this->ConeTwist->getFixThresh(); }

        void ConeTwistConstraint::SetMotorTarget(const Quaternion& Quat)
            { this->ConeTwist->setMotorTarget( Quat.GetBulletQuaternion() ); }

        void ConeTwistConstraint::SetMotorTargetInConstraintSpace(const Quaternion& Quat)
            { this->ConeTwist->setMotorTargetInConstraintSpace( Quat.GetBulletQuaternion() ); }

        Quaternion ConeTwistConstraint::GetMotorTarget() const
            { return Quaternion( this->ConeTwist->getMotorTarget() ); }

        ///////////////////////////////////////////////////////////////////////////////
        // Constraint Parameters

        Constraint::ParamList ConeTwistConstraint::GetValidParamsOnAxis(int Axis) const
        {
            Constraint::ParamList Results;
            // All params are valid on each of the 6 axes
            if( Axis >= 0 && Axis < 6 ) {
                Results.push_back(Con_ERP);
                Results.push_back(Con_Stop_ERP);
                Results.push_back(Con_CFM);
                Results.push_back(Con_Stop_CFM);
            }
            return Results;
        }

        Constraint::AxisList ConeTwistConstraint::GetValidLinearAxes() const
        {
            Constraint::AxisList Results;
            Results.push_back(0);
            Results.push_back(1);
            Results.push_back(2);
            return Results;
        }

        Constraint::AxisList ConeTwistConstraint::GetValidAngularAxes() const
        {
            Constraint::AxisList Results;
            Results.push_back(3);
            Results.push_back(4);
            Results.push_back(5);
            return Results;
        }

        Boole ConeTwistConstraint::HasParamBeenSet(Physics::ConstraintParam Param, int Axis) const
        {
            if( Param == Physics::Con_ERP || Param == Physics::Con_Stop_ERP ) {
                if( Axis >= 0 && Axis < 3 ) {
                    return ( this->ConeTwist->getFlags() & BT_CONETWIST_FLAGS_LIN_ERP );
                }else if( Axis >= 3 && Axis < 6 ) {
                    // This internally correlates to the biasfactor
                    return true;
                }
            }else if( Param == Physics::Con_CFM || Param == Physics::Con_Stop_CFM ) {
                if( Axis >= 0 && Axis < 3 ) {
                    return ( this->ConeTwist->getFlags() & BT_CONETWIST_FLAGS_LIN_CFM );
                }else if( Axis >= 3 && Axis < 6 ) {
                    return ( this->ConeTwist->getFlags() & BT_CONETWIST_FLAGS_ANG_CFM );
                }
            }
            return false;
        }

        ///////////////////////////////////////////////////////////////////////////////
        // Serialization

        void ConeTwistConstraint::ProtoSerializeProperties(XML::Node& SelfRoot) const
        {
            this->Constraint::ProtoSerializeProperties(SelfRoot);

            XML::Node PropertiesNode = SelfRoot.AppendChild( ConeTwistConstraint::GetSerializableName() + "Properties" );

            if( PropertiesNode.AppendAttribute("Version").SetValue("1") &&
                PropertiesNode.AppendAttribute("MotorEnabled").SetValue( this->IsMotorEnabled() ) &&
                PropertiesNode.AppendAttribute("AngularOnly").SetValue( this->GetAngularOnly() ) &&
                PropertiesNode.AppendAttribute("Damping").SetValue( this->GetDamping() ) &&
                PropertiesNode.AppendAttribute("MaxMotorImpulse").SetValue( this->GetMaxMotorImpulse() ) &&
                PropertiesNode.AppendAttribute("FixThreshold").SetValue( this->GetFixThresh() ) &&
                PropertiesNode.AppendAttribute("SwingSpan1").SetValue( this->GetSwingSpan1() ) &&
                PropertiesNode.AppendAttribute("SwingSpan2").SetValue( this->GetSwingSpan2() ) &&
                PropertiesNode.AppendAttribute("TwistSpan").SetValue( this->GetTwistSpan() ) &&
                PropertiesNode.AppendAttribute("LimitSoftness").SetValue( this->GetLimitSoftness() ) &&
                PropertiesNode.AppendAttribute("BiasFactor").SetValue( this->GetBiasFactor() ) &&
                PropertiesNode.AppendAttribute("RelaxationFactor").SetValue( this->GetRelaxationFactor() ) )
            {
                XML::Node MotorTargetNode = PropertiesNode.AppendChild("MotorTarget");
                this->GetMotorTarget().ProtoSerialize( MotorTargetNode );

                return;
            }else{
                SerializeError("Create XML Attribute Values",ConeTwistConstraint::GetSerializableName() + "Properties",true);
            }
        }

        void ConeTwistConstraint::ProtoDeSerializeProperties(const XML::Node& SelfRoot)
        {
            this->Constraint::ProtoDeSerializeProperties(SelfRoot);

            XML::Attribute CurrAttrib;
            XML::Node PropertiesNode = SelfRoot.GetChild( ConeTwistConstraint::GetSerializableName() + "Properties" );

            if( !PropertiesNode.Empty() ) {
                if(PropertiesNode.GetAttribute("Version").AsInt() == 1) {
                    Real ConeSwingSpan1 = 0.0;
                    Real ConeSwingSpan2 = 0.0;
                    Real ConeTwistSpan = 0.0;
                    Real ConeLimitSoftness = 1.0;
                    Real ConeBiasFactor = 0.3;
                    Real ConeRelaxationFactor = 1.0;

                    CurrAttrib = PropertiesNode.GetAttribute("MotorEnabled");
                    if( !CurrAttrib.Empty() )
                        this->EnableMotor( CurrAttrib.AsBool() );

                    CurrAttrib = PropertiesNode.GetAttribute("AngularOnly");
                    if( !CurrAttrib.Empty() )
                        this->SetAngularOnly( CurrAttrib.AsBool() );

                    CurrAttrib = PropertiesNode.GetAttribute("Damping");
                    if( !CurrAttrib.Empty() )
                        this->SetDamping( CurrAttrib.AsReal() );

                    CurrAttrib = PropertiesNode.GetAttribute("MaxMotorImpulse");
                    if( !CurrAttrib.Empty() )
                        this->SetMaxMotorImpulse( CurrAttrib.AsReal() );

                    CurrAttrib = PropertiesNode.GetAttribute("FixThreshold");
                    if( !CurrAttrib.Empty() )
                        this->SetFixThresh( CurrAttrib.AsReal() );

                    CurrAttrib = PropertiesNode.GetAttribute("SwingSpan1");
                    if( !CurrAttrib.Empty() )
                        ConeSwingSpan1 = CurrAttrib.AsReal();

                    CurrAttrib = PropertiesNode.GetAttribute("SwingSpan2");
                    if( !CurrAttrib.Empty() )
                        ConeSwingSpan2 = CurrAttrib.AsReal();

                    CurrAttrib = PropertiesNode.GetAttribute("TwistSpan");
                    if( !CurrAttrib.Empty() )
                        ConeTwistSpan = CurrAttrib.AsReal();

                    CurrAttrib = PropertiesNode.GetAttribute("LimitSoftness");
                    if( !CurrAttrib.Empty() )
                        ConeLimitSoftness = CurrAttrib.AsReal();

                    CurrAttrib = PropertiesNode.GetAttribute("BiasFactor");
                    if( !CurrAttrib.Empty() )
                        ConeBiasFactor = CurrAttrib.AsReal();

                    CurrAttrib = PropertiesNode.GetAttribute("RelaxationFactor");
                    if( !CurrAttrib.Empty() )
                        ConeRelaxationFactor = CurrAttrib.AsReal();

                    this->SetLimits(ConeSwingSpan1,ConeSwingSpan2,ConeTwistSpan,ConeLimitSoftness,ConeBiasFactor,ConeRelaxationFactor);

                    XML::Node MotorTargetNode = PropertiesNode.GetChild("MotorTarget").GetFirstChild();
                    if( !MotorTargetNode.Empty() ) {
                        Quaternion MotorTarget(MotorTargetNode);
                        this->SetMotorTarget(MotorTarget);
                    }
                }else{
                    MEZZ_EXCEPTION(ExceptionBase::INVALID_VERSION_EXCEPTION,"Incompatible XML Version for " + ( ConeTwistConstraint::GetSerializableName() + "Properties" ) + ": Not Version 1.");
                }
            }else{
                MEZZ_EXCEPTION(ExceptionBase::II_IDENTITY_NOT_FOUND_EXCEPTION,ConeTwistConstraint::GetSerializableName() + "Properties" + " was not found in the provided XML node, which was expected.");
            }
        }

        String ConeTwistConstraint::GetDerivedSerializableName() const
            { return ConeTwistConstraint::GetSerializableName(); }

        String ConeTwistConstraint::GetSerializableName()
            { return "ConeTwistConstraint"; }

        ///////////////////////////////////////////////////////////////////////////////
        // Internal

        btTypedConstraint* ConeTwistConstraint::_GetConstraintBase() const
            { return this->ConeTwist; }
    }//Physics
}//Mezzanine

#endif