hingeconstraint.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
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*/
/* 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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*/
#ifndef _physicshingeconstraint_cpp
#define _physicshingeconstraint_cpp

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

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

#include <btBulletDynamicsCommon.h>

namespace Mezzanine
{
    namespace Physics
    {
        ////////////////////////////////////////////////////////////////////////////////
        // Hinge Constraint Functions

        HingeConstraint::HingeConstraint(const UInt32 ID, RigidProxy* ProxyA, RigidProxy* ProxyB, const Vector3& PivotInA, const Vector3& PivotInB, const Vector3& AxisInA, const Vector3& AxisInB, PhysicsManager* Creator) :
            DualTransformConstraint(ID,ProxyA,ProxyB,Creator),
            Hinge(NULL)
            { this->CreateConstraint(ProxyA,ProxyB,PivotInA,PivotInB,AxisInA,AxisInB); }

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

        HingeConstraint::HingeConstraint(const UInt32 ID, RigidProxy* ProxyA, const Vector3& PivotInA, const Vector3& AxisInA, PhysicsManager* Creator) :
            DualTransformConstraint(ID,ProxyA,Creator),
            Hinge(NULL)
            { this->CreateConstraint(ProxyA,NULL,PivotInA,Vector3(),AxisInA,Vector3()); }

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

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

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

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

        void HingeConstraint::CreateConstraint(RigidProxy* RigidA, RigidProxy* RigidB, const Vector3& PivotInA, const Vector3& PivotInB, const Vector3& AxisInA, const Vector3& AxisInB)
        {
            if( this->Hinge == NULL ) {
                if( RigidA && RigidB ) {
                    this->Hinge = new btHingeConstraint(*(RigidA->_GetPhysicsObject()),*(RigidB->_GetPhysicsObject()),PivotInA.GetBulletVector3(),PivotInB.GetBulletVector3(),AxisInA.GetBulletVector3(),AxisInB.GetBulletVector3(),false);
                }else if( RigidA ) {
                    this->Hinge = new btHingeConstraint(*(RigidA->_GetPhysicsObject()),PivotInA.GetBulletVector3(),AxisInA.GetBulletVector3(),false);
                }
            }
        }

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

        ////////////////////////////////////////////////////////////////////////////////
        // Position and Orientation

        void HingeConstraint::SetPivotTransforms(const Transform& TransA, const Transform& TransB)
            { this->Hinge->setFrames(TransA.GetBulletTransform(),TransB.GetBulletTransform()); }

        void HingeConstraint::SetPivotATransform(const Transform& TransA)
            { this->Hinge->setFrames(TransA.GetBulletTransform(),this->Hinge->getBFrame()); }

        void HingeConstraint::SetPivotBTransform(const Transform& TransB)
            { this->Hinge->setFrames(this->Hinge->getAFrame(),TransB.GetBulletTransform()); }

        Transform HingeConstraint::GetPivotATransform() const
            { return Transform(this->Hinge->getAFrame()); }

        Transform HingeConstraint::GetPivotBTransform() const
            { return Transform(this->Hinge->getBFrame()); }

        void HingeConstraint::SetPivotALocation(const Vector3& Location)
            { this->Hinge->getAFrame().setOrigin(Location.GetBulletVector3()); }

        void HingeConstraint::SetPivotBLocation(const Vector3& Location)
            { this->Hinge->getBFrame().setOrigin(Location.GetBulletVector3()); }

        Vector3 HingeConstraint::GetPivotALocation() const
            { return Vector3(this->Hinge->getAFrame().getOrigin()); }

        Vector3 HingeConstraint::GetPivotBLocation() const
            { return Vector3(this->Hinge->getBFrame().getOrigin()); }

        void HingeConstraint::SetAPivotRotation(const Quaternion& Rotation)
            { this->Hinge->getBFrame().setRotation(Rotation.GetBulletQuaternion()); }

        void HingeConstraint::SetBPivotRotation(const Quaternion& Rotation)
            { this->Hinge->getBFrame().setRotation(Rotation.GetBulletQuaternion()); }

        Quaternion HingeConstraint::GetAPivotRotation() const
            { return Quaternion(this->Hinge->getAFrame().getRotation()); }

        Quaternion HingeConstraint::GetBPivotRotation() const
            { return Quaternion(this->Hinge->getBFrame().getRotation()); }

        ////////////////////////////////////////////////////////////////////////////////
        // Utility

        void HingeConstraint::SetAxis(const Vector3& AxisInA)
            { btVector3 Temp = AxisInA.GetBulletVector3();  this->Hinge->setAxis(Temp); }

        Real HingeConstraint::GetHingeAngle()
            { return this->Hinge->getHingeAngle(); }

        void HingeConstraint::SetUseFrameOffset(const Boole FrameOffset)
            { this->Hinge->setUseFrameOffset(FrameOffset); }

        Boole HingeConstraint::GetUseFrameOffset() const
            { return this->Hinge->getUseFrameOffset(); }

        void HingeConstraint::SetUseReferenceFrameA(const Boole UseReferenceFrameA)
            { this->Hinge->setUseReferenceFrameA(UseReferenceFrameA); }

        Boole HingeConstraint::GetUseReferenceFrameA() const
            { return this->Hinge->getUseReferenceFrameA(); }

        ////////////////////////////////////////////////////////////////////////////////
        // Limits

        void HingeConstraint::SetLimits(Real Low, Real High, Real Softness, Real BiasFactor, Real RelaxationFactor)
            { this->Hinge->setLimit(Low, High, Softness, BiasFactor, RelaxationFactor); }

        Real HingeConstraint::GetLimitLow() const
            { return this->Hinge->getLowerLimit(); }

        Real HingeConstraint::GetLimitHigh() const
            { return this->Hinge->getUpperLimit(); }

        Real HingeConstraint::GetLimitSoftness() const
            { return this->Hinge->getLimitSoftness(); }

        Real HingeConstraint::GetLimitBiasFactor() const
            { return this->Hinge->getLimitBiasFactor(); }

        Real HingeConstraint::GetLimitRelaxationFactor() const
            { return this->Hinge->getLimitRelaxationFactor(); }

        ////////////////////////////////////////////////////////////////////////////////
        // Angular Motor

        void HingeConstraint::EnableMotor(const Boole EnableMotor, const Real TargetVelocity, const Real MaxMotorImpulse)
            { this->Hinge->enableAngularMotor(EnableMotor, TargetVelocity, MaxMotorImpulse); }

        void HingeConstraint::SetMotorEnabled(const Boole EnableMotor)
            { this->Hinge->enableMotor(EnableMotor); }

        Boole HingeConstraint::GetMotorEnabled() const
            { return this->Hinge->getEnableAngularMotor(); }

        void HingeConstraint::SetMaxMotorImpulse(const Real MaxMotorImpulse)
            { this->Hinge->setMaxMotorImpulse(MaxMotorImpulse); }

        Real HingeConstraint::GetMaxMotorImpulse() const
            { return this->Hinge->getMaxMotorImpulse(); }

        void HingeConstraint::SetMotorTargetVelocity(const Real TargetVelocity)
            { this->Hinge->setMotorTargetVelocity(TargetVelocity); }

        Real HingeConstraint::GetMotorTargetVelocity() const
            { return this->Hinge->getMotorTargetVelosity(); }

        void HingeConstraint::SetMotorTarget(const Quaternion& QuatAInB, const Real Delta)
            { this->Hinge->setMotorTarget(QuatAInB.GetBulletQuaternion(),Delta); }

        void HingeConstraint::SetMotorTarget(const Real TargetAngle, const Real Delta)
            { this->Hinge->setMotorTarget(TargetAngle,Delta); }

        ////////////////////////////////////////////////////////////////////////////////
        // Parameter Configuration

        Constraint::ParamList HingeConstraint::GetValidParamsOnAxis(int Axis) const
        {
            Constraint::ParamList Results;
            if( -1 == Axis || 5 == Axis ) {
                Results.push_back(Con_Stop_ERP);
                Results.push_back(Con_CFM);
                Results.push_back(Con_Stop_CFM);
            }
            return Results;
        }

        Constraint::AxisList HingeConstraint::GetValidLinearAxes() const
        {
            Constraint::AxisList Results;
            Results.push_back(-1);
            return Results;
        }

        Constraint::AxisList HingeConstraint::GetValidAngularAxes() const
        {
            Constraint::AxisList Results;
            Results.push_back(5);
            return Results;
        }

        Boole HingeConstraint::HasParamBeenSet(ConstraintParam Param, int Axis) const
        {
            // the logic here should match the logic in the source at http://bulletphysics.com/Bullet/BulletFull/btHingeConstraint_8cpp_source.html#l00962
            if ( -1!=Axis && 5!=Axis )
                { return false; }
            return  ( Con_Stop_ERP==Param && this->Hinge->getFlags() & BT_HINGE_FLAGS_ERP_STOP )   ||  //if we are checking the stop_erp AND the stop_erp bit is set
                    ( Con_Stop_CFM==Param && this->Hinge->getFlags() & BT_HINGE_FLAGS_CFM_STOP )   ||  //if we are checking the stop_cfm AND the stop_cfm bit is set
                    ( Con_CFM==Param      && this->Hinge->getFlags() & BT_HINGE_FLAGS_CFM_NORM )   ;   //if we are checking the cfm AND the cfm bit is set
        }

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

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

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

            if( PropertiesNode.AppendAttribute("Version").SetValue("1") &&
                PropertiesNode.AppendAttribute("UseFrameOffset").SetValue( this->GetUseFrameOffset() ) &&
                PropertiesNode.AppendAttribute("UseReferenceFrameA").SetValue( this->GetUseReferenceFrameA() ) &&
                PropertiesNode.AppendAttribute("LimitLow").SetValue( this->GetLimitLow() ) &&
                PropertiesNode.AppendAttribute("LimitHigh").SetValue( this->GetLimitHigh() ) &&
                PropertiesNode.AppendAttribute("LimitSoftness").SetValue( this->GetLimitSoftness() ) &&
                PropertiesNode.AppendAttribute("LimitBiasFactor").SetValue( this->GetLimitBiasFactor() ) &&
                PropertiesNode.AppendAttribute("LimitRelaxationFactor").SetValue( this->GetLimitRelaxationFactor() ) &&
                PropertiesNode.AppendAttribute("MotorEnabled").SetValue( this->GetMotorEnabled() ) &&
                PropertiesNode.AppendAttribute("MaxMotorImpulse").SetValue( this->GetMaxMotorImpulse() ) &&
                PropertiesNode.AppendAttribute("MotorTargetVelocity").SetValue( this->GetMotorTargetVelocity() ) )
            {
                return;
            }else{
                SerializeError("Create XML Attribute Values",HingeConstraint::GetSerializableName() + "Properties",true);
            }
        }

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

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

            if( !PropertiesNode.Empty() ) {
                if( PropertiesNode.GetAttribute("Version").AsInt() == 1 ) {
                    Real LimitLow = 0.0;
                    Real LimitHigh = 0.0;
                    Real LimitSoftness = 0.9;
                    Real LimitBiasFactor = 0.3;
                    Real LimitRelaxationFactor = 1.0;

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

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

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

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

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

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

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

                    this->SetLimits(LimitLow,LimitHigh,LimitSoftness,LimitBiasFactor,LimitRelaxationFactor);

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

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

                    CurrAttrib = PropertiesNode.GetAttribute("MotorTargetVelocity");
                    if( !CurrAttrib.Empty() )
                        this->SetMotorTargetVelocity( CurrAttrib.AsReal() );
                }else{
                    MEZZ_EXCEPTION(ExceptionBase::INVALID_VERSION_EXCEPTION,"Incompatible XML Version for " + ( HingeConstraint::GetSerializableName() + "Properties" ) + ": Not Version 1.");
                }
            }else{
                MEZZ_EXCEPTION(ExceptionBase::II_IDENTITY_NOT_FOUND_EXCEPTION,HingeConstraint::GetSerializableName() + "Properties" + " was not found in the provided XML node, which was expected.");
            }
        }

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

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

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

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

///////////////////////////////////////////////////////////////////////////////
// Class External << Operators for streaming or assignment

std::ostream& operator << (std::ostream& stream, const Mezzanine::Physics::HingeConstraint& x)
{
    Mezzanine::Serialize(stream,x);
    return stream;
}

std::istream& operator >> (std::istream& stream, Mezzanine::Physics::HingeConstraint& x)
    { return Mezzanine::DeSerialize(stream, x); }

void operator >> (const Mezzanine::XML::Node& OneNode, Mezzanine::Physics::HingeConstraint& x)
    { x.ProtoDeSerialize(OneNode); }

#endif