point2pointconstraint.cpp

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

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*/
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*/
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#ifndef _physicspoint2pointconstraint_cpp
#define _physicspoint2pointconstraint_cpp

#include "Physics/point2pointconstraint.h"
#include "Physics/physicsmanager.h"
#include "Physics/rigidproxy.h"

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

#include <btBulletDynamicsCommon.h>

namespace Mezzanine
{
    namespace Physics
    {
        ////////////////////////////////////////////////////////////////////////////////
        // Point2PointConstraint Methods

        Point2PointConstraint::Point2PointConstraint(const UInt32 ID, RigidProxy* ProxyA, RigidProxy* ProxyB, const Vector3& PivotA, const Vector3& PivotB, PhysicsManager* Creator) :
            Constraint(ID,ProxyA,ProxyB,Creator),
            Point2Point(NULL)
            { this->CreateConstraint(ProxyA,ProxyB,PivotA,PivotB); }

        Point2PointConstraint::Point2PointConstraint(const UInt32 ID, RigidProxy* ProxyA, const Vector3& PivotA, PhysicsManager* Creator) :
            Constraint(ID,ProxyA,Creator),
            Point2Point(NULL)
            { this->CreateConstraint(ProxyA,NULL,PivotA,Vector3()); }

        Point2PointConstraint::Point2PointConstraint(const XML::Node& SelfRoot, PhysicsManager* Creator) :
            Constraint(0,NULL,Creator),
            Point2Point(NULL)
            { this->ProtoDeSerialize(SelfRoot); }

        Point2PointConstraint::~Point2PointConstraint()
            { this->DestroyConstraint(); }

        void Point2PointConstraint::CreateConstraint(RigidProxy* RigidA, RigidProxy* RigidB, const Vector3& PivotA, const Vector3& PivotB)
        {
            if( this->Point2Point == NULL ) {
                if( RigidA && RigidB ) {
                    this->Point2Point = new btPoint2PointConstraint(*(RigidA->_GetPhysicsObject()),*(RigidB->_GetPhysicsObject()),PivotA.GetBulletVector3(),PivotB.GetBulletVector3());
                }else if( RigidA ) {
                    this->Point2Point = new btPoint2PointConstraint(*(RigidA->_GetPhysicsObject()),PivotA.GetBulletVector3());
                }
            }
        }

        void Point2PointConstraint::DestroyConstraint()
        {
            this->EnableConstraint(false);
            if( this->Point2Point != NULL ) {
                delete this->Point2Point;
                this->Point2Point = NULL;
            }
            this->ProxA = NULL;
            this->ProxB = NULL;
        }

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

        void Point2PointConstraint::SetPivotA(const Vector3& PivotA)
            { this->Point2Point->setPivotA(PivotA.GetBulletVector3()); }

        void Point2PointConstraint::SetPivotB(const Vector3& PivotB)
            { this->Point2Point->setPivotB(PivotB.GetBulletVector3()); }

        Vector3 Point2PointConstraint::GetPivotA() const
            { return Vector3(this->Point2Point->getPivotInA()); }

        Vector3 Point2PointConstraint::GetPivotB() const
            { return Vector3(this->Point2Point->getPivotInB()); }

        ////////////////////////////////////////////////////////////////////////////////
        // Specific Physics Settings

        void Point2PointConstraint::SetImpulseClamping(Real Clamping)
            { this->Point2Point->m_setting.m_impulseClamp = Clamping; }

        Real Point2PointConstraint::GetImpulseClamping() const
            { return this->Point2Point->m_setting.m_impulseClamp; }

        void Point2PointConstraint::SetDamping(Real Damping)
            { this->Point2Point->m_setting.m_damping = Damping; }

        Real Point2PointConstraint::GetDamping() const
            { return this->Point2Point->m_setting.m_damping; }

        void Point2PointConstraint::SetTAU(Real TAU)
            { this->Point2Point->m_setting.m_tau = TAU; }

        Real Point2PointConstraint::GetTAU() const
            { return this->Point2Point->m_setting.m_tau; }

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

        Constraint::ParamList Point2PointConstraint::GetValidParamsOnAxis(int Axis) const
        {
            Constraint::ParamList Results;
            if( -1 == Axis ) {
                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 Point2PointConstraint::GetValidLinearAxes() const
        {
            Constraint::AxisList Results;
            Results.push_back(-1);
            return Results;
        }

        Constraint::AxisList Point2PointConstraint::GetValidAngularAxes() const
        {
            Constraint::AxisList Results;
            return Results;
        }

        Boole Point2PointConstraint::HasParamBeenSet(ConstraintParam Param, int Axis) const
        {
            //return this->Point2Point->hasParamBeenSet(Param,Axis);
            // the logic here should match the logic in the source at http://bulletphysics.com/Bullet/BulletFull/btPoint2PointConstraint_8cpp_source.html#l00202
            if( -1 != Axis ) {
                return false;
            }

            return ( ( Con_ERP == Param || Con_Stop_ERP == Param ) && this->Point2Point->getFlags() & BT_P2P_FLAGS_ERP ) ||   //If we are checking erp OR we are checking stoperp AND the erp Flag is set OR
                   ( ( Con_CFM == Param || Con_Stop_CFM == Param ) && this->Point2Point->getFlags() & BT_P2P_FLAGS_CFM );     //   we are checking cfm OR we are checking stopcfm AND the cfm Flag is set
        }

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

        void Point2PointConstraint::ProtoSerializeInitData(XML::Node& SelfRoot) const
        {
            XML::Node InitDataNode = SelfRoot.AppendChild( Point2PointConstraint::GetSerializableName() + "InitData" );

            if( InitDataNode.AppendAttribute("Version").SetValue("1") &&
                ( this->ProxA != NULL ? InitDataNode.AppendAttribute("ProxyA-ID").SetValue( this->ProxA->GetProxyID() ) : false ) &&
                ( this->ProxB != NULL ? InitDataNode.AppendAttribute("ProxyB-ID").SetValue( this->ProxB->GetProxyID() ) : false ) )
            {
                if( this->ProxA != NULL ) {
                    XML::Node PivotANode = InitDataNode.AppendChild("PivotA");
                    this->GetPivotA().ProtoSerialize( PivotANode );
                }
                if( this->ProxB != NULL ) {
                    XML::Node PivotBNode = InitDataNode.AppendChild("PivotB");
                    this->GetPivotB().ProtoSerialize( PivotBNode );
                }

                return;
            }else{
                SerializeError("Create XML Attribute Values",Point2PointConstraint::GetSerializableName() + "InitData",true);
            }
        }

        void Point2PointConstraint::ProtoSerializeProperties(XML::Node& SelfRoot) const
        {
            this->Constraint::ProtoSerializeProperties(SelfRoot);

            XML::Node PropertiesNode = SelfRoot.AppendChild( Point2PointConstraint::GetSerializableName() + "Properties" );

            if( PropertiesNode.AppendAttribute("Version").SetValue("1") &&
                PropertiesNode.AppendAttribute("ImpulseClamping").SetValue( this->GetImpulseClamping() ) &&
                PropertiesNode.AppendAttribute("Damping").SetValue( this->GetDamping() ) &&
                PropertiesNode.AppendAttribute("TAU").SetValue( this->GetTAU() ) )
            {
                return;
            }else{
                SerializeError("Create XML Attribute Values",Point2PointConstraint::GetSerializableName() + "Properties",true);
            }
        }

        void Point2PointConstraint::ProtoDeSerializeInitData(const XML::Node& SelfRoot)
        {
            this->DestroyConstraint();

            XML::Attribute CurrAttrib;
            XML::Node InitDataNode = SelfRoot.GetChild( Point2PointConstraint::GetSerializableName() + "InitData" );

            if( !InitDataNode.Empty() ) {
                if(InitDataNode.GetAttribute("Version").AsInt() == 1) {
                    Vector3 PivotA;
                    Vector3 PivotB;

                    CurrAttrib = InitDataNode.GetAttribute("ProxyA-ID");
                    if( !CurrAttrib.Empty() )
                        this->ProxA = static_cast<RigidProxy*>( this->Manager->GetProxyByID( CurrAttrib.AsUint() ) );

                    CurrAttrib = InitDataNode.GetAttribute("ProxyB-ID");
                    if( !CurrAttrib.Empty() )
                        this->ProxB = static_cast<RigidProxy*>( this->Manager->GetProxyByID( CurrAttrib.AsUint() ) );

                    XML::Node PivotANode = InitDataNode.GetChild("PivotA").GetFirstChild();
                    if( !PivotANode.Empty() ) {
                        PivotA.ProtoDeSerialize(PivotANode);
                    }

                    XML::Node PivotBNode = InitDataNode.GetChild("PivotB").GetFirstChild();
                    if( !PivotBNode.Empty() ) {
                        PivotB.ProtoDeSerialize(PivotBNode);
                    }

                    this->CreateConstraint(this->ProxA,this->ProxB,PivotA,PivotB);
                }else{
                    MEZZ_EXCEPTION(ExceptionBase::INVALID_VERSION_EXCEPTION,"Incompatible XML Version for " + ( Point2PointConstraint::GetSerializableName() + "InitData" ) + ": Not Version 1.");
                }
            }else{
                MEZZ_EXCEPTION(ExceptionBase::II_IDENTITY_NOT_FOUND_EXCEPTION,Point2PointConstraint::GetSerializableName() + "InitData" + " was not found in the provided XML node, which was expected.");
            }
        }

        void Point2PointConstraint::ProtoDeSerializeProperties(const XML::Node& SelfRoot)
        {
            this->Constraint::ProtoDeSerializeProperties(SelfRoot);

            XML::Attribute CurrAttrib;
            XML::Node PropertiesNode = SelfRoot.GetChild( Point2PointConstraint::GetSerializableName() + "Properties" );

            if( !PropertiesNode.Empty() ) {
                if(PropertiesNode.GetAttribute("Version").AsInt() == 1) {
                    CurrAttrib = PropertiesNode.GetAttribute("ImpulseClamping");
                    if( !CurrAttrib.Empty() )
                        this->SetImpulseClamping( CurrAttrib.AsReal() );

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

                    CurrAttrib = PropertiesNode.GetAttribute("TAU");
                    if( !CurrAttrib.Empty() )
                        this->SetTAU( CurrAttrib.AsReal() );
                }else{
                    MEZZ_EXCEPTION(ExceptionBase::INVALID_VERSION_EXCEPTION,"Incompatible XML Version for " + ( Point2PointConstraint::GetSerializableName() + "Properties" ) + ": Not Version 1.");
                }
            }else{
                MEZZ_EXCEPTION(ExceptionBase::II_IDENTITY_NOT_FOUND_EXCEPTION,Point2PointConstraint::GetSerializableName() + "Properties" + " was not found in the provided XML node, which was expected.");
            }
        }

        String Point2PointConstraint::GetDerivedSerializableName() const
            { return Point2PointConstraint::GetSerializableName(); }

        String Point2PointConstraint::GetSerializableName()
            { return "Point2PointConstraint"; }

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

        btTypedConstraint* Point2PointConstraint::_GetConstraintBase() const
            { return this->Point2Point; }
    }//Physics
}//Mezzanine


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

std::ostream& operator << (std::ostream& stream, const Mezzanine::Physics::Point2PointConstraint& x)
{
    Mezzanine::Serialize(stream,x);
    return stream;
}

std::istream& operator >> (std::istream& stream, Mezzanine::Physics::Point2PointConstraint& x)
    { return Mezzanine::DeSerialize(stream, x); }

void operator >> (const Mezzanine::XML::Node& OneNode, Mezzanine::Physics::Point2PointConstraint& x)
    { x.ProtoDeSerialize(OneNode); }

#endif