point2pointconstraint.h

// © 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
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    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'
*/
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   Joseph Toppi - toppij@gmail.com
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*/
#ifndef _physicspoint2pointconstraint_h
#define _physicspoint2pointconstraint_h

#include "Physics/constraint.h"

class btPoint2PointConstraint;

namespace Mezzanine
{
    namespace Physics
    {
        ///////////////////////////////////////////////////////////////////////////////
        /// @class Point2PointConstraint
        /// @brief Tries to make a point relative to each of two actors match in 3d space, without regard to rotation.
        /// @details This will translate (push around) the actors to attempt to get the offsets to match up in 3d space.
        /// The actors can freely rotate about their relative offsets.
        ///////////////////////////////////////
        class MEZZ_LIB Point2PointConstraint : public Constraint
        {
        protected:
            /// @internal
            /// @brief The internal constraint that this class encapsulates.
            btPoint2PointConstraint* Point2Point;

            /// @internal
            /// @brief Creates the internal constraint.
            /// @remarks This methods exists primarily as a convenience for serialization, and shouldn't be called unless it is known to be safe.
            /// @param RigidA A pointer to the first Proxy to be constrained.
            /// @param RigidB A pointer to the second Proxy to be constrained.
            /// @param PivotA The location in ProxyA's local space to apply the constraint to.
            /// @param PivotB The location in ProxyB's local space to apply the constraint to.
            virtual void CreateConstraint(RigidProxy* RigidA, RigidProxy* RigidB, const Vector3& PivotA, const Vector3& PivotB);
            /// @internal
            /// @brief Destroys the internal constraint.
            /// @remarks This methods exists primarily as a convenience for serialization, and shouldn't be called unless it is known to be safe.
            virtual void DestroyConstraint();
        public:
            /// @brief Double body constructor.  Binds the two bodies.
            /// @param ID The unique identifier assigned to this constraint.
            /// @param ProxyA The first proxy to apply this constraint to.
            /// @param ProxyB The second proxy to apply this constraint to.
            /// @param PivotA The location in ProxyA's local space to apply the constraint to.
            /// @param PivotB The location in ProxyB's local space to apply the constraint to.
            /// @param Creator A pointer to the manager that created this constraint.
            Point2PointConstraint(const UInt32 ID, RigidProxy* ProxyA, RigidProxy* ProxyB, const Vector3& PivotA, const Vector3& PivotB, PhysicsManager* Creator);
            /// @brief Single body constructor.  Binds the body to world space.
            /// @param ID The unique identifier assigned to this constraint.
            /// @param ProxyA The proxy to apply this constraint to.
            /// @param PivotA The position relative to ProxyA's center of gravity to "Pin" to the world.
            /// @param Creator A pointer to the manager that created this constraint.
            Point2PointConstraint(const UInt32 ID, RigidProxy* ProxyA, const Vector3& PivotA, PhysicsManager* Creator);
            /// @brief XML constructor.
            /// @param SelfRoot An XML::Node containing the data to populate this class with.
            /// @param Creator A pointer to the manager that created this constraint.
            Point2PointConstraint(const XML::Node& SelfRoot, PhysicsManager* Creator);
            /// @brief Class destructor.
            virtual ~Point2PointConstraint();

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

            /// @brief Set offset of the first proxy.
            /// @param PivotA The offset as a Vector3 relative to the center of mass of ProxyA.
            virtual void SetPivotA(const Vector3& PivotA);
            /// @brief Set offset of the second proxy.
            /// @param PivotB The offset as a Vector3 relative to the center of mass of ProxyB.
            virtual void SetPivotB(const Vector3& PivotB);
            /// @brief Get offset of the first proxy.
            /// @return The offset as a Vector3 relative to the center of mass of ProxyA.
            virtual Vector3 GetPivotA() const;
            /// @brief Get offset of the second proxy.
            /// @return The offset as a Vector3 relative to the center of mass of ProxyB.
            virtual Vector3 GetPivotB() const;

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

            /// @brief Set the current impulse clamping on the constraint.
            /// @param Clamping This is a value that the constraint solver can use to adjust accumlated values when solving the constraint.
            virtual void SetImpulseClamping(const Real Clamping);
            /// @brief get the current impulse clamping value.
            /// @return A real with the Clamping.
            virtual Real GetImpulseClamping() const;
            /// @brief Set a resistive force against the constraint, not too dissimilar to from hinge friction or Air resistance.
            /// @param Damping A real with the desired values.
            virtual void SetDamping(const Real Damping);
            /// @brief Get the current Damping.
            /// @return A Real with the Damping value.
            virtual Real GetDamping() const;
            /// @brief This may be a scalar for how strongly Angular momentum affects linear momemtum.
            /// @todo Research this more carefully.
            /// @details This function is a tightly wrapped bullet 3d function. No real documentation for it exists, from its responsibility/location in Bullet3d and
            /// a basic understanding of torque ( see http://en.wikipedia.org/wiki/Torque ) It is highly likely that it is a value to adjust how torque affects momentum.
            virtual void SetTAU(const Real TAU);
            /// @brief Retrieve the Tau Setting.
            /// @return The Tau value as a Real.
            virtual Real GetTAU() const;

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

            /// @copydoc Constraint::GetValidParamsOnAxis(int) const
            virtual Constraint::ParamList GetValidParamsOnAxis(int Axis) const;
            /// @copydoc Constraint::GetValidLinearAxes() const
            virtual Constraint::AxisList GetValidLinearAxes() const;
            /// @copydoc Constraint::GetValidAngularAxes() const
            virtual Constraint::AxisList GetValidAngularAxes() const;
            /// @copydoc Constraint::ValidAngularAxis(ConstraintParam,int) const
            virtual Boole HasParamBeenSet(ConstraintParam Param, int Axis) const;

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

            /// @copydoc Constraint::ProtoSerializeInitData(XML::Node&) const
            virtual void ProtoSerializeInitData(XML::Node& SelfRoot) const;
            /// @copydoc Constraint::ProtoSerializeProperties(XML::Node&) const
            virtual void ProtoSerializeProperties(XML::Node& SelfRoot) const;

            /// @copydoc Constraint::ProtoDeSerializeInitData(const XML::Node&)
            virtual void ProtoDeSerializeInitData(const XML::Node& SelfRoot);
            /// @copydoc Constraint::ProtoDeSerializeProperties(const XML::Node&)
            virtual void ProtoDeSerializeProperties(const XML::Node& SelfRoot);

            /// @copydoc Constraint::GetDerivedSerializableName() const
            virtual String GetDerivedSerializableName() const;
            /// @brief Get the name of the the XML tag the class will leave behind as its instances are serialized.
            /// @return A string containing the name of this class.
            static String GetSerializableName();

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

            /// @copydoc Constraint::_GetConstraintBase() const
            virtual btTypedConstraint* _GetConstraintBase() const;
        };//Point2PointConstraint
    }//Physics
}//Mezzanine

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

#ifndef SWIG
/// @copydoc operator << (std::ostream& stream, const Mezzanine::Physics::Constraint& x)
std::ostream& MEZZ_LIB operator << (std::ostream& stream, const Mezzanine::Physics::Point2PointConstraint& x);
/// @copydoc operator >> (std::istream& stream, Mezzanine::Physics::Constraint& x)
std::istream& MEZZ_LIB operator >> (std::istream& stream, Mezzanine::Physics::Point2PointConstraint& x);
/// @copydoc operator >> (const Mezzanine::XML::Node& OneNode, Mezzanine::Physics::Constraint& x)
void operator >> (const Mezzanine::XML::Node& OneNode, Mezzanine::Physics::Point2PointConstraint& x);
#endif

#endif