sliderconstraint.cpp

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

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*/
/* The original authors have included a copy of the license specified above in the
   'Docs' folder. See 'gpl.txt'
*/
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*/
#ifndef _physicssliderconstraint_cpp
#define _physicssliderconstraint_cpp

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

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

#include <btBulletDynamicsCommon.h>

namespace Mezzanine
{
    namespace Physics
    {
        /////////////////////////////////////////
        // Slider Constraint Functions

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

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

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

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

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

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

        ////////////////////////////////////////////////////////////////////////////////
        // Location and Rotation

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

        void SliderConstraint::SetPivotATransform(const Transform& TranA)
            { this->Slider->getFrameOffsetA() = TranA.GetBulletTransform(); }

        void SliderConstraint::SetPivotBTransform(const Transform& TranB)
            { this->Slider->getFrameOffsetB() = TranB.GetBulletTransform(); }

        Transform SliderConstraint::GetPivotATransform() const
            { return this->Slider->getFrameOffsetA(); }

        Transform SliderConstraint::GetPivotBTransform() const
            { return this->Slider->getFrameOffsetB(); }

        void SliderConstraint::SetPivotALocation(const Vector3& Location)
            { this->Slider->getFrameOffsetA().setOrigin(Location.GetBulletVector3()); }

        void SliderConstraint::SetPivotBLocation(const Vector3& Location)
            { this->Slider->getFrameOffsetB().setOrigin(Location.GetBulletVector3()); }

        Vector3 SliderConstraint::GetPivotALocation() const
            { return Vector3(this->Slider->getFrameOffsetA().getOrigin()); }

        Vector3 SliderConstraint::GetPivotBLocation() const
            { return Vector3(this->Slider->getFrameOffsetB().getOrigin()); }

        void SliderConstraint::SetPivotARotation(const Quaternion& Rotation)
            { this->Slider->getFrameOffsetA().setRotation(Rotation.GetBulletQuaternion()); }

        void SliderConstraint::SetPivotBRotation(const Quaternion& Rotation)
            { this->Slider->getFrameOffsetA().setRotation(Rotation.GetBulletQuaternion()); }

        Quaternion SliderConstraint::GetPivotARotation() const
            { return Quaternion(this->Slider->getFrameOffsetA().getRotation()); }

        Quaternion SliderConstraint::GetPivotBRotation() const
            { return Quaternion(this->Slider->getFrameOffsetB().getRotation()); }

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

        void SliderConstraint::SetUseFrameOffset(const Boole FrameOffset)
            { this->Slider->setUseFrameOffset(FrameOffset); }

        Boole SliderConstraint::GetUseFrameOffset() const
            { return this->Slider->getUseFrameOffset(); }

        void SliderConstraint::SetUpperLinLimit(const Real UpperLimit)
            { this->Slider->setUpperLinLimit(UpperLimit); }

        Real SliderConstraint::GetUpperLinLimit() const
            { return this->Slider->getUpperLinLimit(); }

        void SliderConstraint::SetUpperAngLimit(const Real UpperLimit)
            { this->Slider->setUpperAngLimit(UpperLimit); }

        Real SliderConstraint::GetUpperAngLimit() const
            { return this->Slider->getUpperAngLimit(); }

        void SliderConstraint::SetLowerLinLimit(const Real LowerLimit)
            { this->Slider->setLowerLinLimit(LowerLimit); }

        Real SliderConstraint::GetLowerLinLimit() const
            { return this->Slider->getLowerLinLimit(); }

        void SliderConstraint::SetLowerAngLimit(const Real LowerLimit)
            { this->Slider->setLowerAngLimit(LowerLimit); }

        Real SliderConstraint::GetLowerAngLimit() const
            { return this->Slider->getLowerAngLimit(); }

        void SliderConstraint::SetPoweredLinMotor(const Boole OnOff)
            { this->Slider->setPoweredLinMotor(OnOff); }

        Boole SliderConstraint::GetPoweredLinMotor() const
            { return this->Slider->getPoweredLinMotor(); }

        void SliderConstraint::SetPoweredAngMotor(const Boole OnOff)
            { this->Slider->setPoweredAngMotor(OnOff); }

        Boole SliderConstraint::GetPoweredAngMotor() const
            { return this->Slider->getPoweredAngMotor(); }

        void SliderConstraint::SetTargetLinMotorVelocity(const Real TargetLinMotorVelocity)
            { this->Slider->setTargetLinMotorVelocity(TargetLinMotorVelocity); }

        Real SliderConstraint::GetTargetLinMotorVelocity() const
            { return this->Slider->getTargetLinMotorVelocity(); }

        void SliderConstraint::SetTargetAngMotorVelocity(const Real TargetAngMotorVelocity)
            { this->Slider->setTargetAngMotorVelocity(TargetAngMotorVelocity); }

        Real SliderConstraint::GetTargetAngMotorVelocity() const
            { return this->Slider->getTargetAngMotorVelocity(); }

        void SliderConstraint::SetMaxLinMotorForce(const Real MaxLinMotorForce)
            { this->Slider->setMaxLinMotorForce(MaxLinMotorForce); }

        Real SliderConstraint::GetMaxLinMotorForce() const
            { return this->Slider->getMaxLinMotorForce(); }

        void SliderConstraint::SetMaxAngMotorForce(const Real MaxAngMotorForce)
            { this->Slider->setMaxAngMotorForce(MaxAngMotorForce); }

        Real SliderConstraint::GetMaxAngMotorForce() const
            { return this->Slider->getMaxAngMotorForce(); }

        void SliderConstraint::SetSoftnessLimLin(const Real SoftnessLimLin)
            { this->Slider->setSoftnessLimLin(SoftnessLimLin); }

        Real SliderConstraint::GetSoftnessLimLin() const
            { return this->Slider->getSoftnessLimLin(); }

        void SliderConstraint::SetSoftnessLimAng(const Real SoftnessLimAng)
            { this->Slider->setSoftnessLimAng(SoftnessLimAng); }

        Real SliderConstraint::GetSoftnessLimAng() const
            { return this->Slider->getSoftnessLimAng(); }

        void SliderConstraint::SetSoftnessOrthoLin(const Real SoftnessOrthoLin)
            { this->Slider->setSoftnessOrthoLin(SoftnessOrthoLin); }

        Real SliderConstraint::GetSoftnessOrthoLin() const
            { return this->Slider->getSoftnessOrthoLin(); }

        void SliderConstraint::SetSoftnessOrthoAng(const Real SoftnessOrthoAng)
            { this->Slider->setSoftnessOrthoAng(SoftnessOrthoAng); }

        Real SliderConstraint::GetSoftnessOrthoAng() const
            { return this->Slider->getSoftnessOrthoAng(); }

        ///////////////////////////////////////////////////////////////////////////////
        // Obsolete Methods - All methods listed in this subsection appears to alter deprecated/unused data

        void SliderConstraint::SetSoftnessDirLin(const Real SoftnessDirLin)
            { this->Slider->setSoftnessDirLin(SoftnessDirLin); }

        Real SliderConstraint::GetSoftnessDirLin() const
            { return this->Slider->getSoftnessDirLin(); }

        void SliderConstraint::SetSoftnessDirAng(const Real SoftnessDirAng)
            { this->Slider->setSoftnessDirAng(SoftnessDirAng); }

        Real SliderConstraint::GetSoftnessDirAng() const
            { return this->Slider->getSoftnessDirAng(); }

        void SliderConstraint::SetDampingDirLin(const Real DampingDirLin)
            { this->Slider->setDampingDirLin(DampingDirLin); }

        Real SliderConstraint::GetDampingDirLin() const
            { return this->Slider->getDampingDirLin(); }

        void SliderConstraint::SetDampingDirAng(const Real DampingDirAng)
            { this->Slider->setDampingDirAng(DampingDirAng); }

        Real SliderConstraint::GetDampingDirAng() const
            { return this->Slider->getDampingDirAng(); }

        void SliderConstraint::SetDampingLimLin(const Real DampingLimLin)
            { this->Slider->setDampingLimLin(DampingLimLin); }

        Real SliderConstraint::GetDampingLimLin() const
            { return this->Slider->getDampingLimLin(); }

        void SliderConstraint::SetDampingLimAng(const Real DampingLimAng)
            { this->Slider->setDampingLimAng(DampingLimAng); }

        Real SliderConstraint::GetDampingLimAng() const
            { return this->Slider->getDampingLimAng(); }

        void SliderConstraint::SetDampingOrthoLin(const Real DampingOrthoLin)
            { this->Slider->setDampingOrthoLin(DampingOrthoLin); }

        Real SliderConstraint::GetDampingOrthoLin() const
            { return this->Slider->getDampingOrthoLin(); }

        void SliderConstraint::SetDampingOrthoAng(const Real DampingOrthoAng)
            { this->Slider->setDampingOrthoAng(DampingOrthoAng); }

        Real SliderConstraint::GetDampingOrthoAng() const
            { return this->Slider->getDampingOrthoAng(); }

        void SliderConstraint::SetRestitutionDirLin(const Real RestitutionDirLin)
            { this->Slider->setRestitutionDirLin(RestitutionDirLin); }

        Real SliderConstraint::GetRestitutionDirLin() const
            { return this->Slider->getRestitutionDirLin(); }

        void SliderConstraint::SetRestitutionDirAng(const Real RestitutionDirAng)
            { this->Slider->setRestitutionDirAng(RestitutionDirAng); }

        Real SliderConstraint::GetRestitutionDirAng() const
            { return this->Slider->getRestitutionDirAng(); }

        void SliderConstraint::SetRestitutionLimLin(const Real RestitutionLimLin)
            { this->Slider->setRestitutionLimLin(RestitutionLimLin); }

        Real SliderConstraint::GetRestitutionLimLin() const
            { return this->Slider->getRestitutionLimLin(); }

        void SliderConstraint::SetRestitutionLimAng(const Real RestitutionLimAng)
            { this->Slider->setRestitutionLimAng(RestitutionLimAng); }

        Real SliderConstraint::GetRestitutionLimAng() const
            { return this->Slider->getRestitutionLimAng(); }

        void SliderConstraint::SetRestitutionOrthoLin(const Real RestitutionOrthoLin)
            { this->Slider->setRestitutionOrthoLin(RestitutionOrthoLin); }

        Real SliderConstraint::GetRestitutionOrthoLin() const
            { return this->Slider->getRestitutionOrthoLin(); }

        void SliderConstraint::SetRestitutionOrthoAng(const Real RestitutionOrthoAng)
            { this->Slider->setRestitutionOrthoAng(RestitutionOrthoAng); }

        Real SliderConstraint::GetRestitutionOrthoAng() const
            { return this->Slider->getRestitutionOrthoAng(); }

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

        Constraint::ParamList SliderConstraint::GetValidParamsOnAxis(int Axis) const
        {
            Constraint::ParamList Results;
            if( 0 <= Axis && 5 >= Axis ) {
                Results.push_back(Con_Stop_ERP);
                Results.push_back(Con_CFM);
                Results.push_back(Con_Stop_CFM);
            }
            return Results;
        }

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

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

        Boole SliderConstraint::HasParamBeenSet(ConstraintParam Param, int Axis) const
        {
            // the logic here should match the logic in the source at http://bulletphysics.com/Bullet/BulletFull/btGeneric6DofConstraint_8cpp_source.html#l00964
            if(0>Axis || 5<Axis)
                { return false; }

            if( Con_Stop_ERP == Param )
            {
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_ERP_LIMLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_ERP_ORTLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_ERP_LIMANG ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_ERP_ORTANG ) return true;
            }
            else if( Con_Stop_CFM == Param )
            {
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_DIRLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_DIRANG ) return true;
            }
            else if( Con_CFM == Param )
            {
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_LIMLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_ORTLIN ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_LIMANG ) return true;
                if( this->Slider->getFlags() & BT_SLIDER_FLAGS_CFM_ORTANG ) return true;
            }
            return false;
        }

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

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

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

            if( PropertiesNode.AppendAttribute("Version").SetValue("1") &&
                PropertiesNode.AppendAttribute("UseFrameOffset").SetValue( this->GetUseFrameOffset() ) &&
                PropertiesNode.AppendAttribute("UpperLinLimit").SetValue( this->GetUpperLinLimit() ) &&
                PropertiesNode.AppendAttribute("UpperAngLimit").SetValue( this->GetUpperAngLimit() ) &&
                PropertiesNode.AppendAttribute("LowerLinLimit").SetValue( this->GetLowerLinLimit() ) &&
                PropertiesNode.AppendAttribute("LowerAngLimit").SetValue( this->GetLowerAngLimit() ) &&
                PropertiesNode.AppendAttribute("PoweredLinMotor").SetValue( this->GetPoweredLinMotor() ) &&
                PropertiesNode.AppendAttribute("PoweredAngMotor").SetValue( this->GetPoweredAngMotor() ) &&
                PropertiesNode.AppendAttribute("TargetLinMotorVelocity").SetValue( this->GetTargetLinMotorVelocity() ) &&
                PropertiesNode.AppendAttribute("TargetAngMotorVelocity").SetValue( this->GetTargetAngMotorVelocity() ) &&
                PropertiesNode.AppendAttribute("MaxLinMotorForce").SetValue( this->GetMaxLinMotorForce() ) &&
                PropertiesNode.AppendAttribute("MaxAngMotorForce").SetValue( this->GetMaxAngMotorForce() ) &&
                PropertiesNode.AppendAttribute("SoftnessLimLin").SetValue( this->GetSoftnessLimLin() ) &&
                PropertiesNode.AppendAttribute("SoftnessLimAng").SetValue( this->GetSoftnessLimAng() ) &&
                PropertiesNode.AppendAttribute("SoftnessOrthoLin").SetValue( this->GetSoftnessOrthoLin() ) &&
                PropertiesNode.AppendAttribute("SoftnessOrthoAng").SetValue( this->GetSoftnessOrthoAng() ) )
            {
                return;
            }else{
                SerializeError("Create XML Attribute Values",SliderConstraint::GetSerializableName() + "Properties",true);
            }
        }

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

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

            if( !PropertiesNode.Empty() ) {
                if( PropertiesNode.GetAttribute("Version").AsInt() == 1 ) {
                    CurrAttrib = PropertiesNode.GetAttribute("UseFrameOffset");
                    if( !CurrAttrib.Empty() )
                        this->SetUseFrameOffset( CurrAttrib.AsBool() );

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

#endif