682 lines
22 KiB
TypeScript
682 lines
22 KiB
TypeScript
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import {Rotation, Vector, VectorOps, RotationOps} from "../math";
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import {
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RawGenericJoint,
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RawImpulseJointSet,
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RawRigidBodySet,
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RawJointAxis,
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RawJointType,
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RawMotorModel,
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} from "../raw";
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import {RigidBody, RigidBodyHandle} from "./rigid_body";
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import {RigidBodySet} from "./rigid_body_set";
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// #if DIM3
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import {Quaternion} from "../math";
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// #endif
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/**
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* The integer identifier of a collider added to a `ColliderSet`.
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*/
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export type ImpulseJointHandle = number;
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/**
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* An enum grouping all possible types of joints:
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*
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* - `Revolute`: A revolute joint that removes all degrees of freedom between the affected
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* bodies except for the rotation along one axis.
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* - `Fixed`: A fixed joint that removes all relative degrees of freedom between the affected bodies.
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* - `Prismatic`: A prismatic joint that removes all degrees of freedom between the affected
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* bodies except for the translation along one axis.
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* - `Spherical`: (3D only) A spherical joint that removes all relative linear degrees of freedom between the affected bodies.
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* - `Generic`: (3D only) A joint with customizable degrees of freedom, allowing any of the 6 axes to be locked.
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*/
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export enum JointType {
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Revolute,
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Fixed,
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Prismatic,
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Rope,
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Spring,
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// #if DIM3
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Spherical,
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Generic,
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// #endif
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}
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export enum MotorModel {
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AccelerationBased,
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ForceBased,
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}
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/**
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* An enum representing the possible joint axes of a generic joint.
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* They can be ORed together, like:
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* JointAxesMask.LinX || JointAxesMask.LinY
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* to get a joint that is only free in the X and Y translational (positional) axes.
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*
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* Possible free axes are:
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*
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* - `X`: X translation axis
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* - `Y`: Y translation axis
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* - `Z`: Z translation axis
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* - `AngX`: X angular rotation axis
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* - `AngY`: Y angular rotations axis
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* - `AngZ`: Z angular rotation axis
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*/
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export enum JointAxesMask {
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LinX = 1 << 0,
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LinY = 1 << 1,
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LinZ = 1 << 2,
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AngX = 1 << 3,
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AngY = 1 << 4,
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AngZ = 1 << 5,
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}
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export class ImpulseJoint {
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protected rawSet: RawImpulseJointSet; // The ImpulseJoint won't need to free this.
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protected bodySet: RigidBodySet; // The ImpulseJoint won’t need to free this.
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handle: ImpulseJointHandle;
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constructor(
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rawSet: RawImpulseJointSet,
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bodySet: RigidBodySet,
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handle: ImpulseJointHandle,
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) {
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this.rawSet = rawSet;
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this.bodySet = bodySet;
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this.handle = handle;
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}
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public static newTyped(
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rawSet: RawImpulseJointSet,
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bodySet: RigidBodySet,
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handle: ImpulseJointHandle,
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): ImpulseJoint {
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switch (rawSet.jointType(handle)) {
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case RawJointType.Revolute:
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return new RevoluteImpulseJoint(rawSet, bodySet, handle);
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case RawJointType.Prismatic:
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return new PrismaticImpulseJoint(rawSet, bodySet, handle);
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case RawJointType.Fixed:
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return new FixedImpulseJoint(rawSet, bodySet, handle);
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case RawJointType.Spring:
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return new SpringImpulseJoint(rawSet, bodySet, handle);
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case RawJointType.Rope:
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return new RopeImpulseJoint(rawSet, bodySet, handle);
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// #if DIM3
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case RawJointType.Spherical:
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return new SphericalImpulseJoint(rawSet, bodySet, handle);
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case RawJointType.Generic:
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return new GenericImpulseJoint(rawSet, bodySet, handle);
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// #endif
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default:
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return new ImpulseJoint(rawSet, bodySet, handle);
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}
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}
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/** @internal */
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public finalizeDeserialization(bodySet: RigidBodySet) {
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this.bodySet = bodySet;
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}
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/**
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* Checks if this joint is still valid (i.e. that it has
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* not been deleted from the joint set yet).
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*/
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public isValid(): boolean {
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return this.rawSet.contains(this.handle);
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}
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/**
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* The first rigid-body this joint it attached to.
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*/
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public body1(): RigidBody {
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return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle));
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}
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/**
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* The second rigid-body this joint is attached to.
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*/
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public body2(): RigidBody {
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return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle));
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}
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/**
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* The type of this joint given as a string.
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*/
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public type(): JointType {
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return this.rawSet.jointType(this.handle) as number as JointType;
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}
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// #if DIM3
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/**
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* The rotation quaternion that aligns this joint's first local axis to the `x` axis.
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*/
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public frameX1(): Rotation {
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return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
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}
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// #endif
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// #if DIM3
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/**
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* The rotation matrix that aligns this joint's second local axis to the `x` axis.
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*/
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public frameX2(): Rotation {
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return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
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}
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// #endif
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/**
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* The position of the first anchor of this joint.
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*
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* The first anchor gives the position of the application point on the
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* local frame of the first rigid-body it is attached to.
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*/
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public anchor1(): Vector {
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return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
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}
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/**
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* The position of the second anchor of this joint.
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*
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* The second anchor gives the position of the application point on the
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* local frame of the second rigid-body it is attached to.
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*/
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public anchor2(): Vector {
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return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
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}
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/**
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* Sets the position of the first anchor of this joint.
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*
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* The first anchor gives the position of the application point on the
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* local frame of the first rigid-body it is attached to.
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*/
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public setAnchor1(newPos: Vector) {
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const rawPoint = VectorOps.intoRaw(newPos);
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this.rawSet.jointSetAnchor1(this.handle, rawPoint);
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rawPoint.free();
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}
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/**
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* Sets the position of the second anchor of this joint.
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*
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* The second anchor gives the position of the application point on the
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* local frame of the second rigid-body it is attached to.
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*/
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public setAnchor2(newPos: Vector) {
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const rawPoint = VectorOps.intoRaw(newPos);
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this.rawSet.jointSetAnchor2(this.handle, rawPoint);
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rawPoint.free();
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}
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/**
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* Controls whether contacts are computed between colliders attached
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* to the rigid-bodies linked by this joint.
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*/
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public setContactsEnabled(enabled: boolean) {
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this.rawSet.jointSetContactsEnabled(this.handle, enabled);
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}
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/**
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* Indicates if contacts are enabled between colliders attached
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* to the rigid-bodies linked by this joint.
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*/
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public contactsEnabled(): boolean {
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return this.rawSet.jointContactsEnabled(this.handle);
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}
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}
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export class UnitImpulseJoint extends ImpulseJoint {
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/**
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* The axis left free by this joint.
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*/
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protected rawAxis?(): RawJointAxis;
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/**
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* Are the limits enabled for this joint?
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*/
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public limitsEnabled(): boolean {
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return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());
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}
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/**
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* The min limit of this joint.
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*/
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public limitsMin(): number {
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return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());
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}
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/**
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* The max limit of this joint.
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*/
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public limitsMax(): number {
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return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());
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}
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/**
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* Sets the limits of this joint.
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*
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* @param min - The minimum bound of this joint’s free coordinate.
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* @param max - The maximum bound of this joint’s free coordinate.
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*/
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public setLimits(min: number, max: number) {
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this.rawSet.jointSetLimits(this.handle, this.rawAxis(), min, max);
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}
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public configureMotorModel(model: MotorModel) {
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this.rawSet.jointConfigureMotorModel(
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this.handle,
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this.rawAxis(),
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model as number as RawMotorModel,
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);
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}
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public configureMotorVelocity(targetVel: number, factor: number) {
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this.rawSet.jointConfigureMotorVelocity(
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this.handle,
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this.rawAxis(),
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targetVel,
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factor,
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);
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}
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public configureMotorPosition(
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targetPos: number,
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stiffness: number,
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damping: number,
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) {
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this.rawSet.jointConfigureMotorPosition(
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this.handle,
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this.rawAxis(),
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targetPos,
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stiffness,
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damping,
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);
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}
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public configureMotor(
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targetPos: number,
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targetVel: number,
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stiffness: number,
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damping: number,
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) {
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this.rawSet.jointConfigureMotor(
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this.handle,
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this.rawAxis(),
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targetPos,
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targetVel,
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stiffness,
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damping,
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);
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}
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}
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export class FixedImpulseJoint extends ImpulseJoint {}
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export class RopeImpulseJoint extends ImpulseJoint {}
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export class SpringImpulseJoint extends ImpulseJoint {}
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export class PrismaticImpulseJoint extends UnitImpulseJoint {
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public rawAxis(): RawJointAxis {
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return RawJointAxis.LinX;
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}
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}
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export class RevoluteImpulseJoint extends UnitImpulseJoint {
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public rawAxis(): RawJointAxis {
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return RawJointAxis.AngX;
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}
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}
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// #if DIM3
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export class GenericImpulseJoint extends ImpulseJoint {}
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export class SphericalImpulseJoint extends ImpulseJoint {
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/* Unsupported by this alpha release.
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public configureMotorModel(model: MotorModel) {
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this.rawSet.jointConfigureMotorModel(this.handle, model);
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}
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public configureMotorVelocity(targetVel: Vector, factor: number) {
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this.rawSet.jointConfigureBallMotorVelocity(this.handle, targetVel.x, targetVel.y, targetVel.z, factor);
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}
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public configureMotorPosition(targetPos: Quaternion, stiffness: number, damping: number) {
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this.rawSet.jointConfigureBallMotorPosition(this.handle, targetPos.w, targetPos.x, targetPos.y, targetPos.z, stiffness, damping);
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}
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public configureMotor(targetPos: Quaternion, targetVel: Vector, stiffness: number, damping: number) {
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this.rawSet.jointConfigureBallMotor(this.handle,
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targetPos.w, targetPos.x, targetPos.y, targetPos.z,
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targetVel.x, targetVel.y, targetVel.z,
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stiffness, damping);
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}
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*/
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}
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// #endif
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export class JointData {
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anchor1: Vector;
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anchor2: Vector;
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axis: Vector;
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frame1: Rotation;
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frame2: Rotation;
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jointType: JointType;
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limitsEnabled: boolean;
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limits: Array<number>;
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axesMask: JointAxesMask;
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stiffness: number;
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damping: number;
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length: number;
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private constructor() {}
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/**
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* Creates a new joint descriptor that builds a Fixed joint.
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*
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* A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their
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* anchor and local frames coincide in world-space.
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*
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|
|
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param frame1 - The reference orientation of the joint wrt. the first rigid-body.
|
|||
|
|
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param frame2 - The reference orientation of the joint wrt. the second rigid-body.
|
|||
|
|
*/
|
|||
|
|
public static fixed(
|
|||
|
|
anchor1: Vector,
|
|||
|
|
frame1: Rotation,
|
|||
|
|
anchor2: Vector,
|
|||
|
|
frame2: Rotation,
|
|||
|
|
): JointData {
|
|||
|
|
let res = new JointData();
|
|||
|
|
res.anchor1 = anchor1;
|
|||
|
|
res.anchor2 = anchor2;
|
|||
|
|
res.frame1 = frame1;
|
|||
|
|
res.frame2 = frame2;
|
|||
|
|
res.jointType = JointType.Fixed;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static spring(
|
|||
|
|
rest_length: number,
|
|||
|
|
stiffness: number,
|
|||
|
|
damping: number,
|
|||
|
|
anchor1: Vector,
|
|||
|
|
anchor2: Vector,
|
|||
|
|
): JointData {
|
|||
|
|
let res = new JointData();
|
|||
|
|
res.anchor1 = anchor1;
|
|||
|
|
res.anchor2 = anchor2;
|
|||
|
|
res.length = rest_length;
|
|||
|
|
res.stiffness = stiffness;
|
|||
|
|
res.damping = damping;
|
|||
|
|
res.jointType = JointType.Spring;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static rope(
|
|||
|
|
length: number,
|
|||
|
|
anchor1: Vector,
|
|||
|
|
anchor2: Vector,
|
|||
|
|
): JointData {
|
|||
|
|
let res = new JointData();
|
|||
|
|
res.anchor1 = anchor1;
|
|||
|
|
res.anchor2 = anchor2;
|
|||
|
|
res.length = length;
|
|||
|
|
res.jointType = JointType.Rope;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// #if DIM2
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* Create a new joint descriptor that builds revolute joints.
|
|||
|
|
*
|
|||
|
|
* A revolute joint allows three relative rotational degrees of freedom
|
|||
|
|
* by preventing any relative translation between the anchors of the
|
|||
|
|
* two attached rigid-bodies.
|
|||
|
|
*
|
|||
|
|
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
*/
|
|||
|
|
public static revolute(anchor1: Vector, anchor2: Vector): JointData {
|
|||
|
|
let res = new JointData();
|
|||
|
|
res.anchor1 = anchor1;
|
|||
|
|
res.anchor2 = anchor2;
|
|||
|
|
res.jointType = JointType.Revolute;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* Creates a new joint descriptor that builds a Prismatic joint.
|
|||
|
|
*
|
|||
|
|
* A prismatic joint removes all the degrees of freedom between the
|
|||
|
|
* affected bodies, except for the translation along one axis.
|
|||
|
|
*
|
|||
|
|
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
|
|||
|
|
*/
|
|||
|
|
public static prismatic(
|
|||
|
|
anchor1: Vector,
|
|||
|
|
anchor2: Vector,
|
|||
|
|
axis: Vector,
|
|||
|
|
): JointData {
|
|||
|
|
let res = new JointData();
|
|||
|
|
res.anchor1 = anchor1;
|
|||
|
|
res.anchor2 = anchor2;
|
|||
|
|
res.axis = axis;
|
|||
|
|
res.jointType = JointType.Prismatic;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// #endif
|
|||
|
|
|
|||
|
|
// #if DIM3
|
|||
|
|
/**
|
|||
|
|
* Create a new joint descriptor that builds generic joints.
|
|||
|
|
*
|
|||
|
|
* A generic joint allows customizing its degrees of freedom
|
|||
|
|
* by supplying a mask of the joint axes that should remain locked.
|
|||
|
|
*
|
|||
|
|
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param axis - The X axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
|
|||
|
|
* @param axesMask - Mask representing the locked axes of the joint. You can use logical OR to select these from
|
|||
|
|
* the JointAxesMask enum. For example, passing (JointAxesMask.AngX || JointAxesMask.AngY) will
|
|||
|
|
* create a joint locked in the X and Y rotational axes.
|
|||
|
|
*/
|
|||
|
|
public static generic(
|
|||
|
|
anchor1: Vector,
|
|||
|
|
anchor2: Vector,
|
|||
|
|
axis: Vector,
|
|||
|
|
axesMask: JointAxesMask,
|
|||
|
|
): JointData {
|
|||
|
|
let res = new JointData();
|
|||
|
|
res.anchor1 = anchor1;
|
|||
|
|
res.anchor2 = anchor2;
|
|||
|
|
res.axis = axis;
|
|||
|
|
res.axesMask = axesMask;
|
|||
|
|
res.jointType = JointType.Generic;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* Create a new joint descriptor that builds spherical joints.
|
|||
|
|
*
|
|||
|
|
* A spherical joint allows three relative rotational degrees of freedom
|
|||
|
|
* by preventing any relative translation between the anchors of the
|
|||
|
|
* two attached rigid-bodies.
|
|||
|
|
*
|
|||
|
|
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
*/
|
|||
|
|
public static spherical(anchor1: Vector, anchor2: Vector): JointData {
|
|||
|
|
let res = new JointData();
|
|||
|
|
res.anchor1 = anchor1;
|
|||
|
|
res.anchor2 = anchor2;
|
|||
|
|
res.jointType = JointType.Spherical;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* Creates a new joint descriptor that builds a Prismatic joint.
|
|||
|
|
*
|
|||
|
|
* A prismatic joint removes all the degrees of freedom between the
|
|||
|
|
* affected bodies, except for the translation along one axis.
|
|||
|
|
*
|
|||
|
|
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
|
|||
|
|
*/
|
|||
|
|
public static prismatic(
|
|||
|
|
anchor1: Vector,
|
|||
|
|
anchor2: Vector,
|
|||
|
|
axis: Vector,
|
|||
|
|
): JointData {
|
|||
|
|
let res = new JointData();
|
|||
|
|
res.anchor1 = anchor1;
|
|||
|
|
res.anchor2 = anchor2;
|
|||
|
|
res.axis = axis;
|
|||
|
|
res.jointType = JointType.Prismatic;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* Create a new joint descriptor that builds Revolute joints.
|
|||
|
|
*
|
|||
|
|
* A revolute joint removes all degrees of freedom between the affected
|
|||
|
|
* bodies except for the rotation along one axis.
|
|||
|
|
*
|
|||
|
|
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
|||
|
|
* local-space of the rigid-body.
|
|||
|
|
* @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
|
|||
|
|
*/
|
|||
|
|
public static revolute(
|
|||
|
|
anchor1: Vector,
|
|||
|
|
anchor2: Vector,
|
|||
|
|
axis: Vector,
|
|||
|
|
): JointData {
|
|||
|
|
let res = new JointData();
|
|||
|
|
res.anchor1 = anchor1;
|
|||
|
|
res.anchor2 = anchor2;
|
|||
|
|
res.axis = axis;
|
|||
|
|
res.jointType = JointType.Revolute;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
// #endif
|
|||
|
|
|
|||
|
|
public intoRaw(): RawGenericJoint {
|
|||
|
|
let rawA1 = VectorOps.intoRaw(this.anchor1);
|
|||
|
|
let rawA2 = VectorOps.intoRaw(this.anchor2);
|
|||
|
|
let rawAx;
|
|||
|
|
let result;
|
|||
|
|
let limitsEnabled = false;
|
|||
|
|
let limitsMin = 0.0;
|
|||
|
|
let limitsMax = 0.0;
|
|||
|
|
|
|||
|
|
switch (this.jointType) {
|
|||
|
|
case JointType.Fixed:
|
|||
|
|
let rawFra1 = RotationOps.intoRaw(this.frame1);
|
|||
|
|
let rawFra2 = RotationOps.intoRaw(this.frame2);
|
|||
|
|
result = RawGenericJoint.fixed(rawA1, rawFra1, rawA2, rawFra2);
|
|||
|
|
rawFra1.free();
|
|||
|
|
rawFra2.free();
|
|||
|
|
break;
|
|||
|
|
case JointType.Spring:
|
|||
|
|
result = RawGenericJoint.spring(
|
|||
|
|
this.length,
|
|||
|
|
this.stiffness,
|
|||
|
|
this.damping,
|
|||
|
|
rawA1,
|
|||
|
|
rawA2,
|
|||
|
|
);
|
|||
|
|
break;
|
|||
|
|
case JointType.Rope:
|
|||
|
|
result = RawGenericJoint.rope(this.length, rawA1, rawA2);
|
|||
|
|
break;
|
|||
|
|
case JointType.Prismatic:
|
|||
|
|
rawAx = VectorOps.intoRaw(this.axis);
|
|||
|
|
|
|||
|
|
if (!!this.limitsEnabled) {
|
|||
|
|
limitsEnabled = true;
|
|||
|
|
limitsMin = this.limits[0];
|
|||
|
|
limitsMax = this.limits[1];
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// #if DIM2
|
|||
|
|
result = RawGenericJoint.prismatic(
|
|||
|
|
rawA1,
|
|||
|
|
rawA2,
|
|||
|
|
rawAx,
|
|||
|
|
limitsEnabled,
|
|||
|
|
limitsMin,
|
|||
|
|
limitsMax,
|
|||
|
|
);
|
|||
|
|
// #endif
|
|||
|
|
|
|||
|
|
// #if DIM3
|
|||
|
|
result = RawGenericJoint.prismatic(
|
|||
|
|
rawA1,
|
|||
|
|
rawA2,
|
|||
|
|
rawAx,
|
|||
|
|
limitsEnabled,
|
|||
|
|
limitsMin,
|
|||
|
|
limitsMax,
|
|||
|
|
);
|
|||
|
|
// #endif
|
|||
|
|
|
|||
|
|
rawAx.free();
|
|||
|
|
break;
|
|||
|
|
// #if DIM2
|
|||
|
|
case JointType.Revolute:
|
|||
|
|
result = RawGenericJoint.revolute(rawA1, rawA2);
|
|||
|
|
break;
|
|||
|
|
// #endif
|
|||
|
|
// #if DIM3
|
|||
|
|
case JointType.Generic:
|
|||
|
|
rawAx = VectorOps.intoRaw(this.axis);
|
|||
|
|
// implicit type cast: axesMask is a JointAxesMask bitflag enum,
|
|||
|
|
// we're treating it as a u8 on the Rust side
|
|||
|
|
let rawAxesMask = this.axesMask;
|
|||
|
|
result = RawGenericJoint.generic(
|
|||
|
|
rawA1,
|
|||
|
|
rawA2,
|
|||
|
|
rawAx,
|
|||
|
|
rawAxesMask,
|
|||
|
|
);
|
|||
|
|
break;
|
|||
|
|
case JointType.Spherical:
|
|||
|
|
result = RawGenericJoint.spherical(rawA1, rawA2);
|
|||
|
|
break;
|
|||
|
|
case JointType.Revolute:
|
|||
|
|
rawAx = VectorOps.intoRaw(this.axis);
|
|||
|
|
result = RawGenericJoint.revolute(rawA1, rawA2, rawAx);
|
|||
|
|
rawAx.free();
|
|||
|
|
break;
|
|||
|
|
// #endif
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
rawA1.free();
|
|||
|
|
rawA2.free();
|
|||
|
|
|
|||
|
|
return result;
|
|||
|
|
}
|
|||
|
|
}
|