lol/test/Physics/Include/EasyConstraint.h

//
// Lol Engine
//
// Copyright: (c) 2010-2012 Sam Hocevar <sam@hocevar.net>
//            (c) 2009-2012 Benjamin Huet <huet.benjamin@gmail.com>
//   This program is free software; you can redistribute it and/or
//   modify it under the terms of the Do What The Fuck You Want To
//   Public License, Version 2, as published by Sam Hocevar. See
//   http://sam.zoy.org/projects/COPYING.WTFPL for more details.
//

//
// The EasyPhysic class
// ------------------
//

#if !defined __EASYCONSTRAINT_EASYCONSTRAINT_H__
#define __EASYCONSTRAINT_EASYCONSTRAINT_H__

#ifdef HAVE_PHYS_USE_BULLET
#include "core.h"
#include "EasyPhysics.h"
#endif

namespace lol
{

namespace phys
{

class EasyConstraint
{

    friend class Simulation;
    friend class EasyPhysic;

#ifdef HAVE_PHYS_USE_BULLET

public:
    EasyConstraint() :
        m_typed_constraint(NULL),
        m_p2p_constraint(NULL),
        m_hinge_constraint(NULL),
        m_slider_constraint(NULL),
        m_cone_twist_constraint(NULL),
        m_6dof_constraint(NULL),
        m_owner_simulation(NULL),
        m_a_physobj(NULL),
        m_b_physobj(NULL),
        m_a_transform(lol::mat4(1.f)),
        m_b_transform(lol::mat4(1.f)),
        m_using_ref_a(false),
        m_disable_a2b_collision(false)

    {
    }
    ~EasyConstraint()
    {
        delete m_typed_constraint;
        m_p2p_constraint = NULL;
        m_hinge_constraint = NULL;
        m_slider_constraint = NULL;
        m_cone_twist_constraint = NULL;
        m_6dof_constraint = NULL;
    }

    void AddToSimulation(class Simulation* current_simulation);
    void RemoveFromSimulation(class Simulation* current_simulation);

private:

    //check if Init can be done
    bool CanProceedWithInit()
    {
        if (!m_a_physobj || !m_b_physobj)
            return false;

        if (!m_a_physobj->m_rigid_body || !m_b_physobj->m_rigid_body)
            return false;

        return true;
    }

    //-------------------------------------------------------------------------
    //Init constraint functions
    //--
    void CustomInitConstraintToPoint2Point()
    {
        m_p2p_constraint = new btPoint2PointConstraint(*m_a_physobj->m_rigid_body, *m_b_physobj->m_rigid_body,
                                                        LOL2BT_VEC3(m_a_transform.v3.xyz * LOL2BT_UNIT), LOL2BT_VEC3(m_b_transform.v3.xyz * LOL2BT_UNIT));
        m_typed_constraint = m_p2p_constraint;
    }

    void CustomInitConstraintToHinge()
    {
        m_hinge_constraint = new btHingeConstraint(*m_a_physobj->m_rigid_body, *m_b_physobj->m_rigid_body,
                                                        btTransform(LOL2BT_QUAT(quat(m_a_transform)), LOL2BT_VEC3(m_a_transform.v3.xyz * LOL2BT_UNIT)),
                                                        btTransform(LOL2BT_QUAT(quat(m_b_transform)), LOL2BT_VEC3(m_b_transform.v3.xyz * LOL2BT_UNIT)),
                                                        m_using_ref_a);
        m_typed_constraint = m_hinge_constraint;
    }

    void CustomInitConstraintToSlider()
    {
        m_slider_constraint = new btSliderConstraint(*m_a_physobj->m_rigid_body, *m_b_physobj->m_rigid_body,
                                                        btTransform(LOL2BT_QUAT(quat(m_a_transform)), LOL2BT_VEC3(m_a_transform.v3.xyz * LOL2BT_UNIT)),
                                                        btTransform(LOL2BT_QUAT(quat(m_b_transform)), LOL2BT_VEC3(m_b_transform.v3.xyz * LOL2BT_UNIT)),
                                                        m_using_ref_a);
        m_typed_constraint = m_slider_constraint;
    }

    void CustomInitConstraintToConeTwist()
    {
        m_cone_twist_constraint = new btConeTwistConstraint(*m_a_physobj->m_rigid_body, *m_b_physobj->m_rigid_body,
                                                        btTransform(LOL2BT_QUAT(quat(m_a_transform)), LOL2BT_VEC3(m_a_transform.v3.xyz * LOL2BT_UNIT)),
                                                        btTransform(LOL2BT_QUAT(quat(m_b_transform)), LOL2BT_VEC3(m_b_transform.v3.xyz * LOL2BT_UNIT)));
        m_typed_constraint = m_cone_twist_constraint;
    }

    void CustomInitConstraintTo6Dof()
    {
        m_6dof_constraint = new btGeneric6DofConstraint(*m_a_physobj->m_rigid_body, *m_b_physobj->m_rigid_body,
                                                        btTransform(LOL2BT_QUAT(quat(m_a_transform)), LOL2BT_VEC3(m_a_transform.v3.xyz * LOL2BT_UNIT)),
                                                        btTransform(LOL2BT_QUAT(quat(m_b_transform)), LOL2BT_VEC3(m_b_transform.v3.xyz * LOL2BT_UNIT)),
                                                        m_using_ref_a);
        m_typed_constraint = m_6dof_constraint;
    }

    btTypedConstraint*            m_typed_constraint;
    btPoint2PointConstraint*    m_p2p_constraint;
    btHingeConstraint*            m_hinge_constraint;
    btSliderConstraint*            m_slider_constraint;
    btConeTwistConstraint*        m_cone_twist_constraint;
    btGeneric6DofConstraint*    m_6dof_constraint;

#else  // NO PHYSIC IMPLEMENTATION

public:
    EasyConstraint() :
        m_a_physobj(NULL),
        m_b_physobj(NULL),
        m_a_transform(lol::mat4(1.f)),
        m_b_transform(lol::mat4(1.f)),
        m_using_ref_a(false),
        m_disable_a2b_collision(false)
    {
    }

private:

    void AddToSimulation(class Simulation* current_simulation) { }
    void RemoveFromSimulation(class Simulation* current_simulation) { }

    //check if Init can be done
    bool CanProceedWithInit() { return false; }
    void CustomInitConstraintToPoint2Point() { }
    void CustomInitConstraintToHinge() { }
    void CustomInitConstraintToSlider() { }
    void CustomInitConstraintToConeTwist() { }
    void CustomInitConstraintTo6Dof() { }

#endif // PHYSIC IMPLEMENTATION

public:
    void InitConstraintToPoint2Point()    { if (CanProceedWithInit()) CustomInitConstraintToPoint2Point(); }
    void InitConstraintToHinge()        { if (CanProceedWithInit()) CustomInitConstraintToHinge(); }
    void InitConstraintToSlider()        { if (CanProceedWithInit()) CustomInitConstraintToSlider(); }
    void InitConstraintToConeTwist()    { if (CanProceedWithInit()) CustomInitConstraintToConeTwist(); }
    void InitConstraintTo6Dof()            { if (CanProceedWithInit()) CustomInitConstraintTo6Dof(); }

    //Set given physic object to the proper slot.
    void SetPhysObjA(EasyPhysic* NewPhysObj, lol::mat4 NewTransform) { SetPhysObj(false, NewPhysObj, NewTransform); }
    void SetPhysObjB(EasyPhysic* NewPhysObj, lol::mat4 NewTransform) { SetPhysObj(true, NewPhysObj, NewTransform); }
    void SetPhysObj(bool SetToB, EasyPhysic* NewPhysObj, lol::mat4 NewTransform)
    {
        if (SetToB)
        {
            m_b_physobj = NewPhysObj;
            m_b_transform = NewTransform;
        }
        else
        {
            m_a_physobj = NewPhysObj;
            m_a_transform = NewTransform;
        }
    }

    //Set whether or not the physic engine should use the A object as the reference (most constraint transform are local).
    void SetRefAsA(bool NewUseRefA)
    {
        m_using_ref_a = NewUseRefA;
    }

    //Set whether or not to disable the collision between the bodies
    void DisableCollisionBetweenObjs(bool DisableCollision)
    {
        m_disable_a2b_collision = DisableCollision;
    }

private:
    Simulation*                    m_owner_simulation;
    EasyPhysic*                    m_a_physobj;
    EasyPhysic*                    m_b_physobj;
    lol::mat4                    m_a_transform;
    lol::mat4                    m_b_transform;
    bool                        m_using_ref_a;
    bool                        m_disable_a2b_collision;

};

} /* namespace phys */

} /* namespace lol */

#endif /* __EASYCONSTRAINT_EASYCONSTRAINT_H__ */