qjoint.h

 
/************************************************************************************
 * MIT License
 *
 * Copyright (c) 2023 Eray Zesen
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * https://github.com/erayzesen/QuarkPhysics
 *
**************************************************************************************/
 
#ifndef QJOINT_H
#define QJOINT_H
#include "qrigidbody.h"
 
 
class QJoint
{
    //Base Properties
 
    QRigidBody * bodyA=nullptr;
    QRigidBody * bodyB=nullptr;
 
    QVector anchorA;
    QVector anchorB;
 
    QVector anchorGlobalA;
    QVector anchorGlobalB;
 
    bool collisionsEnabled=false;
 
    bool enabled=true;
 
    float rigidity=1.0f;
 
    float balance=0.5f;
 
    //Addinational Properties
    float length=0.0f; //it makes distance joint
    bool grooveEnabled=false; // it makes groove
 
    QWorld *world;
public:
    QJoint(QRigidBody *bodyA,QVector anchorWorldPositionA,QVector anchorWorldPositionB,QRigidBody* bodyB=nullptr); // There are defined two achor points. Default distance value is the distance between the two points.
    QJoint(QRigidBody *bodyA,QVector commonAnchorWorldPosition,QRigidBody* bodyB=nullptr) : QJoint(bodyA,commonAnchorWorldPosition,commonAnchorWorldPosition,bodyB){}; // There is a defined common anchor position, default distance is the zero.
    ~QJoint();
 
    //Get Methods
    inline QRigidBody * GetBodyA(){
        return bodyA;
    }
    inline QRigidBody * GetBodyB(){
        return bodyB;
    }
    inline QVector GetAnchorAPosition(){
        return anchorA;
    }
    inline QVector GetAnchorBPosition(){
        return anchorB;
    }
    inline QVector GetAnchorAGlobalPosition(){
        return anchorGlobalA;
    }
    inline QVector GetAnchorBGlobalPosition(){
        return anchorGlobalB;
    }
    inline bool GetCollisionEnabled(){
        return collisionsEnabled;
    }
    inline float GetRigidity(){
        return rigidity;
    }
    inline float GetLength(){
        return length;
    }
    inline float GetBalance(){
        return balance;
    }
    inline bool GetGrooveEnabled(){
        return grooveEnabled;
    }
 
    bool GetEnabled(){
        return enabled;
    }
 
    //Set Methods (It returns joint)
    inline QJoint * SetBodyA(QRigidBody *body){
        bodyA=body;
        return this;
    }
    inline QJoint * SetBodyB(QRigidBody *body){
        bodyB=body;
        return this;
    }
    inline QJoint * SetAnchorAPosition(QVector worldPosition){
        if(bodyA!=nullptr){
            this->anchorA=(worldPosition-bodyA->GetPosition()).Rotated(-bodyA->GetRotation());
        }else{
            this->anchorA=worldPosition;
        }
        return this;
    }
    inline QJoint * SetAnchorBPosition(QVector worldPosition){
        if(bodyB!=nullptr){
            this->anchorB=(worldPosition-bodyB->GetPosition()).Rotated(-bodyB->GetRotation());
        }else{
            this->anchorB=worldPosition;
        }
        return this;
    }
 
    inline QJoint* SetRigidity(float value){
        rigidity=value;
        return this;
    }
    inline QJoint* SetLength(float value){
        length=value;
        return this;
    }
    inline QJoint* SetBalance(float value){
        balance=value;
        return this;
    }
 
    inline QJoint* SetGrooveEnabled(bool value){
        grooveEnabled=value;
        return this;
    }
 
    QJoint* SetCollisionEnabled(bool value); //Added to cpp file because of that the function needs world object.
 
 
    QJoint *SetEnabled(bool value){
        enabled=value;
        return this;
    }
 
 
 
    virtual void Update();
 
    friend class QWorld;
 
 
 
 
};
 
 
 
#endif // QJOINT_H