1 /* 2 Copyright (c) 2021 Timur Gafarov 3 4 Boost Software License - Version 1.0 - August 17th, 2003 5 Permission is hereby granted, free of charge, to any person or organization 6 obtaining a copy of the software and accompanying documentation covered by 7 this license (the "Software") to use, reproduce, display, distribute, 8 execute, and transmit the Software, and to prepare derivative works of the 9 Software, and to permit third-parties to whom the Software is furnished to 10 do so, all subject to the following: 11 12 The copyright notices in the Software and this entire statement, including 13 the above license grant, this restriction and the following disclaimer, 14 must be included in all copies of the Software, in whole or in part, and 15 all derivative works of the Software, unless such copies or derivative 16 works are solely in the form of machine-executable object code generated by 17 a source language processor. 18 19 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 20 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 21 FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT 22 SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE 23 FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, 24 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 25 DEALINGS IN THE SOFTWARE. 26 */ 27 28 module dagon.ext.newton.constraint; 29 30 import dlib.core.ownership; 31 import dlib.core.memory; 32 import dlib.math.vector; 33 import dlib.math.matrix; 34 import bindbc.newton; 35 import dagon.ext.newton.world; 36 import dagon.ext.newton.rigidbody; 37 38 abstract class NewtonConstraint: Owner 39 { 40 NewtonPhysicsWorld world; 41 NewtonJoint* joint; 42 43 this(NewtonPhysicsWorld world) 44 { 45 super(world); 46 this.world = world; 47 } 48 49 float stiffness() 50 { 51 return NewtonJointGetStiffness(joint); 52 } 53 void stiffness(float s) 54 { 55 NewtonJointSetStiffness(joint, s); 56 } 57 } 58 59 class NewtonBallConstraint: NewtonConstraint 60 { 61 NewtonRigidBody body1; 62 NewtonRigidBody body2; 63 Vector3f pivotPoint; 64 65 this(NewtonPhysicsWorld world, NewtonRigidBody body1, NewtonRigidBody body2, Vector3f pivotPoint) 66 { 67 super(world); 68 this.body1 = body1; 69 this.body2 = body2; 70 this.pivotPoint = pivotPoint; 71 this.joint = NewtonConstraintCreateBall(world.newtonWorld, pivotPoint.arrayof.ptr, body1.newtonBody, body2.newtonBody); 72 NewtonJointSetCollisionState(this.joint, 1); 73 } 74 75 void setConeLimits(Vector3f axis, float maxConeAngle, float maxTwistAngle) 76 { 77 NewtonBallSetConeLimits(joint, axis.arrayof.ptr, maxConeAngle, maxTwistAngle); 78 } 79 } 80 81 class NewtonSliderConstraint: NewtonConstraint 82 { 83 NewtonRigidBody body1; 84 NewtonRigidBody body2; 85 Vector3f pivotPoint; 86 Vector3f pivotAxis; 87 88 this(NewtonPhysicsWorld world, NewtonRigidBody body1, NewtonRigidBody body2, Vector3f pivotPoint, Vector3f pivotAxis) 89 { 90 super(world); 91 this.body1 = body1; 92 this.body2 = body2; 93 this.pivotPoint = pivotPoint; 94 this.pivotAxis = pivotAxis; 95 this.joint = NewtonConstraintCreateSlider(world.newtonWorld, pivotPoint.arrayof.ptr, pivotAxis.arrayof.ptr, body1.newtonBody, body2.newtonBody); 96 NewtonJointSetCollisionState(this.joint, 1); 97 } 98 } 99 100 class NewtonCorkscrewConstraint: NewtonConstraint 101 { 102 NewtonRigidBody body1; 103 NewtonRigidBody body2; 104 Vector3f pivotPoint; 105 Vector3f pivotAxis; 106 107 this(NewtonPhysicsWorld world, NewtonRigidBody body1, NewtonRigidBody body2, Vector3f pivotPoint, Vector3f pivotAxis) 108 { 109 super(world); 110 this.body1 = body1; 111 this.body2 = body2; 112 this.pivotPoint = pivotPoint; 113 this.pivotAxis = pivotAxis; 114 this.joint = NewtonConstraintCreateCorkscrew(world.newtonWorld, pivotPoint.arrayof.ptr, pivotAxis.arrayof.ptr, body1.newtonBody, body2.newtonBody); 115 NewtonJointSetCollisionState(this.joint, 1); 116 } 117 } 118 119 class NewtonUniversalConstraint: NewtonConstraint 120 { 121 NewtonRigidBody body1; 122 NewtonRigidBody body2; 123 Vector3f pivotPoint; 124 Vector3f pivotAxis1; 125 Vector3f pivotAxis2; 126 127 this(NewtonPhysicsWorld world, NewtonRigidBody body1, NewtonRigidBody body2, Vector3f pivotPoint, Vector3f pivotAxis1, Vector3f pivotAxis2) 128 { 129 super(world); 130 this.body1 = body1; 131 this.body2 = body2; 132 this.pivotPoint = pivotPoint; 133 this.pivotAxis1 = pivotAxis1; 134 this.pivotAxis2 = pivotAxis2; 135 this.joint = NewtonConstraintCreateUniversal(world.newtonWorld, pivotPoint.arrayof.ptr, pivotAxis1.arrayof.ptr, pivotAxis2.arrayof.ptr, body1.newtonBody, body2.newtonBody); 136 NewtonJointSetCollisionState(this.joint, 1); 137 } 138 } 139 140 class NewtonUpVectorConstraint: NewtonConstraint 141 { 142 NewtonRigidBody body1; 143 Vector3f pivotAxis; 144 145 this(NewtonPhysicsWorld world, NewtonRigidBody body1, Vector3f pivotAxis) 146 { 147 super(world); 148 this.body1 = body1; 149 this.pivotAxis = pivotAxis; 150 this.joint = NewtonConstraintCreateUpVector(world.newtonWorld, pivotAxis.arrayof.ptr, body1.newtonBody); 151 } 152 }