RagdollJoint.h

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/*********************************************************\
 *  File: RagdollJoint.h                                 *
 *
 *  Copyright (C) 2002-2011 The PixelLight Team (http://www.pixellight.org/)
 *
 *  This file is part of PixelLight.
 *
 *  PixelLight is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU Lesser General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  PixelLight is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public License
 *  along with PixelLight. If not, see <http://www.gnu.org/licenses/>.
\*********************************************************/


#ifndef __PLPHYSICS_SCENENODES_RAGDOLLJOINT_H__
#define __PLPHYSICS_SCENENODES_RAGDOLLJOINT_H__
#pragma once


//[-------------------------------------------------------]
//[ Includes                                              ]
//[-------------------------------------------------------]
#include <PLMath/Vector3.h>
#include "PLPhysics/PLPhysics.h"


//[-------------------------------------------------------]
//[ Namespace                                             ]
//[-------------------------------------------------------]
namespace PLPhysics {


//[-------------------------------------------------------]
//[ Forward declarations                                  ]
//[-------------------------------------------------------]
class Joint;
class SNRagdoll;
class ElementHandler;
struct JointController;


//[-------------------------------------------------------]
//[ Classes                                               ]
//[-------------------------------------------------------]
/**
*  @brief
*    Ragdoll joint
*
*  @note
*    - If you changed some of the initial settings you have to recreate
*      the physics object in order to see the changes.
*/
class RagdollJoint {


    //[-------------------------------------------------------]
    //[ Public definitions                                    ]
    //[-------------------------------------------------------]
    public:
        /**
        *  @brief
        *    Simulated joints will be either hinge (1-DOF) or universal (2-DOF)
        */
        enum EType {
            Hinge     = 0,
            Universal = 1
        };


    //[-------------------------------------------------------]
    //[ Public functions                                      ]
    //[-------------------------------------------------------]
    public:
        /**
        *  @brief
        *    Constructor
        *
        *  @param[in] pParent
        *    Parent ragdoll
        */
        PLPHYSICS_API RagdollJoint(SNRagdoll *pParent);

        /**
        *  @brief
        *    Destructor
        */
        PLPHYSICS_API virtual ~RagdollJoint();

        /**
        *  @brief
        *    Returns the PL physics joint
        *
        *  @return
        *    The PL physics joint, a null pointer on error (if that's the case, something went totally wrong :)
        */
        PLPHYSICS_API Joint *GetJoint() const;

        /**
        *  @brief
        *    Sets the name of the joint
        *
        *  @param[in] sName
        *    New joint name
        *
        *  @return
        *    'true' if all went fine, else 'false'
        *    (maybe this name is already used within the ragdoll?)
        */
        PLPHYSICS_API bool SetName(const PLCore::String &sName);

        /**
        *  @brief
        *    Creates the physics joint
        *
        *  @note
        *    - After this function the physics joint is in it's initial pose
        */
        PLPHYSICS_API void CreatePhysicsJoint();

        /**
        *  @brief
        *    Destroys the physics joint
        */
        PLPHYSICS_API void DestroyPhysicsJoint();

        /**
        *  @brief
        *    Returns the current joint anchor position
        *
        *  @param[out] vPosition
        *    Will receive the current joint anchor position
        */
        PLPHYSICS_API void GetCurrentAnchor(PLMath::Vector3 &vPosition) const;

        /**
        *  @brief
        *    Computes and applies PD-controller torques to each body part assigned with this joint
        *
        *  @param[in] pController
        *    Joint controller
        *  @param[in] fMaxTorque
        *    Maximum torque
        */
        PLPHYSICS_API void ApplyControlTorques(JointController *pController, float fMaxTorque);


    //[-------------------------------------------------------]
    //[ Public data                                           ]
    //[-------------------------------------------------------]
    public:
        SNRagdoll *m_pParentRagdoll;
        ElementHandler *m_pJointHandler;    /**< Holds the PL physics joint */

        PLCore::uint32 nIndex;

        PLCore::String sName;       /**< Name of this ragdoll joint */
        PLCore::String sAttached;   /**< Name of the attached ragdoll body */
        PLCore::String sParent;     /**< Name of the attached parent ragdoll body */

        PLCore::String sThisJointName; /**< Name of the original skeleton joint */
        PLCore::String sNextJointName; /**< Name of the next original skeleton joint which 'created' this joint */

        // Specifies whether attachedBody is connected to the world instead of another body part
        bool bAttachToWorld;

        EType nJointType;

        // Joint range of motion constraints for each axis (hinge joint only defined one range)
        float fLowJointRange1, fHighJointRange1;
        float fLowJointRange2, fHighJointRange2;

        // Anchor position of the joint
        PLMath::Vector3 vJointAnchor;

        // Axis that the joint rotates about (hinge joint only defines one axis)
        PLMath::Vector3 vRotAxis1;
        PLMath::Vector3 vRotAxis2;


    //[-------------------------------------------------------]
    //[ Protected functions                                   ]
    //[-------------------------------------------------------]
    protected:
        /**
        *  @brief
        *    Cap the torque generated by the controller to a reasonable value
        *
        *  @param[in, out] fTorque
        *    Torque to cap
        *  @param[in]      fMaxTorque
        *    Maximum torque
        */
        PLPHYSICS_API void ClampTorque(float &fTorque, float fMaxTorque);


};


//[-------------------------------------------------------]
//[ Namespace                                             ]
//[-------------------------------------------------------]
} // PLPhysics


#endif // __PLPHYSICS_SCENENODES_RAGDOLLJOINT_H__