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godotengine
GitHub Repository: godotengine/godot
 Path: blob/master/thirdparty/jolt_physics/Jolt/Physics/Vehicle/Wheel.cpp
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)

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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe

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// SPDX-License-Identifier: MIT

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#include <Jolt/Jolt.h>

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#include <Jolt/Physics/Vehicle/Wheel.h>

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#include <Jolt/Physics/Vehicle/VehicleConstraint.h>

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#include <Jolt/ObjectStream/TypeDeclarations.h>

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JPH_NAMESPACE_BEGIN

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JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(WheelSettings)

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{

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	JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionForcePoint)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mPosition)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionDirection)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mSteeringAxis)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mWheelForward)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mWheelUp)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionMinLength)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionMaxLength)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionPreloadLength)

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	JPH_ADD_ENUM_ATTRIBUTE_WITH_ALIAS(WheelSettings, mSuspensionSpring.mMode, "mSuspensionSpringMode")

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	JPH_ADD_ATTRIBUTE_WITH_ALIAS(WheelSettings, mSuspensionSpring.mFrequency, "mSuspensionFrequency") // Renaming attributes to stay compatible with old versions of the library

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	JPH_ADD_ATTRIBUTE_WITH_ALIAS(WheelSettings, mSuspensionSpring.mDamping, "mSuspensionDamping")

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	JPH_ADD_ATTRIBUTE(WheelSettings, mRadius)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mWidth)

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	JPH_ADD_ATTRIBUTE(WheelSettings, mEnableSuspensionForcePoint)

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}

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void WheelSettings::SaveBinaryState(StreamOut &inStream) const

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{

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	inStream.Write(mSuspensionForcePoint);

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	inStream.Write(mPosition);

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	inStream.Write(mSuspensionDirection);

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	inStream.Write(mSteeringAxis);

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	inStream.Write(mWheelForward);

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	inStream.Write(mWheelUp);

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	inStream.Write(mSuspensionMinLength);

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	inStream.Write(mSuspensionMaxLength);

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	inStream.Write(mSuspensionPreloadLength);

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	mSuspensionSpring.SaveBinaryState(inStream);

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	inStream.Write(mRadius);

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	inStream.Write(mWidth);

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	inStream.Write(mEnableSuspensionForcePoint);

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}

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void WheelSettings::RestoreBinaryState(StreamIn &inStream)

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{

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	inStream.Read(mSuspensionForcePoint);

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	inStream.Read(mPosition);

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	inStream.Read(mSuspensionDirection);

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	inStream.Read(mSteeringAxis);

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	inStream.Read(mWheelForward);

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	inStream.Read(mWheelUp);

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	inStream.Read(mSuspensionMinLength);

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	inStream.Read(mSuspensionMaxLength);

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	inStream.Read(mSuspensionPreloadLength);

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	mSuspensionSpring.RestoreBinaryState(inStream);

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	inStream.Read(mRadius);

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	inStream.Read(mWidth);

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	inStream.Read(mEnableSuspensionForcePoint);

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}

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Wheel::Wheel(const WheelSettings &inSettings) :

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	mSettings(&inSettings),

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	mSuspensionLength(inSettings.mSuspensionMaxLength)

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{

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	JPH_ASSERT(inSettings.mSuspensionDirection.IsNormalized());

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	JPH_ASSERT(inSettings.mSteeringAxis.IsNormalized());

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	JPH_ASSERT(inSettings.mWheelForward.IsNormalized());

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	JPH_ASSERT(inSettings.mWheelUp.IsNormalized());

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	JPH_ASSERT(inSettings.mSuspensionMinLength >= 0.0f);

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	JPH_ASSERT(inSettings.mSuspensionMaxLength >= inSettings.mSuspensionMinLength);

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	JPH_ASSERT(inSettings.mSuspensionPreloadLength >= 0.0f);

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	JPH_ASSERT(inSettings.mSuspensionSpring.mFrequency > 0.0f);

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	JPH_ASSERT(inSettings.mSuspensionSpring.mDamping >= 0.0f);

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	JPH_ASSERT(inSettings.mRadius > 0.0f);

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	JPH_ASSERT(inSettings.mWidth >= 0.0f);

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}

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bool Wheel::SolveLongitudinalConstraintPart(const VehicleConstraint &inConstraint, float inMinImpulse, float inMaxImpulse)

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{

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	return mLongitudinalPart.SolveVelocityConstraint(*inConstraint.GetVehicleBody(), *mContactBody, -mContactLongitudinal, inMinImpulse, inMaxImpulse);

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}

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bool Wheel::SolveLateralConstraintPart(const VehicleConstraint &inConstraint, float inMinImpulse, float inMaxImpulse)

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{

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	return mLateralPart.SolveVelocityConstraint(*inConstraint.GetVehicleBody(), *mContactBody, -mContactLateral, inMinImpulse, inMaxImpulse);

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}

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JPH_NAMESPACE_END

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