g3n-engine/physics/constraint/constraint.go

// Copyright 2016 The G3N Authors. All rights reserved.
// Use of this source code is governed by a BSD-style
// license that can be found in the LICENSE file.

// Package constraint implements physics constraints.
package constraint

import (
	"github.com/g3n/engine/physics/equation"
	"github.com/g3n/engine/math32"
)

type IBody interface {
	equation.IBody
	WakeUp()
	VectorToWorld(*math32.Vector3) math32.Vector3
	PointToLocal(*math32.Vector3) math32.Vector3
	VectorToLocal(*math32.Vector3) math32.Vector3
	Quaternion() *math32.Quaternion
}

type IConstraint interface {
	Update() // Update all the equations with data.
}

// Constraint base struct.
type Constraint struct {
	equations []*equation.Equation // Equations to be solved in this constraint
	bodyA     IBody
	bodyB     IBody
	//id
	collideConnected bool // Set to true if you want the bodies to collide when they are connected.
}

// NewConstraint creates and returns a pointer to a new Constraint object.
func NewConstraint(bodyA, bodyB IBody, collideConnected, wakeUpBodies bool) *Constraint {

	c := new(Constraint)
	c.initialize(bodyA, bodyB, collideConnected, wakeUpBodies)
	return c
}

func (c *Constraint) initialize(bodyA, bodyB IBody, collideConnected, wakeUpBodies bool) {

	c.bodyA = bodyA
	c.bodyB = bodyB
	c.collideConnected = collideConnected // true

	if wakeUpBodies { // true
		if bodyA != nil {
			bodyA.WakeUp()
		}
		if bodyB != nil {
			bodyB.WakeUp()
		}
	}
}

// AddEquation adds an equation to the constraint.
func (c *Constraint) AddEquation(eq *equation.Equation) {

	c.equations = append(c.equations, eq)
}

// SetEnable sets the enabled flag of the constraint equations.
func (c *Constraint) SetEnabled(state bool) {

	for i := range c.equations {
		c.equations[i].SetEnabled(state)
	}
}