66 lines
3.4 KiB
C++
66 lines
3.4 KiB
C++
// 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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#pragma once
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#include <Jolt/Core/Reference.h>
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#include <Jolt/ObjectStream/SerializableObject.h>
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JPH_NAMESPACE_BEGIN
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class StreamIn;
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class StreamOut;
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enum class EMotorState
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{
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Off, ///< Motor is off
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Velocity, ///< Motor will drive to target velocity
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Position ///< Motor will drive to target position
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};
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/// Class that contains the settings for a constraint motor.
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/// See the main page of the API documentation for more information on how to configure a motor.
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class MotorSettings
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{
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public:
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JPH_DECLARE_SERIALIZABLE_NON_VIRTUAL(MotorSettings)
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/// Constructor
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MotorSettings() = default;
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MotorSettings(const MotorSettings &inRHS) = default;
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MotorSettings(float inFrequency, float inDamping) : mFrequency(inFrequency), mDamping(inDamping) { JPH_ASSERT(IsValid()); }
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MotorSettings(float inFrequency, float inDamping, float inForceLimit, float inTorqueLimit) : mFrequency(inFrequency), mDamping(inDamping), mMinForceLimit(-inForceLimit), mMaxForceLimit(inForceLimit), mMinTorqueLimit(-inTorqueLimit), mMaxTorqueLimit(inTorqueLimit) { JPH_ASSERT(IsValid()); }
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/// Set asymmetric force limits
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void SetForceLimits(float inMin, float inMax) { JPH_ASSERT(inMin <= inMax); mMinForceLimit = inMin; mMaxForceLimit = inMax; }
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/// Set asymmetric torque limits
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void SetTorqueLimits(float inMin, float inMax) { JPH_ASSERT(inMin <= inMax); mMinTorqueLimit = inMin; mMaxTorqueLimit = inMax; }
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/// Set symmetric force limits
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void SetForceLimit(float inLimit) { mMinForceLimit = -inLimit; mMaxForceLimit = inLimit; }
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/// Set symmetric torque limits
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void SetTorqueLimit(float inLimit) { mMinTorqueLimit = -inLimit; mMaxTorqueLimit = inLimit; }
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/// Check if settings are valid
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bool IsValid() const { return mFrequency >= 0.0f && mDamping >= 0.0f && mMinForceLimit <= mMaxForceLimit && mMinTorqueLimit <= mMaxTorqueLimit; }
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/// Saves the contents of the motor settings in binary form to inStream.
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void SaveBinaryState(StreamOut &inStream) const;
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/// Restores contents from the binary stream inStream.
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void RestoreBinaryState(StreamIn &inStream);
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// Settings
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float mFrequency = 2.0f; ///< Oscillation frequency when solving position target (Hz). Should be in the range (0, 0.5 * simulation frequency]. When simulating at 60 Hz, 20 is a good value for a strong motor. Only used for position motors.
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float mDamping = 1.0f; ///< Damping when solving position target (0 = minimal damping, 1 = critical damping). Only used for position motors.
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float mMinForceLimit = -FLT_MAX; ///< Minimum force to apply in case of a linear constraint (N). Usually this is -mMaxForceLimit unless you want a motor that can e.g. push but not pull. Not used when motor is an angular motor.
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float mMaxForceLimit = FLT_MAX; ///< Maximum force to apply in case of a linear constraint (N). Not used when motor is an angular motor.
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float mMinTorqueLimit = -FLT_MAX; ///< Minimum torque to apply in case of a angular constraint (N m). Usually this is -mMaxTorqueLimit unless you want a motor that can e.g. push but not pull. Not used when motor is a position motor.
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float mMaxTorqueLimit = FLT_MAX; ///< Maximum torque to apply in case of a angular constraint (N m). Not used when motor is a position motor.
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};
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JPH_NAMESPACE_END
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