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104 lines
4.1 KiB
C++
104 lines
4.1 KiB
C++
/*
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* Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution.
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*
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* SPDX-License-Identifier: Apache-2.0 OR MIT
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*
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*/
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#pragma once
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#include <PxPhysicsAPI.h>
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#include <AzCore/Component/Component.h>
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#include <AzCore/Component/EntityBus.h>
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#include <AzCore/Component/EntityId.h>
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#include <AzCore/Component/TransformBus.h>
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#include <AzFramework/Physics/Common/PhysicsTypes.h>
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#include <PhysX/Joint/Configuration/PhysXJointConfiguration.h>
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namespace AzPhysics
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{
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struct SimulatedBody;
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}
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namespace PhysX
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{
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class JointComponentConfiguration
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{
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public:
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AZ_CLASS_ALLOCATOR(JointComponentConfiguration, AZ::SystemAllocator, 0);
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AZ_TYPE_INFO(JointComponentConfiguration, "{1454F33F-AA6E-424B-A70C-9E463FBDEA19}");
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static void Reflect(AZ::ReflectContext* context);
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JointComponentConfiguration() = default;
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JointComponentConfiguration(
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AZ::Transform localTransformFromFollower,
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AZ::EntityId leadEntity,
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AZ::EntityId followerEntity);
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AZ::EntityId m_leadEntity; ///< EntityID for entity containing body that is lead to this joint constraint.
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AZ::EntityId m_followerEntity; ///< EntityID for entity containing body that is follower to this joint constraint.
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AZ::Transform m_localTransformFromFollower; ///< Joint's location and orientation in the frame (coordinate system) of the follower entity.
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};
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/// Base class for game-time generic joint components.
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class JointComponent: public AZ::Component
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, protected AZ::EntityBus::Handler
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{
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public:
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AZ_COMPONENT(JointComponent, "{B01FD1D2-1D91-438D-874A-BF5EB7E919A8}");
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static void Reflect(AZ::ReflectContext* context);
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JointComponent() = default;
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JointComponent(
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const JointComponentConfiguration& configuration,
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const JointGenericProperties& genericProperties);
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JointComponent(
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const JointComponentConfiguration& configuration,
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const JointGenericProperties& genericProperties,
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const JointLimitProperties& limitProperties);
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protected:
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/// Struct to provide subclasses with native pointers during joint initialization.
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/// See use of GetLeadFollowerInfo().
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struct LeadFollowerInfo
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{
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physx::PxRigidActor* m_leadActor = nullptr;
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physx::PxRigidActor* m_followerActor = nullptr;
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AZ::Transform m_leadLocal = AZ::Transform::CreateIdentity();
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AZ::Transform m_followerLocal = AZ::Transform::CreateIdentity();
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AzPhysics::SimulatedBody* m_leadBody = nullptr;
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AzPhysics::SimulatedBody* m_followerBody = nullptr;
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};
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// AZ::Component
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void Activate() override;
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void Deactivate() override;
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// AZ::EntityBus
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void OnEntityActivated(const AZ::EntityId&) override;
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/// Invoked in JointComponent::OnEntityActivated for specific joint types to instantiate native joint pointer.
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virtual void InitNativeJoint() {};
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AZ::Transform GetJointLocalPose(const physx::PxRigidActor* actor, const AZ::Transform& jointPose);
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AZ::Transform GetJointTransform(AZ::EntityId entityId,
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const JointComponentConfiguration& jointConfig);
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/// Used on initialization by sub-classes to get native pointers from entity IDs.
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/// This allows sub-classes to instantiate specific native types. This base class does not need knowledge of any specific joint type.
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void ObtainLeadFollowerInfo(LeadFollowerInfo& leadFollowerInfo);
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/// Issues warnings for invalid scenarios when initializing a joint from entity IDs.
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void WarnInvalidJointSetup(AZ::EntityId entityId, const AZStd::string& message);
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JointComponentConfiguration m_configuration;
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JointGenericProperties m_genericProperties;
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JointLimitProperties m_limits;
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AzPhysics::JointHandle m_jointHandle = AzPhysics::InvalidJointHandle;
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AzPhysics::SceneHandle m_jointSceneOwner = AzPhysics::InvalidSceneHandle;
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};
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} // namespace PhysX
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