alexpete
76 lines
3.5 KiB
C++
76 lines
3.5 KiB
C++
/*
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* All or portions of this file Copyright (c) Amazon.com, Inc. or its affiliates or
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* its licensors.
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*
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* For complete copyright and license terms please see the LICENSE at the root of this
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* distribution (the "License"). All use of this software is governed by the License,
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* or, if provided, by the license below or the license accompanying this file. Do not
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* remove or modify any license notices. This file is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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*
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*/
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#pragma once
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#include <AzCore/Math/Transform.h>
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#include <AzCore/Serialization/SerializeContext.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 Physics
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{
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class JointLimitConfiguration
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{
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public:
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AZ_CLASS_ALLOCATOR(JointLimitConfiguration, AZ::SystemAllocator, 0);
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AZ_RTTI(JointLimitConfiguration, "{C9B70C4D-22D7-45AB-9B0A-30A4ED5E42DB}");
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static void Reflect(AZ::ReflectContext* context);
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JointLimitConfiguration() = default;
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JointLimitConfiguration(const JointLimitConfiguration&) = default;
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virtual ~JointLimitConfiguration() = default;
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virtual const char* GetTypeName();
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AZ::Quaternion m_parentLocalRotation = AZ::Quaternion::CreateIdentity(); ///< Parent joint frame relative to parent body.
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AZ::Vector3 m_parentLocalPosition = AZ::Vector3::CreateZero(); ///< Joint position relative to parent body.
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AZ::Quaternion m_childLocalRotation = AZ::Quaternion::CreateIdentity(); ///< Child joint frame relative to child body.
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AZ::Vector3 m_childLocalPosition = AZ::Vector3::CreateZero(); ///< Joint position relative to child body.
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};
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class Joint
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{
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public:
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AZ_CLASS_ALLOCATOR(Joint, AZ::SystemAllocator, 0);
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AZ_RTTI(Joint, "{405F517C-E986-4ACB-9606-D5D080DDE987}");
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virtual AzPhysics::SimulatedBody* GetParentBody() const = 0;
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virtual AzPhysics::SimulatedBody* GetChildBody() const = 0;
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virtual void SetParentBody(AzPhysics::SimulatedBody* parentBody) = 0;
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virtual void SetChildBody(AzPhysics::SimulatedBody* childBody) = 0;
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virtual const AZStd::string& GetName() const = 0;
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virtual void SetName(const AZStd::string& name) = 0;
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virtual const AZ::Crc32 GetNativeType() const = 0;
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virtual void* GetNativePointer() = 0;
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/// Generates joint limit visualization data in appropriate format to pass to DebugDisplayRequests draw functions.
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/// @param scale Scale factor for the output display data.
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/// @param angularSubdivisions Level of detail in the angular direction (may be clamped in the implementation).
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/// @param radialSubdivisions Level of detail in the radial direction (may be clamped in the implementation).
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/// @param[out] vertexBufferOut Used with indexBufferOut to define triangles to be displayed.
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/// @param[out] indexBufferOut Used with vertexBufferOut to define triangles to be displayed.
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/// @param[out] lineBufferOut Used to define lines to be displayed.
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/// @param[out] lineValidityBufferOut Whether each line in the line buffer is part of a valid or violated limit.
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virtual void GenerateJointLimitVisualizationData(
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float scale,
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AZ::u32 angularSubdivisions,
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AZ::u32 radialSubdivisions,
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AZStd::vector<AZ::Vector3>& vertexBufferOut,
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AZStd::vector<AZ::u32>& indexBufferOut,
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AZStd::vector<AZ::Vector3>& lineBufferOut,
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AZStd::vector<bool>& lineValidityBufferOut) = 0;
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};
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} // namespace Physics
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