Joint2D.h

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#pragma once
#include "common/Export.h"
 
#include "physics/PhysicsHandles.h"
 
#include <string>
 
class b2Joint;
 
namespace eve::physics {
 
class Body;
class World;
 
class EVENGINE_API_WORLD Joint2D {
public:
    enum class Kind { Distance, Revolute, Prismatic, Weld, Wheel, Motor, Gear };
 
    Joint2D(World *world, Body *bodyA, Body *bodyB, b2Joint *joint, PhysicsJointHandle runtimeHandle,
            Kind kind, int id);
    ~Joint2D();
 
    Joint2D(const Joint2D &) = delete;
    Joint2D &operator=(const Joint2D &) = delete;
 
    int getId() const { return id_; }
    PhysicsJointHandle runtimeHandle() const { return runtimeHandle_; }
    std::string getKind() const;
    int getBodyAId() const;
    int getBodyBId() const;
    World *getWorld() const { return world_; }
    void setCollideConnected(bool collide);
    bool getCollideConnected() const;
 
    void setDistanceLength(float lengthPixels);
    float getDistanceLength() const;
    void setDistanceSpring(float frequencyHz, float dampingRatio);
    float getDistanceFrequency() const;
    float getDistanceDampingRatio() const;
 
    void setRevoluteLimits(bool enabled, float lower, float upper);
    void setRevoluteMotor(bool enabled, float speed, float maxTorque);
    float getRevoluteAngle() const;
    float getRevoluteSpeed() const;
    float getRevoluteMotorTorque() const;
 
    void setPrismaticLimits(bool enabled, float lowerPixels, float upperPixels);
    void setPrismaticMotor(bool enabled, float speedPixels, float maxForcePixels);
    float getPrismaticTranslation() const;
    float getPrismaticSpeed() const;
 
    void setWeldSpring(float frequencyHz, float dampingRatio);
    float getWeldFrequency() const;
    float getWeldDampingRatio() const;
 
    void setWheelSpring(float frequencyHz, float dampingRatio);
    void setWheelMotor(bool enabled, float speed, float maxTorque);
    float getWheelTranslation() const;
    float getWheelSpeed() const;
 
    void setMotorLinearOffset(float xPixels, float yPixels);
    void setMotorAngularOffset(float radians);
    void setMotorLimits(float maxForcePixels, float maxTorque);
    float getMotorLinearOffsetX() const;
    float getMotorLinearOffsetY() const;
    float getMotorAngularOffset() const;
 
    void setGearRatio(float ratio);
    float getGearRatio() const;
    Joint2D *getGearJoint1() const { return gearJoint1_; }
    Joint2D *getGearJoint2() const { return gearJoint2_; }
 
    void destroy();
    bool isValid() const;
    void invalidate();
    b2Joint *raw() const { return joint_; }
 
private:
    friend class Body;
    friend class World;
    friend class Mechanism2D;
    void requireKind(Kind expected, const char *operation) const;
    void setGearMembers(Joint2D *joint1, Joint2D *joint2);
 
    World *world_ = nullptr;
    Body *bodyA_ = nullptr;
    Body *bodyB_ = nullptr;
    b2Joint *joint_ = nullptr;
    PhysicsJointHandle runtimeHandle_ = PhysicsJointHandle::invalid();
    Kind kind_ = Kind::Distance;
    int id_ = 0;
    Joint2D *gearJoint1_ = nullptr;
    Joint2D *gearJoint2_ = nullptr;
};
 
}  // namespace eve::physics