spring-constraint.hpp

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/*
 * Copyright (C) 2023  Christopher J. Howard
 *
 * This file is part of Antkeeper source code.
 *
 * Antkeeper source code is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Antkeeper source code is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Antkeeper source code.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#ifndef ANTKEEPER_PHYSICS_SPRING_CONSTRAINT_HPP
#define ANTKEEPER_PHYSICS_SPRING_CONSTRAINT_HPP
 
#include <engine/physics/kinematics/constraint.hpp>
#include <engine/physics/kinematics/rigid-body.hpp>
#include <engine/math/vector.hpp>
 
namespace physics {
 
class spring_constraint: public constraint
{
public:
    void solve(float dt) override;
    
    inline constexpr void attach_a(rigid_body& body_a, const math::fvec3& point_a) noexcept
    {
        m_body_a = &body_a;
        m_point_a = point_a;
    }
    
    inline constexpr void attach_b(rigid_body& body_b, const math::fvec3& point_b) noexcept
    {
        m_body_b = &body_b;
        m_point_b = point_b;
    }
    
    inline constexpr void detach_a() noexcept
    {
        m_body_a = nullptr;
    }
    
    inline constexpr void detach_b() noexcept
    {
        m_body_b = nullptr;
    }
    
    inline constexpr void detach() noexcept
    {
        detach_a();
        detach_b();
    }
    
    inline constexpr void set_resting_length(float length) noexcept
    {
        m_resting_length = length;
    }
    
    inline constexpr void set_stiffness(float stiffness) noexcept
    {
        m_stiffness = stiffness;
    }
    
    inline constexpr void set_damping(float damping) noexcept
    {
        m_damping = damping;
    }
    
    [[nodiscard]] inline constexpr rigid_body* get_body_a() const noexcept
    {
        return m_body_a;
    }
    
    [[nodiscard]] inline constexpr rigid_body* get_body_b() const noexcept
    {
        return m_body_b;
    }
    
    [[nodiscard]] inline constexpr const math::fvec3& get_point_a() const noexcept
    {
        return m_point_a;
    }
    
    [[nodiscard]] inline constexpr const math::fvec3& get_point_b() const noexcept
    {
        return m_point_b;
    }
    
    [[nodiscard]] inline constexpr float get_resting_length() const noexcept
    {
        return m_resting_length;
    }
    
    [[nodiscard]] inline constexpr float get_stiffness() const noexcept
    {
        return m_stiffness;
    }
    
    [[nodiscard]] inline constexpr float get_damping() const noexcept
    {
        return m_damping;
    }
    
private:
    rigid_body* m_body_a{};
    
    rigid_body* m_body_b{};
    
    math::fvec3 m_point_a{};
    
    math::fvec3 m_point_b{};
    
    float m_resting_length{};
    
    float m_stiffness{1.0f};
    
    float m_damping{1.0f};
};
 
} // namespace physics
 
#endif // ANTKEEPER_PHYSICS_SPRING_CONSTRAINT_HPP