165 lines
5.6 KiB
Ada
165 lines
5.6 KiB
Ada
with
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gel.Joint,
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gel.Sprite,
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physics.Joint.hinge,
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physics.Space;
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package gel.hinge_Joint
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--
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-- Allows sprites to be connected via a hinge joint.
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--
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is
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type Item is new gel.Joint.item with private;
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type View is access all Item'Class;
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type Views is array (math.Index range <>) of View;
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-- Degrees of freedom.
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--
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Revolve : constant joint.Degree_of_freedom := 1;
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package std_physics renames standard.Physics;
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use Math;
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---------
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--- Forge
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--
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procedure define (Self : access Item; in_Space : in std_physics.Space.view;
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Sprite_A,
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Sprite_B : access gel.Sprite.item'Class;
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pivot_Axis : in Vector_3;
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Anchor_in_A : in Vector_3;
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Anchor_in_B : in Vector_3;
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low_Limit,
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high_Limit : in math.Real;
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collide_Conected : in Boolean);
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procedure define (Self : access Item; in_Space : in std_physics.Space.view;
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Sprite_A, Sprite_B : access gel.Sprite.item'Class;
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pivot_Axis : in Vector_3;
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pivot_Anchor : in Vector_3);
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procedure define (Self : access Item; in_Space : in std_physics.Space.view;
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Sprite_A, Sprite_B : access gel.Sprite.item'Class;
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pivot_Axis : in Vector_3);
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--
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-- Uses midpoint between sprite A and B for the pivot anchor.
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procedure define (Self : access Item; in_Space : in std_physics.Space.view;
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Sprite_A, Sprite_B : access gel.Sprite.item'Class;
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Frame_A, Frame_B : in Matrix_4x4;
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low_Limit : in Real := to_Radians (-180.0);
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high_Limit : in Real := to_Radians ( 180.0);
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collide_Conected : in Boolean);
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procedure define (Self : access Item; in_Space : in std_physics.Space.view;
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Sprite_A : access gel.Sprite.item'Class;
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Frame_A : in Matrix_4x4);
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overriding
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procedure destroy (Self : in out Item);
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--------------
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--- Attributes
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--
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function reference_Angle (Self : in Item) return Radians;
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function Angle (Self : in Item) return Real;
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overriding
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function Physics (Self : in Item) return Joint.Physics_view;
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procedure Limits_are (Self : in out Item'Class; Low, High : in Real;
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Softness : in Real := 0.9;
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bias_Factor : in Real := 0.3;
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relaxation_Factor : in Real := 1.0);
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overriding
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function Frame_A (Self : in Item) return Matrix_4x4;
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overriding
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function Frame_B (Self : in Item) return Matrix_4x4;
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overriding
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procedure Frame_A_is (Self : in out Item; Now : in Matrix_4x4);
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overriding
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procedure Frame_B_is (Self : in out Item; Now : in Matrix_4x4);
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overriding
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function Degrees_of_freedom (Self : in Item) return joint.degree_of_Freedom;
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function Anchor_on_A (Self : in Item) return Vector_3;
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function Anchor_on_B (Self : in Item) return Vector_3;
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function pivot_Anchor (Self : in Item) return Vector_3;
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function limit_Enabled (Self : in Item) return Boolean;
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-- Bounds - limits the range of motion for a degree of freedom.
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--
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overriding
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function low_Bound (Self : access Item; for_Degree : in joint.Degree_of_freedom) return Real;
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overriding
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procedure low_Bound_is (Self : access Item; for_Degree : in joint.Degree_of_freedom;
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Now : in Real);
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overriding
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function high_Bound (Self : access Item; for_Degree : in joint.Degree_of_freedom) return Real;
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overriding
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procedure high_Bound_is (Self : access Item; for_Degree : in joint.Degree_of_freedom;
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Now : in Real);
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overriding
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function is_Bound (Self : in Item; for_Degree : in joint.Degree_of_freedom) return Boolean;
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overriding
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function Extent (Self : in Item; for_Degree : in joint.Degree_of_freedom) return Real;
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overriding
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procedure Velocity_is (Self : in Item; for_Degree : in joint.Degree_of_freedom;
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Now : in Real);
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---------
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--- Motor
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--
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function motor_Enabled (Self : in Item) return Boolean;
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function motor_Speed (Self : in Item) return Real;
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function max_motor_Torque (Self : in Item) return Real;
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private
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type Item is new gel.Joint.item with
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record
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Physics : access std_physics.Joint.hinge.item'Class;
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pivot_Anchor : Vector_3;
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low_Bound,
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high_Bound : Real;
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Softness : Real;
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bias_Factor : Real;
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relaxation_Factor : Real;
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end record;
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procedure apply_Limits (Self : in out Item);
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end gel.hinge_Joint;
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