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adding motors for multibody joints #235

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adding motors for multibody joints #235

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271 changes: 178 additions & 93 deletions src.ts/dynamics/multibody_joint.ts
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Original file line number Diff line number Diff line change
@@ -1,16 +1,24 @@
import {RawImpulseJointSet, RawJointAxis, RawMultibodyJointSet} from "../raw";
import {Rotation, Vector, VectorOps, RotationOps} from "../math";
import {
RawGenericJoint,
RawMultibodyJointSet,
RawRigidBodySet,
RawJointAxis,
} from "../raw";

import {
FixedImpulseJoint,
ImpulseJointHandle,
// MultibodyJointHandle,
JointType,
MotorModel,
PrismaticImpulseJoint,
RevoluteImpulseJoint,
} from "./impulse_joint";

import {RigidBody, RigidBodyHandle} from "./rigid_body";
import {RigidBodySet} from "./rigid_body_set";
// #if DIM3
import {Quaternion} from "../math";
import {SphericalImpulseJoint} from "./impulse_joint";
// #endif

/**
Expand All @@ -20,15 +28,22 @@ export type MultibodyJointHandle = number;

export class MultibodyJoint {
protected rawSet: RawMultibodyJointSet; // The MultibodyJoint won't need to free this.
// protected bodySet: RigidBodySet; // The MultibodyJoint won’t need to free this.
handle: MultibodyJointHandle;

constructor(rawSet: RawMultibodyJointSet, handle: MultibodyJointHandle) {
constructor(
rawSet: RawMultibodyJointSet,
// bodySet: RigidBodySet,
handle: MultibodyJointHandle,
) {
this.rawSet = rawSet;
// this.bodySet = bodySet;
this.handle = handle;
}

public static newTyped(
rawSet: RawMultibodyJointSet,
// bodySet: RigidBodySet,
handle: MultibodyJointHandle,
): MultibodyJoint {
switch (rawSet.jointType(handle)) {
Expand All @@ -47,6 +62,11 @@ export class MultibodyJoint {
}
}

/** @internal */
public finalizeDeserialization(bodySet: RigidBodySet) {
// this.bodySet = bodySet;
}

/**
* Checks if this joint is still valid (i.e. that it has
* not been deleted from the joint set yet).
Expand All @@ -56,66 +76,90 @@ export class MultibodyJoint {
}

// /**
// * The unique integer identifier of the first rigid-body this joint it attached to.
// */
// public bodyHandle1(): RigidBodyHandle {
// return this.rawSet.jointBodyHandle1(this.handle);
// }
//
// /**
// * The unique integer identifier of the second rigid-body this joint is attached to.
// */
// public bodyHandle2(): RigidBodyHandle {
// return this.rawSet.jointBodyHandle2(this.handle);
// }
//
// /**
// * The type of this joint given as a string.
// * The first rigid-body this joint it attached to.
// */
// public type(): JointType {
// return this.rawSet.jointType(this.handle);
// public body1(): RigidBody {
// return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle));
// }
//
// // #if DIM3
// /**
// * The rotation quaternion that aligns this joint's first local axis to the `x` axis.
// * The second rigid-body this joint is attached to.
// */
// public frameX1(): Rotation {
// return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
// }
//
// // #endif
//
// // #if DIM3
// /**
// * The rotation matrix that aligns this joint's second local axis to the `x` axis.
// */
// public frameX2(): Rotation {
// return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
// }
//
// // #endif
//
// /**
// * The position of the first anchor of this joint.
// *
// * The first anchor gives the position of the points application point on the
// * local frame of the first rigid-body it is attached to.
// */
// public anchor1(): Vector {
// return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
// }
//
// /**
// * The position of the second anchor of this joint.
// *
// * The second anchor gives the position of the points application point on the
// * local frame of the second rigid-body it is attached to.
// */
// public anchor2(): Vector {
// return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
// public body2(): RigidBody {
// return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle));
// }

/**
* The type of this joint given as a string.
*/
public type(): JointType {
return this.rawSet.jointType(this.handle);
}

// #if DIM3
/**
* The rotation quaternion that aligns this joint's first local axis to the `x` axis.
*/
public frameX1(): Rotation {
return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
}

// #endif

// #if DIM3
/**
* The rotation matrix that aligns this joint's second local axis to the `x` axis.
*/
public frameX2(): Rotation {
return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
}

// #endif

/**
* The position of the first anchor of this joint.
*
* The first anchor gives the position of the application point on the
* local frame of the first rigid-body it is attached to.
*/
public anchor1(): Vector {
return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
}

/**
* The position of the second anchor of this joint.
*
* The second anchor gives the position of the application point on the
* local frame of the second rigid-body it is attached to.
*/
public anchor2(): Vector {
return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
}

/**
* Sets the position of the first anchor of this joint.
*
* The first anchor gives the position of the application point on the
* local frame of the first rigid-body it is attached to.
*/
public setAnchor1(newPos: Vector) {
const rawPoint = VectorOps.intoRaw(newPos);
this.rawSet.jointSetAnchor1(this.handle, rawPoint);
rawPoint.free();
}

/**
* Sets the position of the second anchor of this joint.
*
* The second anchor gives the position of the application point on the
* local frame of the second rigid-body it is attached to.
*/
public setAnchor2(newPos: Vector) {
const rawPoint = VectorOps.intoRaw(newPos);
this.rawSet.jointSetAnchor2(this.handle, rawPoint);
rawPoint.free();
}

/**
* Controls whether contacts are computed between colliders attached
* to the rigid-bodies linked by this joint.
Expand All @@ -139,42 +183,83 @@ export class UnitMultibodyJoint extends MultibodyJoint {
*/
protected rawAxis?(): RawJointAxis;

// /**
// * Are the limits enabled for this joint?
// */
// public limitsEnabled(): boolean {
// return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());
// }
//
// /**
// * The min limit of this joint.
// */
// public limitsMin(): number {
// return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());
// }
//
// /**
// * The max limit of this joint.
// */
// public limitsMax(): number {
// return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());
// }
//
// public configureMotorModel(model: MotorModel) {
// this.rawSet.jointConfigureMotorModel(this.handle, this.rawAxis(), model);
// }
//
// public configureMotorVelocity(targetVel: number, factor: number) {
// this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor);
// }
//
// public configureMotorPosition(targetPos: number, stiffness: number, damping: number) {
// this.rawSet.jointConfigureMotorPosition(this.handle, this.rawAxis(), targetPos, stiffness, damping);
// }
//
// public configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number) {
// this.rawSet.jointConfigureMotor(this.handle, this.rawAxis(), targetPos, targetVel, stiffness, damping);
// }
/**
* Are the limits enabled for this joint?
*/
public limitsEnabled(): boolean {
return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());
}

/**
* The min limit of this joint.
*/
public limitsMin(): number {
return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());
}

/**
* The max limit of this joint.
*/
public limitsMax(): number {
return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());
}

/**
* Sets the limits of this joint.
*
* @param min - The minimum bound of this joint’s free coordinate.
* @param max - The maximum bound of this joint’s free coordinate.
*/
public setLimits(min: number, max: number) {
this.rawSet.jointSetLimits(this.handle, this.rawAxis(), min, max);
}

public configureMotorModel(model: MotorModel) {
this.rawSet.jointConfigureMotorModel(
this.handle,
this.rawAxis(),
model,
);
}

public configureMotorVelocity(targetVel: number, factor: number) {
this.rawSet.jointConfigureMotorVelocity(
this.handle,
this.rawAxis(),
targetVel,
factor,
);
}

public configureMotorPosition(
targetPos: number,
stiffness: number,
damping: number,
) {
this.rawSet.jointConfigureMotorPosition(
this.handle,
this.rawAxis(),
targetPos,
stiffness,
damping,
);
}

public configureMotor(
targetPos: number,
targetVel: number,
stiffness: number,
damping: number,
) {
this.rawSet.jointConfigureMotor(
this.handle,
this.rawAxis(),
targetPos,
targetVel,
stiffness,
damping,
);
}
}

export class FixedMultibodyJoint extends MultibodyJoint {}
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