ImmediatePhysicsJointHandle_Chaos.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "Physics/ImmediatePhysics/ImmediatePhysicsChaos/ImmediatePhysicsCore_Chaos.h"
#include "Physics/ImmediatePhysics/ImmediatePhysicsChaos/ImmediatePhysicsActorHandle_Chaos.h"
 
#include "Chaos/PBDJointConstraintTypes.h"
#include "Chaos/Vector.h"
 
#include "Engine/EngineTypes.h"
 
namespace ImmediatePhysics_Chaos
{
    struct FJointSetup
    {
    public:
        FJointSetup()
            : ConstraintSettings()
            , Actor1(nullptr)
            , Actor2(nullptr)
        {
        }
 
        FJointSetup(const Chaos::FPBDJointSettings& InConstraintSettings, FActorHandle* InActor1, FActorHandle* InActor2)
            : ConstraintSettings(InConstraintSettings)
            , Actor1(InActor1)
            , Actor2(InActor2)
        {
        }
 
        Chaos::FPBDJointSettings ConstraintSettings;
        FActorHandle* Actor1;
        FActorHandle* Actor2;
    };
 
    struct FJointHandle
    {
    public:
        using FChaosConstraintContainer = Chaos::FPBDJointConstraints;
        using FChaosConstraintHandle = typename Chaos::FPBDJointConstraintHandle;
 
        using FPBDJointSettings UE_DEPRECATED(5.6, "Not used") = Chaos::FPBDJointSettings;
 
        UE_DEPRECATED(5.6, "Use constructor which takes FJointSetup")
        ENGINE_API FJointHandle(FChaosConstraintContainer* InConstraints, FConstraintInstance* ConstraintInstance, FActorHandle* InActor1, FActorHandle* InActor2);
 
        UE_DEPRECATED(5.6, "Use constructor which takes FJointSetup")
        ENGINE_API FJointHandle(FChaosConstraintContainer* InConstraints, const Chaos::FPBDJointSettings& ConstraintSettings, FActorHandle* InActor1, FActorHandle* InActor2);
 
        ENGINE_API FJointHandle(FChaosConstraintContainer* InConstraints, const FJointSetup& JointSetup);
        ENGINE_API ~FJointHandle();
 
        ENGINE_API FChaosConstraintHandle* GetConstraint();
        ENGINE_API const FChaosConstraintHandle* GetConstraint() const;
 
        ENGINE_API const Chaos::TVec2<FActorHandle*>& GetActorHandles();
        ENGINE_API const Chaos::TVec2<const FActorHandle*>& GetActorHandles() const;
 
        ENGINE_API void SetSoftLinearSettings(bool bLinearSoft, FReal LinearStiffness, FReal LinearDamping);
 
    private:
        void CreateJoint(FChaosConstraintContainer* InConstraints, const Chaos::FPBDJointSettings& ConstraintSettings, FActorHandle* const Actor1, FActorHandle* const Actor2);
        void SetActorInertiaConditioningDirty();
        
        Chaos::TVec2<FActorHandle*> ActorHandles;
        FChaosConstraintContainer* Constraints;
        FChaosConstraintHandle* ConstraintHandle;
    };
}
 
// TODO: REMOVE - only for deprecated function
struct FConstraintProfileProperties;
 
namespace ImmediatePhysics_Chaos
{
    UE_DEPRECATED(5.6, "Moved to ImmediatePhysics namespace")
    ENGINE_API void UpdateJointSettingsFromConstraintProfile(const FConstraintProfileProperties& Profile, Chaos::FPBDJointSettings& JointSettings);
}