PBDJointConstraintUtilities.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "CoreMinimal.h"
 
#include "Chaos/ParticleHandleFwd.h"
#include "Chaos/PBDJointConstraintTypes.h"
#include "Chaos/Collision/CollisionApplyType.h"
 
 
namespace Chaos
{
    class FPBDJointUtilities
    {
    public:
        static CHAOS_API void GetSphericalAxisDelta(
            const FVec3& X0,
            const FVec3& X1,
            FVec3& Axis,
            FReal& Delta);
 
        static CHAOS_API void GetCylindricalAxesDeltas(
            const FRotation3& R0,
            const FVec3& X0,
            const FVec3& X1,
            const int32 CylinderAxisIndex,
            FVec3& CylinderAxis,
            FReal& CylinderDelta,
            FVec3& RadialAxis,
            FReal& RadialDelta);
 
        static CHAOS_API void GetPlanarAxisDelta(
            const FRotation3& R0,
            const FVec3& X0,
            const FVec3& X1,
            const int32 PlaneAxisIndex,
            FVec3& Axis,
            FReal& Delta);
 
        static CHAOS_API void DecomposeSwingTwistLocal(
            const FRotation3& R0, 
            const FRotation3& R1, 
            FRotation3& R01Swing, 
            FRotation3& R01Twist);
        
        static void CHAOS_API GetSwingTwistAngles(
            const FRotation3& R0, 
            const FRotation3& R1, 
            FReal& TwistAngle, 
            FReal& Swing1Angle, 
            FReal& Swing2Angle);
 
        static CHAOS_API FReal GetTwistAngle(
            const FRotation3& InTwist);
        
        static CHAOS_API void GetTwistAxisAngle(
            const FRotation3& R0,
            const FRotation3& R1,
            FVec3& Axis,
            FReal& Angle);
 
        static CHAOS_API void GetConeAxisAngleLocal(
            const FRotation3& R0,
            const FRotation3& R1,
            const FReal AngleTolerance,
            FVec3& AxisLocal,
            FReal& Angle);
 
        static CHAOS_API void GetCircularConeAxisErrorLocal(
            const FRotation3& R0,
            const FRotation3& R1,
            const FReal SwingLimit,
            FVec3& AxisLocal,
            FReal& Error);
 
        static CHAOS_API void GetEllipticalConeAxisErrorLocal(
            const FRotation3& R0,
            const FRotation3& R1,
            const FReal SwingLimitY,
            const FReal SwingLimitZ,
            FVec3& AxisLocal,
            FReal& Error);
 
        static CHAOS_API void GetLockedSwingAxisAngle(
            const FRotation3& R0,
            const FRotation3& R1,
            const EJointAngularConstraintIndex SwingConstraintIndex,
            FVec3& Axis,
            FReal& Angle);
 
        static CHAOS_API void GetDualConeSwingAxisAngle(
            const FRotation3& R0,
            const FRotation3& R1,
            const EJointAngularConstraintIndex SwingConstraintIndex,
            FVec3& Axis,
            FReal& Angle);
 
        static CHAOS_API void GetSwingAxisAngle(
            const FRotation3& R0,
            const FRotation3& R1,
            const FReal AngleTolerance,
            const EJointAngularConstraintIndex SwingConstraintIndex,
            FVec3& Axis,
            FReal& Angle);
 
        static CHAOS_API void GetLockedRotationAxes(
            const FRotation3& R0, 
            const FRotation3& R1, 
            FVec3& Axis0, 
            FVec3& Axis1, 
            FVec3& Axis2);
 
        static CHAOS_API FReal GetConeAngleLimit(
            const FPBDJointSettings& JointSettings,
            const FVec3& SwingAxisLocal,
            const FReal SwingAngle);
 
        static CHAOS_API FVec3 ConditionInertia(
            const FVec3& InI, 
            const FReal MaxRatio);
 
        static CHAOS_API FVec3 ConditionParentInertia(
            const FVec3& IParent, 
            const FVec3& IChild, 
            const FReal MinRatio);
 
        static CHAOS_API FReal ConditionParentMass(
            const FReal MParent, 
            const FReal MChild, 
            const FReal MinRatio);
 
        static CHAOS_API void ConditionInverseMassAndInertia(
            const FReal& InInvMParent,
            const FReal& InInvMChild,
            const FVec3& InInvIParent,
            const FVec3& InInvIChild,
            const FReal MinParentMassRatio,
            const FReal MaxInertiaRatio,
            FReal& OutInvMParent,
            FReal& OutInvMChild,
            FVec3& OutInvIParent,
            FVec3& OutInvIChild);
 
        static CHAOS_API void ConditionInverseMassAndInertia(
            FReal& InOutInvMParent,
            FReal& InOutInvMChild,
            FVec3& InOutInvIParent,
            FVec3& InOutInvIChild,
            const FReal MinParentMassRatio,
            const FReal MaxInertiaRatio);
 
        static bool GetSoftLinearLimitEnabled(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static bool GetSoftTwistLimitEnabled(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static bool GetSoftSwingLimitEnabled(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetLinearStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetSoftLinearStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetSoftLinearDamping(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetTwistStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetSoftTwistStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetSoftTwistDamping(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetSwingStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetSoftSwingStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetSoftSwingDamping(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetLinearDriveStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings,
            const int32 AxisIndex);
 
        static FReal GetLinearDriveDamping(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings,
            const int32 AxisIndex);
 
        static FReal GetAngularTwistDriveStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetAngularTwistDriveDamping(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetAngularTwistDriveTorqueLimit(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetAngularSwingDriveStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetAngularSwingDriveDamping(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetAngularSwingDriveTorqueLimit(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetAngularSLerpDriveStiffness(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetAngularSLerpDriveDamping(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetLinearProjection(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetAngularProjection(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static bool GetLinearSoftAccelerationMode(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static bool GetAngularSoftAccelerationMode(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static bool GetLinearDriveAccelerationMode(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static bool GetAngularDriveAccelerationMode(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FReal GetShockPropagationInvMassScale(
            const FPBDJointSolverSettings& SolverSettings,
            const FPBDJointSettings& JointSettings);
 
        static FVec3 GetSphereLimitedPositionError(const FVec3& CX, const FReal Radius);
        static FVec3 GetCylinderLimitedPositionError(const FVec3& CX, const FVec3& Axis, const FReal Limit, const EJointMotionType AxisMotion);
        static FVec3 GetLineLimitedPositionError(const FVec3& CX, const FVec3& Axis, const FReal Limit, const EJointMotionType AxisMotion);
        static FVec3 GetLimitedPositionError(const FPBDJointSettings& JointSettings, const FRotation3& R0, const FVec3& CX);
        static CHAOS_API bool GetLinearIsFree(const FPBDJointSettings& JointSettings);
    };
}