virtualx-engine/servers/physics/constraint_sw.h

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/*  constraint_sw.h                                                      */
/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
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#ifndef CONSTRAINT_SW_H
#define CONSTRAINT_SW_H

#include "body_sw.h"

class ConstraintSW  {

	BodySW **_body_ptr;
	int _body_count;
	uint64_t island_step;
	ConstraintSW *island_next;
	ConstraintSW *island_list_next;
	int priority;
	bool disabled_collisions_between_bodies;

	RID self;

protected:
	ConstraintSW(BodySW **p_body_ptr = NULL, int p_body_count = 0) {
		_body_ptr = p_body_ptr;
		_body_count = p_body_count;
		island_step = 0;
		priority = 1;
		disabled_collisions_between_bodies = true;
	}

public:
	_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
	_FORCE_INLINE_ RID get_self() const { return self; }

	_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
	_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }

	_FORCE_INLINE_ ConstraintSW *get_island_next() const { return island_next; }
	_FORCE_INLINE_ void set_island_next(ConstraintSW *p_next) { island_next = p_next; }

	_FORCE_INLINE_ ConstraintSW *get_island_list_next() const { return island_list_next; }
	_FORCE_INLINE_ void set_island_list_next(ConstraintSW *p_next) { island_list_next = p_next; }

	_FORCE_INLINE_ BodySW **get_body_ptr() const { return _body_ptr; }
	_FORCE_INLINE_ int get_body_count() const { return _body_count; }

	_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
	_FORCE_INLINE_ int get_priority() const { return priority; }

	_FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; }
	_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }

	virtual bool setup(real_t p_step) = 0;
	virtual void solve(real_t p_step) = 0;

	virtual ~ConstraintSW() {}
};

#endif // CONSTRAINT__SW_H