| | | 1 | | //======================================================================= |
| | | 2 | | // JointLimit2D.cs |
| | | 3 | | //======================================================================= |
| | | 4 | | // MIT License, Copyright (c) 2026-present David Oravsky (mrdav30) |
| | | 5 | | // See LICENSE file in the project root for full license information. |
| | | 6 | | //======================================================================= |
| | | 7 | | |
| | | 8 | | using FixedMathSharp; |
| | | 9 | | |
| | | 10 | | namespace Gravitas.Constraints; |
| | | 11 | | |
| | | 12 | | /// <summary> |
| | | 13 | | /// Optional deterministic scalar limit payload for a pure 2D joint. |
| | | 14 | | /// </summary> |
| | | 15 | | public readonly struct JointLimit2D |
| | | 16 | | { |
| | | 17 | | private JointLimit2D( |
| | | 18 | | JointLimitKind2D kind, |
| | | 19 | | Fixed64 targetDistance, |
| | | 20 | | Fixed64 minTranslation, |
| | | 21 | | Fixed64 maxTranslation, |
| | | 22 | | Fixed64 minAngle, |
| | | 23 | | Fixed64 maxAngle) |
| | | 24 | | { |
| | 28 | 25 | | Kind = kind; |
| | 28 | 26 | | TargetDistance = targetDistance; |
| | 28 | 27 | | MinTranslation = minTranslation; |
| | 28 | 28 | | MaxTranslation = maxTranslation; |
| | 28 | 29 | | MinAngle = minAngle; |
| | 28 | 30 | | MaxAngle = maxAngle; |
| | 28 | 31 | | } |
| | | 32 | | |
| | | 33 | | /// <summary> |
| | | 34 | | /// Gets an unrestricted limit payload. |
| | | 35 | | /// </summary> |
| | 187 | 36 | | public static JointLimit2D Unrestricted => default; |
| | | 37 | | |
| | | 38 | | /// <summary> |
| | | 39 | | /// Gets the active limit family. |
| | | 40 | | /// </summary> |
| | | 41 | | public JointLimitKind2D Kind { get; } |
| | | 42 | | |
| | | 43 | | /// <summary> |
| | | 44 | | /// Gets the target anchor distance for distance joints. |
| | | 45 | | /// </summary> |
| | | 46 | | public Fixed64 TargetDistance { get; } |
| | | 47 | | |
| | | 48 | | /// <summary> |
| | | 49 | | /// Gets the minimum slider translation in world units. |
| | | 50 | | /// </summary> |
| | | 51 | | public Fixed64 MinTranslation { get; } |
| | | 52 | | |
| | | 53 | | /// <summary> |
| | | 54 | | /// Gets the maximum slider translation in world units. |
| | | 55 | | /// </summary> |
| | | 56 | | public Fixed64 MaxTranslation { get; } |
| | | 57 | | |
| | | 58 | | /// <summary> |
| | | 59 | | /// Gets the minimum scalar relative angle in radians. |
| | | 60 | | /// </summary> |
| | | 61 | | public Fixed64 MinAngle { get; } |
| | | 62 | | |
| | | 63 | | /// <summary> |
| | | 64 | | /// Gets the maximum scalar relative angle in radians. |
| | | 65 | | /// </summary> |
| | | 66 | | public Fixed64 MaxAngle { get; } |
| | | 67 | | |
| | | 68 | | /// <summary> |
| | | 69 | | /// Creates a deterministic distance target. |
| | | 70 | | /// </summary> |
| | | 71 | | public static JointLimit2D Distance(Fixed64 targetDistance) |
| | | 72 | | { |
| | 12 | 73 | | SwiftThrowHelper.ThrowIfArgument( |
| | 12 | 74 | | targetDistance < Fixed64.Zero, |
| | 12 | 75 | | nameof(targetDistance), |
| | 12 | 76 | | "Joint target distance cannot be negative."); |
| | 12 | 77 | | return new JointLimit2D(JointLimitKind2D.Distance, targetDistance, Fixed64.Zero, Fixed64.Zero, Fixed64.Zero, Fix |
| | | 78 | | } |
| | | 79 | | |
| | | 80 | | /// <summary> |
| | | 81 | | /// Creates a deterministic prismatic slider translation range. |
| | | 82 | | /// </summary> |
| | | 83 | | public static JointLimit2D Slider(Fixed64 minTranslation, Fixed64 maxTranslation) |
| | | 84 | | { |
| | 8 | 85 | | SwiftThrowHelper.ThrowIfArgument( |
| | 8 | 86 | | minTranslation > maxTranslation, |
| | 8 | 87 | | nameof(minTranslation), |
| | 8 | 88 | | "Slider minimum translation cannot exceed maximum translation."); |
| | 7 | 89 | | return new JointLimit2D(JointLimitKind2D.Slider, Fixed64.Zero, minTranslation, maxTranslation, Fixed64.Zero, Fix |
| | | 90 | | } |
| | | 91 | | |
| | | 92 | | /// <summary> |
| | | 93 | | /// Creates a deterministic scalar angular range. |
| | | 94 | | /// </summary> |
| | | 95 | | public static JointLimit2D Angular(Fixed64 minAngle, Fixed64 maxAngle) |
| | | 96 | | { |
| | 9 | 97 | | SwiftThrowHelper.ThrowIfArgument( |
| | 9 | 98 | | minAngle > maxAngle, |
| | 9 | 99 | | nameof(minAngle), |
| | 9 | 100 | | "Angular minimum angle cannot exceed maximum angle."); |
| | 9 | 101 | | return new JointLimit2D(JointLimitKind2D.Angular, Fixed64.Zero, Fixed64.Zero, Fixed64.Zero, minAngle, maxAngle); |
| | | 102 | | } |
| | | 103 | | |
| | | 104 | | internal void Validate() |
| | | 105 | | { |
| | 221 | 106 | | SwiftThrowHelper.ThrowIfArgument( |
| | 221 | 107 | | Kind != JointLimitKind2D.Unrestricted |
| | 221 | 108 | | && Kind != JointLimitKind2D.Distance |
| | 221 | 109 | | && Kind != JointLimitKind2D.Slider |
| | 221 | 110 | | && Kind != JointLimitKind2D.Angular, |
| | 221 | 111 | | nameof(Kind), |
| | 221 | 112 | | "Unsupported 2D joint limit kind."); |
| | 221 | 113 | | SwiftThrowHelper.ThrowIfArgument(TargetDistance < Fixed64.Zero, nameof(TargetDistance), "Joint target distance c |
| | 221 | 114 | | SwiftThrowHelper.ThrowIfArgument(MinTranslation > MaxTranslation, nameof(MinTranslation), "Slider minimum transl |
| | 221 | 115 | | SwiftThrowHelper.ThrowIfArgument(MinAngle > MaxAngle, nameof(MinAngle), "Angular minimum angle cannot exceed max |
| | 221 | 116 | | } |
| | | 117 | | } |