Joints.hpp

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#pragma once
 
#include <cstdint>
#include <entt/entt.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/vec3.hpp>
 
namespace physics
{

struct PointJoint
{
    entt::entity bodyA{entt::null};
    entt::entity bodyB{entt::null};
    glm::vec3 localAnchorA{0.0f};   
    glm::vec3 localAnchorB{0.0f};   
    glm::vec3 accumulatedImpulse{0.0f}; 
    float breakForce = 0.0f;        
};

struct HingeJoint
{
    entt::entity bodyA{entt::null};
    entt::entity bodyB{entt::null};
    glm::vec3 localAnchorA{0.0f};
    glm::vec3 localAnchorB{0.0f};
    glm::vec3 localAxisA{0.0f, 0.0f, 1.0f}; 
    glm::vec3 localAxisB{0.0f, 0.0f, 1.0f}; 

    float minAngle = 0.0f;
    float maxAngle = 0.0f;
    bool hasLimit = false;

    bool motorEnabled = false;
    float targetAngularSpeed = 0.0f;
    float maxMotorTorque = 0.0f;
 
    glm::vec3 accumulatedAnchorImpulse{0.0f};
    glm::vec3 accumulatedAngularImpulse{0.0f};
};

struct ConeTwistJoint
{
    entt::entity bodyA{entt::null};
    entt::entity bodyB{entt::null};
    glm::vec3 localAnchorA{0.0f};
    glm::vec3 localAnchorB{0.0f};
    glm::quat localFrameA{1.0f, 0.0f, 0.0f, 0.0f}; 
    glm::quat localFrameB{1.0f, 0.0f, 0.0f, 0.0f};
 
    float swingLimit = 0.6f; 
    float twistLimit = 0.5f; 
 
    glm::vec3 accumulatedAnchorImpulse{0.0f};
    glm::vec3 accumulatedAngularImpulse{0.0f};
};

struct Joint6DOF
{
    entt::entity bodyA{entt::null};
    entt::entity bodyB{entt::null};
    glm::vec3 localAnchorA{0.0f};
    glm::vec3 localAnchorB{0.0f};
 
    enum class AxisMode : uint8_t
    {
        Free,    
        Limited, 
        Locked,  
    };
 
    AxisMode linearMode[3] = {AxisMode::Locked, AxisMode::Locked, AxisMode::Locked};
    AxisMode angularMode[3] = {AxisMode::Locked, AxisMode::Locked, AxisMode::Locked};
    glm::vec3 linearMin{0.0f};
    glm::vec3 linearMax{0.0f};
    glm::vec3 angularMin{0.0f};
    glm::vec3 angularMax{0.0f};
};
 
struct SolverConfig;
 
} // namespace physics
 
#include "ecs/registry/Registry.hpp"
 
namespace physics
{

void solveJoints(Registry& registry, const SolverConfig& cfg, float dt);
 
} // namespace physics