module.exports = ConeTwistConstraint; var Constraint = require('./Constraint'); var PointToPointConstraint = require('./PointToPointConstraint'); var ConeEquation = require('../equations/ConeEquation'); var RotationalEquation = require('../equations/RotationalEquation'); var ContactEquation = require('../equations/ContactEquation'); var Vec3 = require('../math/Vec3'); /** * @class ConeTwistConstraint * @constructor * @author schteppe * @param {Body} bodyA * @param {Body} bodyB * @param {object} [options] * @param {Vec3} [options.pivotA] * @param {Vec3} [options.pivotB] * @param {Vec3} [options.axisA] * @param {Vec3} [options.axisB] * @param {Number} [options.maxForce=1e6] * @extends PointToPointConstraint */ function ConeTwistConstraint(bodyA, bodyB, options){ options = options || {}; var maxForce = typeof(options.maxForce) !== 'undefined' ? options.maxForce : 1e6; // Set pivot point in between var pivotA = options.pivotA ? options.pivotA.clone() : new Vec3(); var pivotB = options.pivotB ? options.pivotB.clone() : new Vec3(); this.axisA = options.axisA ? options.axisA.clone() : new Vec3(); this.axisB = options.axisB ? options.axisB.clone() : new Vec3(); PointToPointConstraint.call(this, bodyA, pivotA, bodyB, pivotB, maxForce); this.collideConnected = !!options.collideConnected; this.angle = typeof(options.angle) !== 'undefined' ? options.angle : 0; /** * @property {ConeEquation} coneEquation */ var c = this.coneEquation = new ConeEquation(bodyA,bodyB,options); /** * @property {RotationalEquation} twistEquation */ var t = this.twistEquation = new RotationalEquation(bodyA,bodyB,options); this.twistAngle = typeof(options.twistAngle) !== 'undefined' ? options.twistAngle : 0; // Make the cone equation push the bodies toward the cone axis, not outward c.maxForce = 0; c.minForce = -maxForce; // Make the twist equation add torque toward the initial position t.maxForce = 0; t.minForce = -maxForce; this.equations.push(c, t); } ConeTwistConstraint.prototype = new PointToPointConstraint(); ConeTwistConstraint.constructor = ConeTwistConstraint; var ConeTwistConstraint_update_tmpVec1 = new Vec3(); var ConeTwistConstraint_update_tmpVec2 = new Vec3(); ConeTwistConstraint.prototype.update = function(){ var bodyA = this.bodyA, bodyB = this.bodyB, cone = this.coneEquation, twist = this.twistEquation; PointToPointConstraint.prototype.update.call(this); // Update the axes to the cone constraint bodyA.vectorToWorldFrame(this.axisA, cone.axisA); bodyB.vectorToWorldFrame(this.axisB, cone.axisB); // Update the world axes in the twist constraint this.axisA.tangents(twist.axisA, twist.axisA); bodyA.vectorToWorldFrame(twist.axisA, twist.axisA); this.axisB.tangents(twist.axisB, twist.axisB); bodyB.vectorToWorldFrame(twist.axisB, twist.axisB); cone.angle = this.angle; twist.maxAngle = this.twistAngle; };