mouse_joint.hpp

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#pragma once

#include "body.hpp"

class MouseJoint  {
public:

    vec3 bias = vec3(0,0,0);
    mat3 effective_mass = mat3(0.0f);
    vec3 P = vec3(0,0,0);
    
    CollisionBody *body_a;
    CollisionBody *body_b;

    vec3 anchor_a;
    vec3 anchor_b;

    vec3 anchor_a_ws;
    vec3 anchor_b_ws;
    vec3 prev_anchor_b = vec3(0,0,0);

    unsigned int body_a_index;
    unsigned int body_b_index;

    bool unset = true;

    MouseJoint(unsigned int indexA, vec3 anchorA, vec3 anchorB);

    int setAnchor(vec3 anchor);
    int setBodyAnchor(vec3 localPoint);

    int applyImpulse();

    int preStep(float dt);

    static vector<MouseJoint*> allJoints;
};