Abilty to update attachment points to PointConstraint (#253)

Jolt/Physics/Constraints/PointConstraint.cpp

@@ -59,6 +59,22 @@ PointConstraint::PointConstraint(Body &inBody1, Body &inBody2, const PointConstr
 	}
 }
 
+void PointConstraint::SetPoint1(EConstraintSpace inSpace, Vec3Arg inPoint1)
+{
+	mLocalSpacePosition1 = inPoint1;
+
+	if (inSpace == EConstraintSpace::WorldSpace)
+		mLocalSpacePosition1 = mBody1->GetInverseCenterOfMassTransform() * mLocalSpacePosition1;
+}
+
+void PointConstraint::SetPoint2(EConstraintSpace inSpace, Vec3Arg inPoint2)
+{
+	mLocalSpacePosition2 = inPoint2;
+
+	if (inSpace == EConstraintSpace::WorldSpace)
+		mLocalSpacePosition2 = mBody2->GetInverseCenterOfMassTransform() * mLocalSpacePosition2;
+}
+
 void PointConstraint::CalculateConstraintProperties()
 {	
 	mPointConstraintPart.CalculateConstraintProperties(*mBody1, Mat44::sRotation(mBody1->GetRotation()), mLocalSpacePosition1, *mBody2, Mat44::sRotation(mBody2->GetRotation()), mLocalSpacePosition2);

Jolt/Physics/Constraints/PointConstraint.h

@@ -57,6 +57,18 @@ public:
 	virtual void				RestoreState(StateRecorder &inStream) override;
 	virtual Ref<ConstraintSettings> GetConstraintSettings() const override;
 
+	/// Update the attachment point for body 1
+	void						SetPoint1(EConstraintSpace inSpace, Vec3Arg inPoint1);
+
+	/// Update the attachment point for body 2
+	void						SetPoint2(EConstraintSpace inSpace, Vec3Arg inPoint2);
+
+	/// Get the attachment point for body 1 relative to body 1 COM
+	inline Vec3					GetLocalSpacePoint1() const									{ return mLocalSpacePosition1; }
+
+	/// Get the attachment point for body 2 relative to body 2 COM
+	inline Vec3					GetLocalSpacePoint2() const									{ return mLocalSpacePosition2; }
+
 	// See: TwoBodyConstraint
 	virtual Mat44				GetConstraintToBody1Matrix() const override					{ return Mat44::sTranslation(mLocalSpacePosition1); }
 	virtual Mat44				GetConstraintToBody2Matrix() const override					{ return Mat44::sTranslation(mLocalSpacePosition2); } // Note: Incorrect rotation as we don't track the original rotation difference, should not matter though as the constraint is not limiting rotation.