forked from hertog/godot-module-template
430 lines
16 KiB
C++
430 lines
16 KiB
C++
/**************************************************************************/
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/* jolt_hinge_joint_3d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "jolt_hinge_joint_3d.h"
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#include "../misc/jolt_type_conversions.h"
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#include "../objects/jolt_body_3d.h"
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#include "../spaces/jolt_space_3d.h"
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#include "core/config/engine.h"
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#include "Jolt/Physics/Constraints/FixedConstraint.h"
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#include "Jolt/Physics/Constraints/HingeConstraint.h"
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namespace {
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constexpr double DEFAULT_BIAS = 0.3;
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constexpr double DEFAULT_LIMIT_BIAS = 0.3;
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constexpr double DEFAULT_SOFTNESS = 0.9;
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constexpr double DEFAULT_RELAXATION = 1.0;
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double estimate_physics_step() {
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Engine *engine = Engine::get_singleton();
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const double step = 1.0 / engine->get_physics_ticks_per_second();
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const double step_scaled = step * engine->get_time_scale();
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return step_scaled;
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}
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} // namespace
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JPH::Constraint *JoltHingeJoint3D::_build_hinge(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b, float p_limit) const {
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JPH::HingeConstraintSettings constraint_settings;
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constraint_settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
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constraint_settings.mPoint1 = to_jolt_r(p_shifted_ref_a.origin);
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constraint_settings.mHingeAxis1 = to_jolt(p_shifted_ref_a.basis.get_column(Vector3::AXIS_Z));
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constraint_settings.mNormalAxis1 = to_jolt(p_shifted_ref_a.basis.get_column(Vector3::AXIS_X));
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constraint_settings.mPoint2 = to_jolt_r(p_shifted_ref_b.origin);
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constraint_settings.mHingeAxis2 = to_jolt(p_shifted_ref_b.basis.get_column(Vector3::AXIS_Z));
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constraint_settings.mNormalAxis2 = to_jolt(p_shifted_ref_b.basis.get_column(Vector3::AXIS_X));
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constraint_settings.mLimitsMin = -p_limit;
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constraint_settings.mLimitsMax = p_limit;
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if (limit_spring_enabled) {
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constraint_settings.mLimitsSpringSettings.mFrequency = (float)limit_spring_frequency;
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constraint_settings.mLimitsSpringSettings.mDamping = (float)limit_spring_damping;
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}
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if (p_jolt_body_a == nullptr) {
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return constraint_settings.Create(JPH::Body::sFixedToWorld, *p_jolt_body_b);
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} else if (p_jolt_body_b == nullptr) {
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return constraint_settings.Create(*p_jolt_body_a, JPH::Body::sFixedToWorld);
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} else {
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return constraint_settings.Create(*p_jolt_body_a, *p_jolt_body_b);
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}
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}
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JPH::Constraint *JoltHingeJoint3D::_build_fixed(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b) const {
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JPH::FixedConstraintSettings constraint_settings;
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constraint_settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
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constraint_settings.mAutoDetectPoint = false;
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constraint_settings.mPoint1 = to_jolt_r(p_shifted_ref_a.origin);
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constraint_settings.mAxisX1 = to_jolt(p_shifted_ref_a.basis.get_column(Vector3::AXIS_X));
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constraint_settings.mAxisY1 = to_jolt(p_shifted_ref_a.basis.get_column(Vector3::AXIS_Y));
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constraint_settings.mPoint2 = to_jolt_r(p_shifted_ref_b.origin);
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constraint_settings.mAxisX2 = to_jolt(p_shifted_ref_b.basis.get_column(Vector3::AXIS_X));
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constraint_settings.mAxisY2 = to_jolt(p_shifted_ref_b.basis.get_column(Vector3::AXIS_Y));
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if (p_jolt_body_a == nullptr) {
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return constraint_settings.Create(JPH::Body::sFixedToWorld, *p_jolt_body_b);
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} else if (p_jolt_body_b == nullptr) {
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return constraint_settings.Create(*p_jolt_body_a, JPH::Body::sFixedToWorld);
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} else {
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return constraint_settings.Create(*p_jolt_body_a, *p_jolt_body_b);
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}
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}
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void JoltHingeJoint3D::_update_motor_state() {
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if (unlikely(_is_fixed())) {
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return;
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}
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if (JPH::HingeConstraint *constraint = static_cast<JPH::HingeConstraint *>(jolt_ref.GetPtr())) {
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constraint->SetMotorState(motor_enabled ? JPH::EMotorState::Velocity : JPH::EMotorState::Off);
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}
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}
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void JoltHingeJoint3D::_update_motor_velocity() {
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if (unlikely(_is_fixed())) {
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return;
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}
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if (JPH::HingeConstraint *constraint = static_cast<JPH::HingeConstraint *>(jolt_ref.GetPtr())) {
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// We flip the direction since Jolt is CCW but Godot is CW.
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constraint->SetTargetAngularVelocity((float)-motor_target_speed);
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}
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}
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void JoltHingeJoint3D::_update_motor_limit() {
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if (unlikely(_is_fixed())) {
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return;
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}
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if (JPH::HingeConstraint *constraint = static_cast<JPH::HingeConstraint *>(jolt_ref.GetPtr())) {
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JPH::MotorSettings &motor_settings = constraint->GetMotorSettings();
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motor_settings.mMinTorqueLimit = (float)-motor_max_torque;
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motor_settings.mMaxTorqueLimit = (float)motor_max_torque;
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}
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}
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void JoltHingeJoint3D::_limits_changed() {
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rebuild();
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_wake_up_bodies();
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}
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void JoltHingeJoint3D::_limit_spring_changed() {
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rebuild();
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_wake_up_bodies();
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}
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void JoltHingeJoint3D::_motor_state_changed() {
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_update_motor_state();
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_wake_up_bodies();
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}
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void JoltHingeJoint3D::_motor_speed_changed() {
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_update_motor_velocity();
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_wake_up_bodies();
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}
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void JoltHingeJoint3D::_motor_limit_changed() {
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_update_motor_limit();
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_wake_up_bodies();
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}
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JoltHingeJoint3D::JoltHingeJoint3D(const JoltJoint3D &p_old_joint, JoltBody3D *p_body_a, JoltBody3D *p_body_b, const Transform3D &p_local_ref_a, const Transform3D &p_local_ref_b) :
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JoltJoint3D(p_old_joint, p_body_a, p_body_b, p_local_ref_a, p_local_ref_b) {
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rebuild();
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}
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double JoltHingeJoint3D::get_param(Parameter p_param) const {
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switch (p_param) {
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case PhysicsServer3D::HINGE_JOINT_BIAS: {
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return DEFAULT_BIAS;
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}
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case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER: {
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return limit_upper;
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}
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case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER: {
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return limit_lower;
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}
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case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS: {
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return DEFAULT_LIMIT_BIAS;
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}
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case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS: {
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return DEFAULT_SOFTNESS;
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}
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case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION: {
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return DEFAULT_RELAXATION;
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}
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case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY: {
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return motor_target_speed;
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}
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case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE: {
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// With Godot using max impulse instead of max torque we don't have much choice but to calculate this and hope the timestep doesn't change.
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return motor_max_torque * estimate_physics_step();
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}
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default: {
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ERR_FAIL_V_MSG(0.0, vformat("Unhandled parameter: '%d'. This should not happen. Please report this.", p_param));
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}
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}
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}
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void JoltHingeJoint3D::set_param(Parameter p_param, double p_value) {
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switch (p_param) {
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case PhysicsServer3D::HINGE_JOINT_BIAS: {
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if (!Math::is_equal_approx(p_value, DEFAULT_BIAS)) {
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WARN_PRINT(vformat("Hinge joint bias is not supported when using Jolt Physics. Any such value will be ignored. This joint connects %s.", _bodies_to_string()));
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}
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} break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER: {
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limit_upper = p_value;
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_limits_changed();
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} break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER: {
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limit_lower = p_value;
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_limits_changed();
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} break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS: {
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if (!Math::is_equal_approx(p_value, DEFAULT_LIMIT_BIAS)) {
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WARN_PRINT(vformat("Hinge joint bias limit is not supported when using Jolt Physics. Any such value will be ignored. This joint connects %s.", _bodies_to_string()));
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}
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} break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS: {
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if (!Math::is_equal_approx(p_value, DEFAULT_SOFTNESS)) {
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WARN_PRINT(vformat("Hinge joint softness is not supported when using Jolt Physics. Any such value will be ignored. This joint connects %s.", _bodies_to_string()));
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}
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} break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION: {
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if (!Math::is_equal_approx(p_value, DEFAULT_RELAXATION)) {
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WARN_PRINT(vformat("Hinge joint relaxation is not supported when using Jolt Physics. Any such value will be ignored. This joint connects %s.", _bodies_to_string()));
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}
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} break;
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case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY: {
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motor_target_speed = p_value;
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_motor_speed_changed();
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} break;
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case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE: {
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// With Godot using max impulse instead of max torque we don't have much choice but to calculate this and hope the timestep doesn't change.
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motor_max_torque = p_value / estimate_physics_step();
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_motor_limit_changed();
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} break;
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default: {
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ERR_FAIL_MSG(vformat("Unhandled parameter: '%d'. This should not happen. Please report this.", p_param));
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} break;
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}
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}
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double JoltHingeJoint3D::get_jolt_param(JoltParameter p_param) const {
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switch (p_param) {
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case JoltPhysicsServer3D::HINGE_JOINT_LIMIT_SPRING_FREQUENCY: {
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return limit_spring_frequency;
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}
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case JoltPhysicsServer3D::HINGE_JOINT_LIMIT_SPRING_DAMPING: {
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return limit_spring_damping;
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}
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case JoltPhysicsServer3D::HINGE_JOINT_MOTOR_MAX_TORQUE: {
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return motor_max_torque;
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}
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default: {
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ERR_FAIL_V_MSG(0.0, vformat("Unhandled parameter: '%d'. This should not happen. Please report this.", p_param));
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}
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}
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}
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void JoltHingeJoint3D::set_jolt_param(JoltParameter p_param, double p_value) {
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switch (p_param) {
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case JoltPhysicsServer3D::HINGE_JOINT_LIMIT_SPRING_FREQUENCY: {
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limit_spring_frequency = p_value;
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_limit_spring_changed();
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} break;
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case JoltPhysicsServer3D::HINGE_JOINT_LIMIT_SPRING_DAMPING: {
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limit_spring_damping = p_value;
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_limit_spring_changed();
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} break;
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case JoltPhysicsServer3D::HINGE_JOINT_MOTOR_MAX_TORQUE: {
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motor_max_torque = p_value;
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_motor_limit_changed();
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} break;
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default: {
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ERR_FAIL_MSG(vformat("Unhandled parameter: '%d'. This should not happen. Please report this.", p_param));
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} break;
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}
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}
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bool JoltHingeJoint3D::get_flag(Flag p_flag) const {
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switch (p_flag) {
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case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT: {
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return limits_enabled;
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}
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case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR: {
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return motor_enabled;
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}
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default: {
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ERR_FAIL_V_MSG(false, vformat("Unhandled flag: '%d'. This should not happen. Please report this.", p_flag));
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}
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}
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}
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void JoltHingeJoint3D::set_flag(Flag p_flag, bool p_enabled) {
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switch (p_flag) {
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case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT: {
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limits_enabled = p_enabled;
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_limits_changed();
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} break;
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case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR: {
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motor_enabled = p_enabled;
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_motor_state_changed();
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} break;
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default: {
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ERR_FAIL_MSG(vformat("Unhandled flag: '%d'. This should not happen. Please report this.", p_flag));
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} break;
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}
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}
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bool JoltHingeJoint3D::get_jolt_flag(JoltFlag p_flag) const {
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switch (p_flag) {
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case JoltPhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT_SPRING: {
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return limit_spring_enabled;
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}
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default: {
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ERR_FAIL_V_MSG(false, vformat("Unhandled flag: '%d'. This should not happen. Please report this.", p_flag));
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}
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}
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}
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void JoltHingeJoint3D::set_jolt_flag(JoltFlag p_flag, bool p_enabled) {
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switch (p_flag) {
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case JoltPhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT_SPRING: {
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limit_spring_enabled = p_enabled;
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_limit_spring_changed();
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} break;
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default: {
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ERR_FAIL_MSG(vformat("Unhandled flag: '%d'. This should not happen. Please report this.", p_flag));
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} break;
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}
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}
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float JoltHingeJoint3D::get_applied_force() const {
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ERR_FAIL_NULL_V(jolt_ref, 0.0f);
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JoltSpace3D *space = get_space();
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ERR_FAIL_NULL_V(space, 0.0f);
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const float last_step = space->get_last_step();
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if (unlikely(last_step == 0.0f)) {
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return 0.0f;
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}
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if (_is_fixed()) {
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JPH::FixedConstraint *constraint = static_cast<JPH::FixedConstraint *>(jolt_ref.GetPtr());
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return constraint->GetTotalLambdaPosition().Length() / last_step;
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} else {
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JPH::HingeConstraint *constraint = static_cast<JPH::HingeConstraint *>(jolt_ref.GetPtr());
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const JPH::Vec3 total_lambda = JPH::Vec3(constraint->GetTotalLambdaRotation()[0], constraint->GetTotalLambdaRotation()[1], constraint->GetTotalLambdaRotationLimits() + constraint->GetTotalLambdaMotor());
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return total_lambda.Length() / last_step;
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}
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}
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float JoltHingeJoint3D::get_applied_torque() const {
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ERR_FAIL_NULL_V(jolt_ref, 0.0f);
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JoltSpace3D *space = get_space();
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ERR_FAIL_NULL_V(space, 0.0f);
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const float last_step = space->get_last_step();
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if (unlikely(last_step == 0.0f)) {
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return 0.0f;
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}
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if (_is_fixed()) {
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JPH::FixedConstraint *constraint = static_cast<JPH::FixedConstraint *>(jolt_ref.GetPtr());
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return constraint->GetTotalLambdaRotation().Length() / last_step;
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} else {
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JPH::HingeConstraint *constraint = static_cast<JPH::HingeConstraint *>(jolt_ref.GetPtr());
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return constraint->GetTotalLambdaRotation().Length() / last_step;
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}
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}
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void JoltHingeJoint3D::rebuild() {
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destroy();
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JoltSpace3D *space = get_space();
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if (space == nullptr) {
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return;
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}
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const JPH::BodyID body_ids[2] = {
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body_a != nullptr ? body_a->get_jolt_id() : JPH::BodyID(),
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body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()
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};
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const JoltWritableBodies3D jolt_bodies = space->write_bodies(body_ids, 2);
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JPH::Body *jolt_body_a = static_cast<JPH::Body *>(jolt_bodies[0]);
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JPH::Body *jolt_body_b = static_cast<JPH::Body *>(jolt_bodies[1]);
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ERR_FAIL_COND(jolt_body_a == nullptr && jolt_body_b == nullptr);
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float ref_shift = 0.0f;
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float limit = JPH::JPH_PI;
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if (limits_enabled && limit_lower <= limit_upper) {
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const double limit_midpoint = (limit_lower + limit_upper) / 2.0f;
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ref_shift = float(-limit_midpoint);
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limit = float(limit_upper - limit_midpoint);
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}
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Transform3D shifted_ref_a;
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Transform3D shifted_ref_b;
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_shift_reference_frames(Vector3(), Vector3(0.0f, 0.0f, ref_shift), shifted_ref_a, shifted_ref_b);
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if (_is_fixed()) {
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jolt_ref = _build_fixed(jolt_body_a, jolt_body_b, shifted_ref_a, shifted_ref_b);
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} else {
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jolt_ref = _build_hinge(jolt_body_a, jolt_body_b, shifted_ref_a, shifted_ref_b, limit);
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}
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space->add_joint(this);
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_update_enabled();
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_update_iterations();
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_update_motor_state();
|
|
_update_motor_velocity();
|
|
_update_motor_limit();
|
|
}
|