170 lines
6.7 KiB
C++
170 lines
6.7 KiB
C++
/**************************************************************************/
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/* jolt_pin_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_pin_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 "Jolt/Physics/Constraints/PointConstraint.h"
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namespace {
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constexpr double DEFAULT_BIAS = 0.3;
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constexpr double DEFAULT_DAMPING = 1.0;
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constexpr double DEFAULT_IMPULSE_CLAMP = 0.0;
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} // namespace
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JPH::Constraint *JoltPinJoint3D::_build_pin(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b) {
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JPH::PointConstraintSettings 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.mPoint2 = to_jolt_r(p_shifted_ref_b.origin);
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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 JoltPinJoint3D::_points_changed() {
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rebuild();
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_wake_up_bodies();
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}
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JoltPinJoint3D::JoltPinJoint3D(const JoltJoint3D &p_old_joint, JoltBody3D *p_body_a, JoltBody3D *p_body_b, const Vector3 &p_local_a, const Vector3 &p_local_b) :
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JoltJoint3D(p_old_joint, p_body_a, p_body_b, Transform3D({}, p_local_a), Transform3D({}, p_local_b)) {
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rebuild();
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}
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void JoltPinJoint3D::set_local_a(const Vector3 &p_local_a) {
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local_ref_a = Transform3D({}, p_local_a);
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_points_changed();
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}
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void JoltPinJoint3D::set_local_b(const Vector3 &p_local_b) {
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local_ref_b = Transform3D({}, p_local_b);
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_points_changed();
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}
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double JoltPinJoint3D::get_param(PhysicsServer3D::PinJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer3D::PIN_JOINT_BIAS: {
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return DEFAULT_BIAS;
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}
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case PhysicsServer3D::PIN_JOINT_DAMPING: {
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return DEFAULT_DAMPING;
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}
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case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP: {
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return DEFAULT_IMPULSE_CLAMP;
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}
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default: {
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ERR_FAIL_V_MSG(0.0, vformat("Unhandled pin joint 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 JoltPinJoint3D::set_param(PhysicsServer3D::PinJointParam p_param, double p_value) {
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switch (p_param) {
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case PhysicsServer3D::PIN_JOINT_BIAS: {
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if (!Math::is_equal_approx(p_value, DEFAULT_BIAS)) {
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WARN_PRINT(vformat("Pin 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::PIN_JOINT_DAMPING: {
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if (!Math::is_equal_approx(p_value, DEFAULT_DAMPING)) {
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WARN_PRINT(vformat("Pin joint damping 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::PIN_JOINT_IMPULSE_CLAMP: {
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if (!Math::is_equal_approx(p_value, DEFAULT_IMPULSE_CLAMP)) {
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WARN_PRINT(vformat("Pin joint impulse clamp 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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default: {
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ERR_FAIL_MSG(vformat("Unhandled pin joint 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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float JoltPinJoint3D::get_applied_force() const {
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JPH::PointConstraint *constraint = static_cast<JPH::PointConstraint *>(jolt_ref.GetPtr());
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ERR_FAIL_NULL_V(constraint, 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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return constraint->GetTotalLambdaPosition().Length() / last_step;
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}
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void JoltPinJoint3D::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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Transform3D shifted_ref_a;
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Transform3D shifted_ref_b;
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_shift_reference_frames(Vector3(), Vector3(), shifted_ref_a, shifted_ref_b);
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jolt_ref = _build_pin(jolt_body_a, jolt_body_b, shifted_ref_a, shifted_ref_b);
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space->add_joint(this);
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_update_enabled();
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_update_iterations();
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}
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