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376 lines
15 KiB
C++
376 lines
15 KiB
C++
/**************************************************************************/
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/* jolt_cone_twist_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_cone_twist_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/SwingTwistConstraint.h"
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namespace {
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constexpr double CONE_TWIST_DEFAULT_BIAS = 0.3;
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constexpr double CONE_TWIST_DEFAULT_SOFTNESS = 0.8;
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constexpr double CONE_TWIST_DEFAULT_RELAXATION = 1.0;
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} // namespace
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JPH::Constraint *JoltConeTwistJoint3D::_build_swing_twist(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_swing_limit_span, float p_twist_limit_span) const {
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JPH::SwingTwistConstraintSettings constraint_settings;
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const bool twist_span_valid = p_twist_limit_span >= 0 && p_twist_limit_span <= JPH::JPH_PI;
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const bool swing_span_valid = p_swing_limit_span >= 0 && p_swing_limit_span <= JPH::JPH_PI;
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if (twist_limit_enabled && twist_span_valid) {
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constraint_settings.mTwistMinAngle = -p_twist_limit_span;
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constraint_settings.mTwistMaxAngle = p_twist_limit_span;
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} else {
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constraint_settings.mTwistMinAngle = -JPH::JPH_PI;
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constraint_settings.mTwistMaxAngle = JPH::JPH_PI;
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}
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if (swing_limit_enabled && swing_span_valid) {
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constraint_settings.mNormalHalfConeAngle = p_swing_limit_span;
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constraint_settings.mPlaneHalfConeAngle = p_swing_limit_span;
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} else {
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constraint_settings.mNormalHalfConeAngle = JPH::JPH_PI;
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constraint_settings.mPlaneHalfConeAngle = JPH::JPH_PI;
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if (!swing_span_valid) {
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constraint_settings.mTwistMinAngle = -JPH::JPH_PI;
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constraint_settings.mTwistMaxAngle = JPH::JPH_PI;
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}
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}
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constraint_settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
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constraint_settings.mPosition1 = to_jolt_r(p_shifted_ref_a.origin);
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constraint_settings.mTwistAxis1 = to_jolt(p_shifted_ref_a.basis.get_column(Vector3::AXIS_X));
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constraint_settings.mPlaneAxis1 = to_jolt(p_shifted_ref_a.basis.get_column(Vector3::AXIS_Z));
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constraint_settings.mPosition2 = to_jolt_r(p_shifted_ref_b.origin);
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constraint_settings.mTwistAxis2 = to_jolt(p_shifted_ref_b.basis.get_column(Vector3::AXIS_X));
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constraint_settings.mPlaneAxis2 = to_jolt(p_shifted_ref_b.basis.get_column(Vector3::AXIS_Z));
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constraint_settings.mSwingType = JPH::ESwingType::Pyramid;
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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 JoltConeTwistJoint3D::_update_swing_motor_state() {
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if (JPH::SwingTwistConstraint *constraint = static_cast<JPH::SwingTwistConstraint *>(jolt_ref.GetPtr())) {
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constraint->SetSwingMotorState(swing_motor_enabled ? JPH::EMotorState::Velocity : JPH::EMotorState::Off);
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}
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}
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void JoltConeTwistJoint3D::_update_twist_motor_state() {
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if (JPH::SwingTwistConstraint *constraint = static_cast<JPH::SwingTwistConstraint *>(jolt_ref.GetPtr())) {
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constraint->SetTwistMotorState(twist_motor_enabled ? JPH::EMotorState::Velocity : JPH::EMotorState::Off);
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}
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}
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void JoltConeTwistJoint3D::_update_motor_velocity() {
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if (JPH::SwingTwistConstraint *constraint = static_cast<JPH::SwingTwistConstraint *>(jolt_ref.GetPtr())) {
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// We flip the direction since Jolt is CCW but Godot is CW.
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constraint->SetTargetAngularVelocityCS({ (float)-twist_motor_target_speed, (float)-swing_motor_target_speed_y, (float)-swing_motor_target_speed_z });
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}
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}
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void JoltConeTwistJoint3D::_update_swing_motor_limit() {
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if (JPH::SwingTwistConstraint *constraint = static_cast<JPH::SwingTwistConstraint *>(jolt_ref.GetPtr())) {
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JPH::MotorSettings &motor_settings = constraint->GetSwingMotorSettings();
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motor_settings.mMinTorqueLimit = (float)-swing_motor_max_torque;
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motor_settings.mMaxTorqueLimit = (float)swing_motor_max_torque;
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}
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}
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void JoltConeTwistJoint3D::_update_twist_motor_limit() {
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if (JPH::SwingTwistConstraint *constraint = static_cast<JPH::SwingTwistConstraint *>(jolt_ref.GetPtr())) {
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JPH::MotorSettings &motor_settings = constraint->GetTwistMotorSettings();
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motor_settings.mMinTorqueLimit = (float)-twist_motor_max_torque;
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motor_settings.mMaxTorqueLimit = (float)twist_motor_max_torque;
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}
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}
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void JoltConeTwistJoint3D::_limits_changed() {
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rebuild();
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_wake_up_bodies();
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}
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void JoltConeTwistJoint3D::_swing_motor_state_changed() {
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_update_swing_motor_state();
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_wake_up_bodies();
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}
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void JoltConeTwistJoint3D::_twist_motor_state_changed() {
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_update_twist_motor_state();
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_wake_up_bodies();
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}
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void JoltConeTwistJoint3D::_motor_velocity_changed() {
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_update_motor_velocity();
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_wake_up_bodies();
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}
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void JoltConeTwistJoint3D::_swing_motor_limit_changed() {
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_update_swing_motor_limit();
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_wake_up_bodies();
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}
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void JoltConeTwistJoint3D::_twist_motor_limit_changed() {
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_update_twist_motor_limit();
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_wake_up_bodies();
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}
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JoltConeTwistJoint3D::JoltConeTwistJoint3D(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 JoltConeTwistJoint3D::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: {
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return swing_limit_span;
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}
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case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN: {
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return twist_limit_span;
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}
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case PhysicsServer3D::CONE_TWIST_JOINT_BIAS: {
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return CONE_TWIST_DEFAULT_BIAS;
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}
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case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS: {
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return CONE_TWIST_DEFAULT_SOFTNESS;
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}
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case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION: {
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return CONE_TWIST_DEFAULT_RELAXATION;
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}
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default: {
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ERR_FAIL_V_MSG(0.0, vformat("Unhandled cone twist 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 JoltConeTwistJoint3D::set_param(PhysicsServer3D::ConeTwistJointParam p_param, double p_value) {
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switch (p_param) {
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case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: {
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swing_limit_span = p_value;
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_limits_changed();
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} break;
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case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN: {
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twist_limit_span = p_value;
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_limits_changed();
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} break;
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case PhysicsServer3D::CONE_TWIST_JOINT_BIAS: {
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if (!Math::is_equal_approx(p_value, CONE_TWIST_DEFAULT_BIAS)) {
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WARN_PRINT(vformat("Cone twist 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::CONE_TWIST_JOINT_SOFTNESS: {
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if (!Math::is_equal_approx(p_value, CONE_TWIST_DEFAULT_SOFTNESS)) {
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WARN_PRINT(vformat("Cone twist 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::CONE_TWIST_JOINT_RELAXATION: {
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if (!Math::is_equal_approx(p_value, CONE_TWIST_DEFAULT_RELAXATION)) {
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WARN_PRINT(vformat("Cone twist 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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default: {
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ERR_FAIL_MSG(vformat("Unhandled cone twist 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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double JoltConeTwistJoint3D::get_jolt_param(JoltParameter p_param) const {
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switch (p_param) {
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_SWING_MOTOR_TARGET_VELOCITY_Y: {
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return swing_motor_target_speed_y;
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}
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_SWING_MOTOR_TARGET_VELOCITY_Z: {
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return swing_motor_target_speed_z;
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}
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_TWIST_MOTOR_TARGET_VELOCITY: {
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return twist_motor_target_speed;
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}
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_SWING_MOTOR_MAX_TORQUE: {
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return swing_motor_max_torque;
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}
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_TWIST_MOTOR_MAX_TORQUE: {
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return twist_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 JoltConeTwistJoint3D::set_jolt_param(JoltParameter p_param, double p_value) {
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switch (p_param) {
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_SWING_MOTOR_TARGET_VELOCITY_Y: {
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swing_motor_target_speed_y = p_value;
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_motor_velocity_changed();
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} break;
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_SWING_MOTOR_TARGET_VELOCITY_Z: {
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swing_motor_target_speed_z = p_value;
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_motor_velocity_changed();
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} break;
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_TWIST_MOTOR_TARGET_VELOCITY: {
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twist_motor_target_speed = p_value;
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_motor_velocity_changed();
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} break;
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_SWING_MOTOR_MAX_TORQUE: {
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swing_motor_max_torque = p_value;
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_swing_motor_limit_changed();
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} break;
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_TWIST_MOTOR_MAX_TORQUE: {
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twist_motor_max_torque = p_value;
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_twist_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 JoltConeTwistJoint3D::get_jolt_flag(JoltFlag p_flag) const {
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switch (p_flag) {
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_FLAG_USE_SWING_LIMIT: {
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return swing_limit_enabled;
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}
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_FLAG_USE_TWIST_LIMIT: {
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return twist_limit_enabled;
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}
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_FLAG_ENABLE_SWING_MOTOR: {
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return swing_motor_enabled;
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}
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_FLAG_ENABLE_TWIST_MOTOR: {
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return twist_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 JoltConeTwistJoint3D::set_jolt_flag(JoltFlag p_flag, bool p_enabled) {
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switch (p_flag) {
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_FLAG_USE_SWING_LIMIT: {
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swing_limit_enabled = p_enabled;
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_limits_changed();
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} break;
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_FLAG_USE_TWIST_LIMIT: {
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twist_limit_enabled = p_enabled;
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_limits_changed();
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} break;
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_FLAG_ENABLE_SWING_MOTOR: {
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swing_motor_enabled = p_enabled;
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_swing_motor_state_changed();
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} break;
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case JoltPhysicsServer3D::CONE_TWIST_JOINT_FLAG_ENABLE_TWIST_MOTOR: {
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twist_motor_enabled = p_enabled;
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_twist_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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float JoltConeTwistJoint3D::get_applied_force() const {
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JPH::SwingTwistConstraint *constraint = static_cast<JPH::SwingTwistConstraint *>(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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float JoltConeTwistJoint3D::get_applied_torque() const {
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JPH::SwingTwistConstraint *constraint = static_cast<JPH::SwingTwistConstraint *>(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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const JPH::Vec3 swing_twist_lambda = JPH::Vec3(constraint->GetTotalLambdaTwist(), constraint->GetTotalLambdaSwingY(), constraint->GetTotalLambdaSwingZ());
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// Note that the motor lambda is in a different space than the swing twist lambda, and since the two forces can cancel each other it is
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// technically incorrect to just add them. The bodies themselves have moved, so we can't transform one into the space of the other anymore.
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const float total_lambda = swing_twist_lambda.Length() + constraint->GetTotalLambdaMotor().Length();
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return total_lambda / last_step;
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}
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void JoltConeTwistJoint3D::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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JPH::Body *jolt_body_a = body_a != nullptr ? body_a->get_jolt_body() : nullptr;
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JPH::Body *jolt_body_b = body_b != nullptr ? body_b->get_jolt_body() : nullptr;
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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_swing_twist(jolt_body_a, jolt_body_b, shifted_ref_a, shifted_ref_b, (float)swing_limit_span, (float)twist_limit_span);
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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_swing_motor_state();
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_update_twist_motor_state();
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_update_motor_velocity();
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_update_swing_motor_limit();
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_update_twist_motor_limit();
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}
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