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Add support for Jolts FixedConstraint joint
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <class name="FixedJoint3D" inherits="Joint3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd"> | ||
| <brief_description> | ||
| A physics joint that attaches two 3D physics bodies at a single point, with no allowed movement between the two bodies. | ||
| </brief_description> | ||
| <description> | ||
| A physics joint that attaches two 3D physics bodies at a single point, with no allowed movement between the two bodies. | ||
| [b]Note:[/b] This joint is only implemented for the Jolt Physics Engine. | ||
| </description> | ||
| <tutorials> | ||
| </tutorials> | ||
| </class> |
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| /**************************************************************************/ | ||
| /* jolt_pin_joint_3d.cpp */ | ||
| /**************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /**************************************************************************/ | ||
| /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ | ||
| /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ | ||
| /* */ | ||
| /* Permission is hereby granted, free of charge, to any person obtaining */ | ||
| /* a copy of this software and associated documentation files (the */ | ||
| /* "Software"), to deal in the Software without restriction, including */ | ||
| /* without limitation the rights to use, copy, modify, merge, publish, */ | ||
| /* distribute, sublicense, and/or sell copies of the Software, and to */ | ||
| /* permit persons to whom the Software is furnished to do so, subject to */ | ||
| /* the following conditions: */ | ||
| /* */ | ||
| /* The above copyright notice and this permission notice shall be */ | ||
| /* included in all copies or substantial portions of the Software. */ | ||
| /* */ | ||
| /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ | ||
| /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ | ||
| /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ | ||
| /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ | ||
| /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ | ||
| /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ | ||
| /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ | ||
| /**************************************************************************/ | ||
|
|
||
| #include "jolt_fixed_joint_3d.h" | ||
|
|
||
| #include "../misc/jolt_type_conversions.h" | ||
| #include "../objects/jolt_body_3d.h" | ||
| #include "../spaces/jolt_space_3d.h" | ||
|
|
||
| #include "Jolt/Physics/Constraints/FixedConstraint.h" | ||
|
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| JPH::Constraint *JoltFixedJoint3D::_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) { | ||
| JPH::FixedConstraintSettings constraint_settings; | ||
| constraint_settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM; | ||
| constraint_settings.mPoint1 = to_jolt_r(p_shifted_ref_a.origin); | ||
| constraint_settings.mPoint2 = to_jolt_r(p_shifted_ref_b.origin); | ||
|
|
||
| if (p_jolt_body_a == nullptr) { | ||
| return constraint_settings.Create(JPH::Body::sFixedToWorld, *p_jolt_body_b); | ||
| } else if (p_jolt_body_b == nullptr) { | ||
| return constraint_settings.Create(*p_jolt_body_a, JPH::Body::sFixedToWorld); | ||
| } else { | ||
| return constraint_settings.Create(*p_jolt_body_a, *p_jolt_body_b); | ||
| } | ||
| } | ||
|
|
||
| void JoltFixedJoint3D::_points_changed() { | ||
| rebuild(); | ||
| _wake_up_bodies(); | ||
| } | ||
|
|
||
| JoltFixedJoint3D::JoltFixedJoint3D(const JoltJoint3D &p_old_joint, JoltBody3D *p_body_a, JoltBody3D *p_body_b, const Vector3 &p_local_a, const Vector3 &p_local_b) : | ||
| JoltJoint3D(p_old_joint, p_body_a, p_body_b, Transform3D({}, p_local_a), Transform3D({}, p_local_b)) { | ||
| rebuild(); | ||
| } | ||
|
|
||
| void JoltFixedJoint3D::set_local_a(const Vector3 &p_local_a) { | ||
| local_ref_a = Transform3D({}, p_local_a); | ||
| _points_changed(); | ||
| } | ||
|
|
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| void JoltFixedJoint3D::set_local_b(const Vector3 &p_local_b) { | ||
| local_ref_b = Transform3D({}, p_local_b); | ||
| _points_changed(); | ||
| } | ||
|
|
||
| float JoltFixedJoint3D::get_applied_force() const { | ||
| JPH::FixedConstraint *constraint = static_cast<JPH::FixedConstraint *>(jolt_ref.GetPtr()); | ||
| ERR_FAIL_NULL_V(constraint, 0.0f); | ||
|
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| JoltSpace3D *space = get_space(); | ||
| ERR_FAIL_NULL_V(space, 0.0f); | ||
|
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| const float last_step = space->get_last_step(); | ||
| if (unlikely(last_step == 0.0f)) { | ||
| return 0.0f; | ||
| } | ||
|
|
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| return constraint->GetTotalLambdaPosition().Length() / last_step; | ||
| } | ||
|
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| void JoltFixedJoint3D::rebuild() { | ||
| destroy(); | ||
|
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| JoltSpace3D *space = get_space(); | ||
|
|
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| if (space == nullptr) { | ||
| return; | ||
| } | ||
|
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| const JPH::BodyID body_ids[2] = { | ||
| body_a != nullptr ? body_a->get_jolt_id() : JPH::BodyID(), | ||
| body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID() | ||
| }; | ||
|
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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]); | ||
| 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; | ||
| 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_fixed(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(); | ||
| _update_iterations(); | ||
| } |
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|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| /**************************************************************************/ | ||
| /* jolt_fixed_joint_3d.h */ | ||
| /**************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /**************************************************************************/ | ||
| /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ | ||
| /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ | ||
| /* */ | ||
| /* Permission is hereby granted, free of charge, to any person obtaining */ | ||
| /* a copy of this software and associated documentation files (the */ | ||
| /* "Software"), to deal in the Software without restriction, including */ | ||
| /* without limitation the rights to use, copy, modify, merge, publish, */ | ||
| /* distribute, sublicense, and/or sell copies of the Software, and to */ | ||
| /* permit persons to whom the Software is furnished to do so, subject to */ | ||
| /* the following conditions: */ | ||
| /* */ | ||
| /* The above copyright notice and this permission notice shall be */ | ||
| /* included in all copies or substantial portions of the Software. */ | ||
| /* */ | ||
| /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ | ||
| /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ | ||
| /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ | ||
| /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ | ||
| /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ | ||
| /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ | ||
| /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ | ||
| /**************************************************************************/ | ||
|
|
||
| #ifndef JOLT_FIXED_JOINT_3D_H | ||
| #define JOLT_FIXED_JOINT_3D_H | ||
|
|
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| #include "jolt_joint_3d.h" | ||
|
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| #include "Jolt/Jolt.h" | ||
|
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| #include "Jolt/Physics/Constraints/FixedConstraint.h" | ||
|
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| class JoltFixedJoint3D final : public JoltJoint3D { | ||
| static JPH::Constraint *_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); | ||
|
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| void _points_changed(); | ||
|
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| public: | ||
| JoltFixedJoint3D(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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| virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_FIXED; } | ||
|
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| Vector3 get_local_a() const { return local_ref_a.origin; } | ||
| void set_local_a(const Vector3 &p_local_a); | ||
|
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| Vector3 get_local_b() const { return local_ref_b.origin; } | ||
| void set_local_b(const Vector3 &p_local_b); | ||
|
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| float get_applied_force() const; | ||
|
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| virtual void rebuild() override; | ||
| }; | ||
|
|
||
| #endif // JOLT_FIXED_JOINT_3D_H |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| /**************************************************************************/ | ||
| /* fixed_joint_3d.cpp */ | ||
| /**************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /**************************************************************************/ | ||
| /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ | ||
| /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ | ||
| /* */ | ||
| /* Permission is hereby granted, free of charge, to any person obtaining */ | ||
| /* a copy of this software and associated documentation files (the */ | ||
| /* "Software"), to deal in the Software without restriction, including */ | ||
| /* without limitation the rights to use, copy, modify, merge, publish, */ | ||
| /* distribute, sublicense, and/or sell copies of the Software, and to */ | ||
| /* permit persons to whom the Software is furnished to do so, subject to */ | ||
| /* the following conditions: */ | ||
| /* */ | ||
| /* The above copyright notice and this permission notice shall be */ | ||
| /* included in all copies or substantial portions of the Software. */ | ||
| /* */ | ||
| /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ | ||
| /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ | ||
| /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ | ||
| /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ | ||
| /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ | ||
| /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ | ||
| /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ | ||
| /**************************************************************************/ | ||
|
|
||
| #include "fixed_joint_3d.h" | ||
|
|
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| void FixedJoint3D::_bind_methods() { | ||
| } | ||
|
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| void FixedJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { | ||
| Vector3 fixedpos = get_global_transform().origin; | ||
| Vector3 local_a = body_a->to_local(fixedpos); | ||
| Vector3 local_b; | ||
|
|
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| if (body_b) { | ||
| local_b = body_b->to_local(fixedpos); | ||
| } else { | ||
| local_b = fixedpos; | ||
| } | ||
|
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| PhysicsServer3D::get_singleton()->joint_make_fixed(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); | ||
| } | ||
|
|
||
| FixedJoint3D::FixedJoint3D() { | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| /**************************************************************************/ | ||
| /* fixed_joint_3d.h */ | ||
| /**************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /**************************************************************************/ | ||
| /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ | ||
| /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ | ||
| /* */ | ||
| /* Permission is hereby granted, free of charge, to any person obtaining */ | ||
| /* a copy of this software and associated documentation files (the */ | ||
| /* "Software"), to deal in the Software without restriction, including */ | ||
| /* without limitation the rights to use, copy, modify, merge, publish, */ | ||
| /* distribute, sublicense, and/or sell copies of the Software, and to */ | ||
| /* permit persons to whom the Software is furnished to do so, subject to */ | ||
| /* the following conditions: */ | ||
| /* */ | ||
| /* The above copyright notice and this permission notice shall be */ | ||
| /* included in all copies or substantial portions of the Software. */ | ||
| /* */ | ||
| /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ | ||
| /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ | ||
| /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ | ||
| /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ | ||
| /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ | ||
| /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ | ||
| /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ | ||
| /**************************************************************************/ | ||
|
|
||
| #ifndef FIXED_JOINT_3D_H | ||
| #define FIXED_JOINT_3D_H | ||
|
|
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| #include "scene/3d/physics/joints/joint_3d.h" | ||
|
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| class FixedJoint3D : public Joint3D { | ||
| GDCLASS(FixedJoint3D, Joint3D); | ||
|
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| public: | ||
| protected: | ||
| virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; | ||
| static void _bind_methods(); | ||
|
|
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| public: | ||
| FixedJoint3D(); | ||
| }; | ||
|
|
||
| #endif // FIXED_JOINT_3D_H |
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