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418 lines
18 KiB
C++
418 lines
18 KiB
C++
/*************************************************************************/
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/* slider_joint_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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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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/*
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Adapted to Godot from the Bullet library.
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See corresponding header file for licensing info.
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*/
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#include "slider_joint_sw.h"
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//-----------------------------------------------------------------------------
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static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
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real_t coeff_1 = Math_PI / 4.0f;
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real_t coeff_2 = 3.0f * coeff_1;
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real_t abs_y = Math::abs(y);
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real_t angle;
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if (x >= 0.0f) {
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real_t r = (x - abs_y) / (x + abs_y);
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angle = coeff_1 - coeff_1 * r;
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} else {
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real_t r = (x + abs_y) / (abs_y - x);
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angle = coeff_2 - coeff_1 * r;
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}
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return (y < 0.0f) ? -angle : angle;
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}
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void SliderJointSW::initParams() {
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m_lowerLinLimit = real_t(1.0);
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m_upperLinLimit = real_t(-1.0);
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m_lowerAngLimit = real_t(0.);
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m_upperAngLimit = real_t(0.);
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m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingDirLin = real_t(0.);
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m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingDirAng = real_t(0.);
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m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_poweredLinMotor = false;
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m_targetLinMotorVelocity = real_t(0.);
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m_maxLinMotorForce = real_t(0.);
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m_accumulatedLinMotorImpulse = real_t(0.0);
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m_poweredAngMotor = false;
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m_targetAngMotorVelocity = real_t(0.);
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m_maxAngMotorForce = real_t(0.);
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m_accumulatedAngMotorImpulse = real_t(0.0);
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} // SliderJointSW::initParams()
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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SliderJointSW::SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB)
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: JointSW(_arr, 2), m_frameInA(frameInA), m_frameInB(frameInB) {
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A = rbA;
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B = rbB;
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A->add_constraint(this, 0);
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B->add_constraint(this, 1);
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initParams();
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} // SliderJointSW::SliderJointSW()
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//-----------------------------------------------------------------------------
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bool SliderJointSW::setup(real_t p_step) {
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//calculate transforms
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m_calculatedTransformA = A->get_transform() * m_frameInA;
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m_calculatedTransformB = B->get_transform() * m_frameInB;
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m_realPivotAInW = m_calculatedTransformA.origin;
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m_realPivotBInW = m_calculatedTransformB.origin;
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m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X
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m_delta = m_realPivotBInW - m_realPivotAInW;
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m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
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m_relPosA = m_projPivotInW - A->get_transform().origin;
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m_relPosB = m_realPivotBInW - B->get_transform().origin;
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Vector3 normalWorld;
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int i;
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//linear part
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for (i = 0; i < 3; i++) {
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normalWorld = m_calculatedTransformA.basis.get_axis(i);
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memnew_placement(&m_jacLin[i], JacobianEntrySW(
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A->get_principal_inertia_axes().transposed(),
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B->get_principal_inertia_axes().transposed(),
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m_relPosA - A->get_center_of_mass(),
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m_relPosB - B->get_center_of_mass(),
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normalWorld,
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A->get_inv_inertia(),
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A->get_inv_mass(),
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B->get_inv_inertia(),
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B->get_inv_mass()));
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m_jacLinDiagABInv[i] = real_t(1.) / m_jacLin[i].getDiagonal();
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m_depth[i] = m_delta.dot(normalWorld);
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}
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testLinLimits();
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// angular part
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for (i = 0; i < 3; i++) {
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normalWorld = m_calculatedTransformA.basis.get_axis(i);
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memnew_placement(&m_jacAng[i], JacobianEntrySW(
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normalWorld,
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A->get_principal_inertia_axes().transposed(),
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B->get_principal_inertia_axes().transposed(),
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A->get_inv_inertia(),
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B->get_inv_inertia()));
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}
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testAngLimits();
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Vector3 axisA = m_calculatedTransformA.basis.get_axis(0);
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m_kAngle = real_t(1.0) / (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA));
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// clear accumulator for motors
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m_accumulatedLinMotorImpulse = real_t(0.0);
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m_accumulatedAngMotorImpulse = real_t(0.0);
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return true;
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} // SliderJointSW::buildJacobianInt()
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//-----------------------------------------------------------------------------
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void SliderJointSW::solve(real_t p_step) {
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int i;
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// linear
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Vector3 velA = A->get_velocity_in_local_point(m_relPosA);
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Vector3 velB = B->get_velocity_in_local_point(m_relPosB);
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Vector3 vel = velA - velB;
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for (i = 0; i < 3; i++) {
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const Vector3 &normal = m_jacLin[i].m_linearJointAxis;
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real_t rel_vel = normal.dot(vel);
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// calculate positional error
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real_t depth = m_depth[i];
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// get parameters
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real_t softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin);
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real_t restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin);
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real_t damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin);
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// calcutate and apply impulse
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real_t normalImpulse = softness * (restitution * depth / p_step - damping * rel_vel) * m_jacLinDiagABInv[i];
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Vector3 impulse_vector = normal * normalImpulse;
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A->apply_impulse(m_relPosA, impulse_vector);
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B->apply_impulse(m_relPosB, -impulse_vector);
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if (m_poweredLinMotor && (!i)) { // apply linear motor
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if (m_accumulatedLinMotorImpulse < m_maxLinMotorForce) {
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real_t desiredMotorVel = m_targetLinMotorVelocity;
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real_t motor_relvel = desiredMotorVel + rel_vel;
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normalImpulse = -motor_relvel * m_jacLinDiagABInv[i];
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// clamp accumulated impulse
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real_t new_acc = m_accumulatedLinMotorImpulse + Math::abs(normalImpulse);
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if (new_acc > m_maxLinMotorForce) {
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new_acc = m_maxLinMotorForce;
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}
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real_t del = new_acc - m_accumulatedLinMotorImpulse;
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if (normalImpulse < real_t(0.0)) {
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normalImpulse = -del;
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} else {
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normalImpulse = del;
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}
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m_accumulatedLinMotorImpulse = new_acc;
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// apply clamped impulse
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impulse_vector = normal * normalImpulse;
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A->apply_impulse(m_relPosA, impulse_vector);
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B->apply_impulse(m_relPosB, -impulse_vector);
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}
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}
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}
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// angular
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// get axes in world space
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Vector3 axisA = m_calculatedTransformA.basis.get_axis(0);
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Vector3 axisB = m_calculatedTransformB.basis.get_axis(0);
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const Vector3 &angVelA = A->get_angular_velocity();
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const Vector3 &angVelB = B->get_angular_velocity();
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Vector3 angVelAroundAxisA = axisA * axisA.dot(angVelA);
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Vector3 angVelAroundAxisB = axisB * axisB.dot(angVelB);
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Vector3 angAorthog = angVelA - angVelAroundAxisA;
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Vector3 angBorthog = angVelB - angVelAroundAxisB;
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Vector3 velrelOrthog = angAorthog - angBorthog;
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//solve orthogonal angular velocity correction
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real_t len = velrelOrthog.length();
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if (len > real_t(0.00001)) {
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Vector3 normal = velrelOrthog.normalized();
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real_t denom = A->compute_angular_impulse_denominator(normal) + B->compute_angular_impulse_denominator(normal);
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velrelOrthog *= (real_t(1.) / denom) * m_dampingOrthoAng * m_softnessOrthoAng;
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}
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//solve angular positional correction
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Vector3 angularError = axisA.cross(axisB) * (real_t(1.) / p_step);
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real_t len2 = angularError.length();
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if (len2 > real_t(0.00001)) {
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Vector3 normal2 = angularError.normalized();
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real_t denom2 = A->compute_angular_impulse_denominator(normal2) + B->compute_angular_impulse_denominator(normal2);
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angularError *= (real_t(1.) / denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
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}
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// apply impulse
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A->apply_torque_impulse(-velrelOrthog + angularError);
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B->apply_torque_impulse(velrelOrthog - angularError);
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real_t impulseMag;
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//solve angular limits
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if (m_solveAngLim) {
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impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / p_step;
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impulseMag *= m_kAngle * m_softnessLimAng;
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} else {
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impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / p_step;
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impulseMag *= m_kAngle * m_softnessDirAng;
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}
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Vector3 impulse = axisA * impulseMag;
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A->apply_torque_impulse(impulse);
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B->apply_torque_impulse(-impulse);
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//apply angular motor
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if (m_poweredAngMotor) {
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if (m_accumulatedAngMotorImpulse < m_maxAngMotorForce) {
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Vector3 velrel = angVelAroundAxisA - angVelAroundAxisB;
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real_t projRelVel = velrel.dot(axisA);
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real_t desiredMotorVel = m_targetAngMotorVelocity;
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real_t motor_relvel = desiredMotorVel - projRelVel;
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real_t angImpulse = m_kAngle * motor_relvel;
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// clamp accumulated impulse
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real_t new_acc = m_accumulatedAngMotorImpulse + Math::abs(angImpulse);
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if (new_acc > m_maxAngMotorForce) {
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new_acc = m_maxAngMotorForce;
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}
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real_t del = new_acc - m_accumulatedAngMotorImpulse;
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if (angImpulse < real_t(0.0)) {
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angImpulse = -del;
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} else {
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angImpulse = del;
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}
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m_accumulatedAngMotorImpulse = new_acc;
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// apply clamped impulse
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Vector3 motorImp = angImpulse * axisA;
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A->apply_torque_impulse(motorImp);
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B->apply_torque_impulse(-motorImp);
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}
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}
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} // SliderJointSW::solveConstraint()
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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void SliderJointSW::calculateTransforms(void) {
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m_calculatedTransformA = A->get_transform() * m_frameInA;
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m_calculatedTransformB = B->get_transform() * m_frameInB;
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m_realPivotAInW = m_calculatedTransformA.origin;
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m_realPivotBInW = m_calculatedTransformB.origin;
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m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X
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m_delta = m_realPivotBInW - m_realPivotAInW;
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m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
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Vector3 normalWorld;
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int i;
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//linear part
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for (i = 0; i < 3; i++) {
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normalWorld = m_calculatedTransformA.basis.get_axis(i);
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m_depth[i] = m_delta.dot(normalWorld);
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}
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} // SliderJointSW::calculateTransforms()
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//-----------------------------------------------------------------------------
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void SliderJointSW::testLinLimits(void) {
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m_solveLinLim = false;
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m_linPos = m_depth[0];
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if (m_lowerLinLimit <= m_upperLinLimit) {
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if (m_depth[0] > m_upperLinLimit) {
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m_depth[0] -= m_upperLinLimit;
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m_solveLinLim = true;
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} else if (m_depth[0] < m_lowerLinLimit) {
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m_depth[0] -= m_lowerLinLimit;
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m_solveLinLim = true;
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} else {
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m_depth[0] = real_t(0.);
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}
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} else {
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m_depth[0] = real_t(0.);
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}
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} // SliderJointSW::testLinLimits()
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//-----------------------------------------------------------------------------
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void SliderJointSW::testAngLimits(void) {
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m_angDepth = real_t(0.);
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m_solveAngLim = false;
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if (m_lowerAngLimit <= m_upperAngLimit) {
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const Vector3 axisA0 = m_calculatedTransformA.basis.get_axis(1);
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const Vector3 axisA1 = m_calculatedTransformA.basis.get_axis(2);
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const Vector3 axisB0 = m_calculatedTransformB.basis.get_axis(1);
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real_t rot = atan2fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
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if (rot < m_lowerAngLimit) {
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m_angDepth = rot - m_lowerAngLimit;
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m_solveAngLim = true;
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} else if (rot > m_upperAngLimit) {
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m_angDepth = rot - m_upperAngLimit;
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m_solveAngLim = true;
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}
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}
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} // SliderJointSW::testAngLimits()
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//-----------------------------------------------------------------------------
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Vector3 SliderJointSW::getAncorInA(void) {
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Vector3 ancorInA;
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ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * real_t(0.5) * m_sliderAxis;
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ancorInA = A->get_transform().inverse().xform(ancorInA);
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return ancorInA;
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} // SliderJointSW::getAncorInA()
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//-----------------------------------------------------------------------------
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Vector3 SliderJointSW::getAncorInB(void) {
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Vector3 ancorInB;
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ancorInB = m_frameInB.origin;
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return ancorInB;
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} // SliderJointSW::getAncorInB();
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void SliderJointSW::set_param(PhysicsServer::SliderJointParam p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: m_upperLinLimit = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: m_lowerLinLimit = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: m_softnessLimLin = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: m_restitutionLimLin = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: m_dampingLimLin = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: m_softnessDirLin = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: m_restitutionDirLin = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: m_dampingDirLin = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: m_softnessOrthoLin = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: m_restitutionOrthoLin = p_value; break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: m_dampingOrthoLin = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: m_upperAngLimit = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: m_lowerAngLimit = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: m_softnessLimAng = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: m_restitutionLimAng = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: m_dampingLimAng = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: m_softnessDirAng = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: m_restitutionDirAng = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: m_dampingDirAng = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: m_softnessOrthoAng = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: m_restitutionOrthoAng = p_value; break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: m_dampingOrthoAng = p_value; break;
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}
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}
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real_t SliderJointSW::get_param(PhysicsServer::SliderJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: return m_upperLinLimit;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: return m_lowerLinLimit;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: return m_softnessLimLin;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: return m_restitutionLimLin;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: return m_dampingLimLin;
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: return m_softnessDirLin;
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: return m_restitutionDirLin;
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: return m_dampingDirLin;
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: return m_softnessOrthoLin;
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: return m_restitutionOrthoLin;
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: return m_dampingOrthoLin;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: return m_upperAngLimit;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: return m_lowerAngLimit;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: return m_softnessLimAng;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: return m_restitutionLimAng;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: return m_dampingLimAng;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: return m_softnessDirAng;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: return m_restitutionDirAng;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: return m_dampingDirAng;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: return m_softnessOrthoAng;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: return m_restitutionOrthoAng;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: return m_dampingOrthoAng;
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}
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return 0;
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}
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