0ee0fa42e6
Using clang-tidy's `readability-braces-around-statements`. https://clang.llvm.org/extra/clang-tidy/checks/readability-braces-around-statements.html
173 lines
6.6 KiB
C++
173 lines
6.6 KiB
C++
/*************************************************************************/
|
|
/* pin_joint_3d_sw.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
|
|
/* */
|
|
/* 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. */
|
|
/*************************************************************************/
|
|
|
|
/*
|
|
Adapted to Godot from the Bullet library.
|
|
*/
|
|
|
|
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#include "pin_joint_3d_sw.h"
|
|
|
|
bool PinJoint3DSW::setup(real_t p_step) {
|
|
m_appliedImpulse = real_t(0.);
|
|
|
|
Vector3 normal(0, 0, 0);
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
normal[i] = 1;
|
|
memnew_placement(&m_jac[i], JacobianEntry3DSW(
|
|
A->get_principal_inertia_axes().transposed(),
|
|
B->get_principal_inertia_axes().transposed(),
|
|
A->get_transform().xform(m_pivotInA) - A->get_transform().origin - A->get_center_of_mass(),
|
|
B->get_transform().xform(m_pivotInB) - B->get_transform().origin - B->get_center_of_mass(),
|
|
normal,
|
|
A->get_inv_inertia(),
|
|
A->get_inv_mass(),
|
|
B->get_inv_inertia(),
|
|
B->get_inv_mass()));
|
|
normal[i] = 0;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
void PinJoint3DSW::solve(real_t p_step) {
|
|
Vector3 pivotAInW = A->get_transform().xform(m_pivotInA);
|
|
Vector3 pivotBInW = B->get_transform().xform(m_pivotInB);
|
|
|
|
Vector3 normal(0, 0, 0);
|
|
|
|
//Vector3 angvelA = A->get_transform().origin.getBasis().transpose() * A->getAngularVelocity();
|
|
//Vector3 angvelB = B->get_transform().origin.getBasis().transpose() * B->getAngularVelocity();
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
normal[i] = 1;
|
|
real_t jacDiagABInv = real_t(1.) / m_jac[i].getDiagonal();
|
|
|
|
Vector3 rel_pos1 = pivotAInW - A->get_transform().origin;
|
|
Vector3 rel_pos2 = pivotBInW - B->get_transform().origin;
|
|
//this jacobian entry could be re-used for all iterations
|
|
|
|
Vector3 vel1 = A->get_velocity_in_local_point(rel_pos1);
|
|
Vector3 vel2 = B->get_velocity_in_local_point(rel_pos2);
|
|
Vector3 vel = vel1 - vel2;
|
|
|
|
real_t rel_vel;
|
|
rel_vel = normal.dot(vel);
|
|
|
|
/*
|
|
//velocity error (first order error)
|
|
real_t rel_vel = m_jac[i].getRelativeVelocity(A->getLinearVelocity(),angvelA,
|
|
B->getLinearVelocity(),angvelB);
|
|
*/
|
|
|
|
//positional error (zeroth order error)
|
|
real_t depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
|
|
|
|
real_t impulse = depth * m_tau / p_step * jacDiagABInv - m_damping * rel_vel * jacDiagABInv;
|
|
|
|
real_t impulseClamp = m_impulseClamp;
|
|
if (impulseClamp > 0) {
|
|
if (impulse < -impulseClamp) {
|
|
impulse = -impulseClamp;
|
|
}
|
|
if (impulse > impulseClamp) {
|
|
impulse = impulseClamp;
|
|
}
|
|
}
|
|
|
|
m_appliedImpulse += impulse;
|
|
Vector3 impulse_vector = normal * impulse;
|
|
A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
|
|
B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
|
|
|
|
normal[i] = 0;
|
|
}
|
|
}
|
|
|
|
void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
|
|
switch (p_param) {
|
|
case PhysicsServer3D::PIN_JOINT_BIAS:
|
|
m_tau = p_value;
|
|
break;
|
|
case PhysicsServer3D::PIN_JOINT_DAMPING:
|
|
m_damping = p_value;
|
|
break;
|
|
case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP:
|
|
m_impulseClamp = p_value;
|
|
break;
|
|
}
|
|
}
|
|
|
|
real_t PinJoint3DSW::get_param(PhysicsServer3D::PinJointParam p_param) const {
|
|
switch (p_param) {
|
|
case PhysicsServer3D::PIN_JOINT_BIAS:
|
|
return m_tau;
|
|
case PhysicsServer3D::PIN_JOINT_DAMPING:
|
|
return m_damping;
|
|
case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP:
|
|
return m_impulseClamp;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b) :
|
|
Joint3DSW(_arr, 2) {
|
|
A = p_body_a;
|
|
B = p_body_b;
|
|
m_pivotInA = p_pos_a;
|
|
m_pivotInB = p_pos_b;
|
|
|
|
m_tau = 0.3;
|
|
m_damping = 1;
|
|
m_impulseClamp = 0;
|
|
m_appliedImpulse = 0;
|
|
|
|
A->add_constraint(this, 0);
|
|
B->add_constraint(this, 1);
|
|
}
|
|
|
|
PinJoint3DSW::~PinJoint3DSW() {
|
|
}
|