179 lines
6.7 KiB
C++
179 lines
6.7 KiB
C++
/*************************************************************************/
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/* pin_joint_3d_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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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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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*/
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "pin_joint_3d_sw.h"
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bool PinJoint3DSW::setup(real_t p_step) {
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dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
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dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
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if (!dynamic_A && !dynamic_B) {
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return false;
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}
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m_appliedImpulse = real_t(0.);
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Vector3 normal(0, 0, 0);
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for (int i = 0; i < 3; i++) {
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normal[i] = 1;
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memnew_placement(&m_jac[i], JacobianEntry3DSW(
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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_transform().xform(m_pivotInA) - A->get_transform().origin - A->get_center_of_mass(),
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B->get_transform().xform(m_pivotInB) - B->get_transform().origin - B->get_center_of_mass(),
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normal,
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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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normal[i] = 0;
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}
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return true;
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}
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void PinJoint3DSW::solve(real_t p_step) {
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Vector3 pivotAInW = A->get_transform().xform(m_pivotInA);
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Vector3 pivotBInW = B->get_transform().xform(m_pivotInB);
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Vector3 normal(0, 0, 0);
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//Vector3 angvelA = A->get_transform().origin.getBasis().transpose() * A->getAngularVelocity();
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//Vector3 angvelB = B->get_transform().origin.getBasis().transpose() * B->getAngularVelocity();
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for (int i = 0; i < 3; i++) {
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normal[i] = 1;
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real_t jacDiagABInv = real_t(1.) / m_jac[i].getDiagonal();
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Vector3 rel_pos1 = pivotAInW - A->get_transform().origin;
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Vector3 rel_pos2 = pivotBInW - B->get_transform().origin;
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//this jacobian entry could be re-used for all iterations
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Vector3 vel1 = A->get_velocity_in_local_point(rel_pos1);
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Vector3 vel2 = B->get_velocity_in_local_point(rel_pos2);
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Vector3 vel = vel1 - vel2;
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real_t rel_vel;
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rel_vel = normal.dot(vel);
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/*
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//velocity error (first order error)
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real_t rel_vel = m_jac[i].getRelativeVelocity(A->getLinearVelocity(),angvelA,
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B->getLinearVelocity(),angvelB);
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*/
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//positional error (zeroth order error)
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real_t depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
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real_t impulse = depth * m_tau / p_step * jacDiagABInv - m_damping * rel_vel * jacDiagABInv;
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real_t impulseClamp = m_impulseClamp;
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if (impulseClamp > 0) {
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if (impulse < -impulseClamp) {
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impulse = -impulseClamp;
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}
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if (impulse > impulseClamp) {
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impulse = impulseClamp;
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}
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}
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m_appliedImpulse += impulse;
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Vector3 impulse_vector = normal * impulse;
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if (dynamic_A) {
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A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
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}
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if (dynamic_B) {
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B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
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}
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normal[i] = 0;
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}
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}
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void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer3D::PIN_JOINT_BIAS:
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m_tau = p_value;
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break;
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case PhysicsServer3D::PIN_JOINT_DAMPING:
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m_damping = p_value;
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break;
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case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP:
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m_impulseClamp = p_value;
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break;
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}
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}
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real_t PinJoint3DSW::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 m_tau;
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case PhysicsServer3D::PIN_JOINT_DAMPING:
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return m_damping;
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case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP:
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return m_impulseClamp;
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}
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return 0;
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}
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PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b) :
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Joint3DSW(_arr, 2) {
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A = p_body_a;
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B = p_body_b;
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m_pivotInA = p_pos_a;
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m_pivotInB = p_pos_b;
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A->add_constraint(this, 0);
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B->add_constraint(this, 1);
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}
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PinJoint3DSW::~PinJoint3DSW() {
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}
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