347 lines
12 KiB
C++
347 lines
12 KiB
C++
/*************************************************************************/
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/* cone_twist_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 "cone_twist_joint_sw.h"
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static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
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if (Math::abs(n.z) > 0.707106781186547524400844362) {
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// choose p in y-z plane
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real_t a = n[1] * n[1] + n[2] * n[2];
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real_t k = 1.0 / Math::sqrt(a);
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p = Vector3(0, -n[2] * k, n[1] * k);
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// set q = n x p
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q = Vector3(a * k, -n[0] * p[2], n[0] * p[1]);
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} else {
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// choose p in x-y plane
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real_t a = n.x * n.x + n.y * n.y;
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real_t k = 1.0 / Math::sqrt(a);
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p = Vector3(-n.y * k, n.x * k, 0);
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// set q = n x p
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q = Vector3(-n.z * p.y, n.z * p.x, a * k);
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}
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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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ConeTwistJointSW::ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rbAFrame, const Transform &rbBFrame)
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: JointSW(_arr, 2) {
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A = rbA;
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B = rbB;
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m_rbAFrame = rbAFrame;
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m_rbBFrame = rbBFrame;
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m_swingSpan1 = Math_PI / 4.0;
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m_swingSpan2 = Math_PI / 4.0;
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m_twistSpan = Math_PI * 2;
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m_biasFactor = 0.3f;
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m_relaxationFactor = 1.0f;
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m_solveTwistLimit = false;
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m_solveSwingLimit = false;
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A->add_constraint(this, 0);
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B->add_constraint(this, 1);
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m_appliedImpulse = 0;
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}
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bool ConeTwistJointSW::setup(real_t p_step) {
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m_appliedImpulse = real_t(0.);
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//set bias, sign, clear accumulator
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m_swingCorrection = real_t(0.);
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m_twistLimitSign = real_t(0.);
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m_solveTwistLimit = false;
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m_solveSwingLimit = false;
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m_accTwistLimitImpulse = real_t(0.);
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m_accSwingLimitImpulse = real_t(0.);
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if (!m_angularOnly) {
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Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
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Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
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Vector3 relPos = pivotBInW - pivotAInW;
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Vector3 normal[3];
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if (relPos.length_squared() > CMP_EPSILON) {
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normal[0] = relPos.normalized();
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} else {
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normal[0] = Vector3(real_t(1.0), 0, 0);
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}
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plane_space(normal[0], normal[1], normal[2]);
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for (int i = 0; i < 3; i++) {
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memnew_placement(&m_jac[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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pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
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pivotBInW - B->get_transform().origin - B->get_center_of_mass(),
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normal[i],
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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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}
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}
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Vector3 b1Axis1, b1Axis2, b1Axis3;
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Vector3 b2Axis1, b2Axis2;
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b1Axis1 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(0));
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b2Axis1 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(0));
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real_t swing1 = real_t(0.), swing2 = real_t(0.);
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real_t swx = real_t(0.), swy = real_t(0.);
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real_t thresh = real_t(10.);
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real_t fact;
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// Get Frame into world space
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if (m_swingSpan1 >= real_t(0.05f)) {
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b1Axis2 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(1));
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//swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
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swx = b2Axis1.dot(b1Axis1);
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swy = b2Axis1.dot(b1Axis2);
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swing1 = atan2fast(swy, swx);
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fact = (swy * swy + swx * swx) * thresh * thresh;
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fact = fact / (fact + real_t(1.0));
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swing1 *= fact;
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}
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if (m_swingSpan2 >= real_t(0.05f)) {
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b1Axis3 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(2));
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//swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
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swx = b2Axis1.dot(b1Axis1);
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swy = b2Axis1.dot(b1Axis3);
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swing2 = atan2fast(swy, swx);
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fact = (swy * swy + swx * swx) * thresh * thresh;
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fact = fact / (fact + real_t(1.0));
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swing2 *= fact;
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}
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real_t RMaxAngle1Sq = 1.0f / (m_swingSpan1 * m_swingSpan1);
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real_t RMaxAngle2Sq = 1.0f / (m_swingSpan2 * m_swingSpan2);
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real_t EllipseAngle = Math::abs(swing1 * swing1) * RMaxAngle1Sq + Math::abs(swing2 * swing2) * RMaxAngle2Sq;
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if (EllipseAngle > 1.0f) {
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m_swingCorrection = EllipseAngle - 1.0f;
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m_solveSwingLimit = true;
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// Calculate necessary axis & factors
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m_swingAxis = b2Axis1.cross(b1Axis2 * b2Axis1.dot(b1Axis2) + b1Axis3 * b2Axis1.dot(b1Axis3));
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m_swingAxis.normalize();
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real_t swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
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m_swingAxis *= swingAxisSign;
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m_kSwing = real_t(1.) / (A->compute_angular_impulse_denominator(m_swingAxis) +
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B->compute_angular_impulse_denominator(m_swingAxis));
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}
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// Twist limits
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if (m_twistSpan >= real_t(0.)) {
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Vector3 b2Axis2 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(1));
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Quat rotationArc = Quat(b2Axis1, b1Axis1);
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Vector3 TwistRef = rotationArc.xform(b2Axis2);
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real_t twist = atan2fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2));
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real_t lockedFreeFactor = (m_twistSpan > real_t(0.05f)) ? m_limitSoftness : real_t(0.);
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if (twist <= -m_twistSpan * lockedFreeFactor) {
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m_twistCorrection = -(twist + m_twistSpan);
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m_solveTwistLimit = true;
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m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
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m_twistAxis.normalize();
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m_twistAxis *= -1.0f;
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m_kTwist = real_t(1.) / (A->compute_angular_impulse_denominator(m_twistAxis) +
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B->compute_angular_impulse_denominator(m_twistAxis));
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} else if (twist > m_twistSpan * lockedFreeFactor) {
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m_twistCorrection = (twist - m_twistSpan);
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m_solveTwistLimit = true;
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m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
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m_twistAxis.normalize();
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m_kTwist = real_t(1.) / (A->compute_angular_impulse_denominator(m_twistAxis) +
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B->compute_angular_impulse_denominator(m_twistAxis));
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}
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}
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return true;
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}
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void ConeTwistJointSW::solve(real_t timeStep) {
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Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
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Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
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real_t tau = real_t(0.3);
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//linear part
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if (!m_angularOnly) {
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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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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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for (int i = 0; i < 3; i++) {
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const Vector3 &normal = m_jac[i].m_linearJointAxis;
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real_t jacDiagABInv = real_t(1.) / m_jac[i].getDiagonal();
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real_t rel_vel;
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rel_vel = normal.dot(vel);
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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 * tau / timeStep * jacDiagABInv - rel_vel * jacDiagABInv;
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m_appliedImpulse += impulse;
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Vector3 impulse_vector = normal * impulse;
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A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
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B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
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}
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}
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{
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///solve angular part
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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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// solve swing limit
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if (m_solveSwingLimit) {
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real_t amplitude = ((angVelB - angVelA).dot(m_swingAxis) * m_relaxationFactor * m_relaxationFactor + m_swingCorrection * (real_t(1.) / timeStep) * m_biasFactor);
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real_t impulseMag = amplitude * m_kSwing;
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// Clamp the accumulated impulse
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real_t temp = m_accSwingLimitImpulse;
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m_accSwingLimitImpulse = MAX(m_accSwingLimitImpulse + impulseMag, real_t(0.0));
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impulseMag = m_accSwingLimitImpulse - temp;
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Vector3 impulse = m_swingAxis * impulseMag;
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A->apply_torque_impulse(impulse);
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B->apply_torque_impulse(-impulse);
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}
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// solve twist limit
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if (m_solveTwistLimit) {
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real_t amplitude = ((angVelB - angVelA).dot(m_twistAxis) * m_relaxationFactor * m_relaxationFactor + m_twistCorrection * (real_t(1.) / timeStep) * m_biasFactor);
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real_t impulseMag = amplitude * m_kTwist;
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// Clamp the accumulated impulse
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real_t temp = m_accTwistLimitImpulse;
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m_accTwistLimitImpulse = MAX(m_accTwistLimitImpulse + impulseMag, real_t(0.0));
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impulseMag = m_accTwistLimitImpulse - temp;
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Vector3 impulse = m_twistAxis * impulseMag;
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A->apply_torque_impulse(impulse);
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B->apply_torque_impulse(-impulse);
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}
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}
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}
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void ConeTwistJointSW::set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN: {
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m_swingSpan1 = p_value;
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m_swingSpan2 = p_value;
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} break;
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case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN: {
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m_twistSpan = p_value;
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} break;
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case PhysicsServer::CONE_TWIST_JOINT_BIAS: {
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m_biasFactor = p_value;
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} break;
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case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS: {
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m_limitSoftness = p_value;
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} break;
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case PhysicsServer::CONE_TWIST_JOINT_RELAXATION: {
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m_relaxationFactor = p_value;
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} break;
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}
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}
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real_t ConeTwistJointSW::get_param(PhysicsServer::ConeTwistJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN: {
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return m_swingSpan1;
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} break;
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case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN: {
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return m_twistSpan;
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} break;
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case PhysicsServer::CONE_TWIST_JOINT_BIAS: {
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return m_biasFactor;
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} break;
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case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS: {
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return m_limitSoftness;
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} break;
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case PhysicsServer::CONE_TWIST_JOINT_RELAXATION: {
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return m_relaxationFactor;
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} break;
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}
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return 0;
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}
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