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Wojtek Figat
2020-12-07 23:40:54 +01:00
commit 6fb9eee74c
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Source/Engine/Physics/Joints/D6Joint.cpp Normal file
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// Copyright (c) 2012-2020 Wojciech Figat. All rights reserved.
#include "D6Joint.h"
#include "Engine/Serialization/JsonTools.h"
#include "Engine/Serialization/Serialization.h"
#include "Engine/Physics/Utilities.h"
#include "Engine/Physics/Physics.h"
#include <ThirdParty/PhysX/extensions/PxD6Joint.h>
D6Joint::D6Joint(const SpawnParams& params)
: Joint(params)
{
for (int32 i = 0; i < static_cast<int32>(D6JointAxis::MAX); i++)
_motion[i] = D6JointMotion::Free;
_limitLinear.Extent = 100.0f;
}
void D6Joint::SetMotion(const D6JointAxis axis, const D6JointMotion value)
{
if (value == GetMotion(axis))
return;
_motion[static_cast<int32>(axis)] = value;
if (_joint)
{
auto joint = static_cast<PxD6Joint*>(_joint);
joint->setMotion(static_cast<PxD6Axis::Enum>(axis), static_cast<PxD6Motion::Enum>(value));
}
}
void D6Joint::SetDrive(const D6JointDriveType index, const D6JointDrive& value)
{
if (value == GetDrive(index))
return;
_drive[static_cast<int32>(index)] = value;
if (_joint)
{
auto joint = static_cast<PxD6Joint*>(_joint);
PxD6JointDrive drive;
if (value.Acceleration)
drive.flags = PxD6JointDriveFlag::eACCELERATION;
drive.stiffness = value.Stiffness;
drive.damping = value.Damping;
drive.forceLimit = value.ForceLimit;
joint->setDrive(static_cast<PxD6Drive::Enum>(index), drive);
}
}
void D6Joint::SetLimitLinear(const LimitLinear& value)
{
if (value == _limitLinear)
return;
_limitLinear = value;
if (_joint)
{
auto joint = static_cast<PxD6Joint*>(_joint);
PxJointLinearLimit pxLimit(*Physics::GetTolerancesScale(), value.Extent, value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution;
joint->setLinearLimit(pxLimit);
}
}
void D6Joint::SetLimitTwist(const LimitAngularRange& value)
{
if (value == _limitTwist)
return;
_limitTwist = value;
if (_joint)
{
auto joint = static_cast<PxD6Joint*>(_joint);
PxJointAngularLimitPair pxLimit(value.Lower * DegreesToRadians, value.Upper * DegreesToRadians, value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution;
joint->setTwistLimit(pxLimit);
}
}
void D6Joint::SetLimitSwing(const LimitConeRange& value)
{
if (value == _limitSwing)
return;
_limitSwing = value;
if (_joint)
{
auto joint = static_cast<PxD6Joint*>(_joint);
PxJointLimitCone pxLimit(value.YLimitAngle * DegreesToRadians, value.ZLimitAngle * DegreesToRadians, value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution;
joint->setSwingLimit(pxLimit);
}
}
Vector3 D6Joint::GetDrivePosition() const
{
return _joint ? P2C(static_cast<PxD6Joint*>(_joint)->getDrivePosition().p) : Vector3::Zero;
}
void D6Joint::SetDrivePosition(const Vector3& value)
{
if (_joint)
{
auto joint = static_cast<PxD6Joint*>(_joint);
PxTransform t = joint->getDrivePosition();
t.p = C2P(value);
joint->setDrivePosition(t);
}
}
Quaternion D6Joint::GetDriveRotation() const
{
return _joint ? P2C(static_cast<PxD6Joint*>(_joint)->getDrivePosition().q) : Quaternion::Identity;
}
void D6Joint::SetDriveRotation(const Quaternion& value)
{
if (_joint)
{
auto joint = static_cast<PxD6Joint*>(_joint);
PxTransform t = joint->getDrivePosition();
t.q = C2P(value);
joint->setDrivePosition(t);
}
}
Vector3 D6Joint::GetDriveLinearVelocity() const
{
if (_joint)
{
PxVec3 linear, angular;
static_cast<PxD6Joint*>(_joint)->getDriveVelocity(linear, angular);
return P2C(linear);
}
return Vector3::Zero;
}
void D6Joint::SetDriveLinearVelocity(const Vector3& value)
{
if (_joint)
{
PxVec3 linear, angular;
auto joint = static_cast<PxD6Joint*>(_joint);
joint->getDriveVelocity(linear, angular);
linear = C2P(value);
joint->setDriveVelocity(linear, angular);
}
}
Vector3 D6Joint::GetDriveAngularVelocity() const
{
if (_joint)
{
PxVec3 linear, angular;
static_cast<PxD6Joint*>(_joint)->getDriveVelocity(linear, angular);
return P2C(angular);
}
return Vector3::Zero;
}
void D6Joint::SetDriveAngularVelocity(const Vector3& value)
{
if (_joint)
{
PxVec3 linear, angular;
auto joint = static_cast<PxD6Joint*>(_joint);
joint->getDriveVelocity(linear, angular);
angular = C2P(value);
joint->setDriveVelocity(linear, angular);
}
}
float D6Joint::GetCurrentTwist() const
{
return _joint ? static_cast<PxD6Joint*>(_joint)->getTwistAngle() : 0.0f;
}
float D6Joint::GetCurrentSwingYAngle() const
{
return _joint ? static_cast<PxD6Joint*>(_joint)->getSwingYAngle() : 0.0f;
}
float D6Joint::GetCurrentSwingZAngle() const
{
return _joint ? static_cast<PxD6Joint*>(_joint)->getSwingZAngle() : 0.0f;
}
void D6Joint::Serialize(SerializeStream& stream, const void* otherObj)
{
// Base
Joint::Serialize(stream, otherObj);
SERIALIZE_GET_OTHER_OBJ(D6Joint);
char motionLabel[8] = "Motion?";
for (int32 i = 0; i < 6; i++)
{
motionLabel[6] = '0' + i;
if (!other || _motion[i] != other->_motion[i])
{
stream.Key(motionLabel, ARRAY_COUNT(motionLabel));
stream.Enum(_motion[i]);
}
}
static_assert(ARRAY_COUNT(_motion) == 6, "Invalid motion array size");
//
char driveLabel_Stiffness[17] = "Drive?.Stiffness";
char driveLabel_Damping[17] = "Drive?.Damping";
char driveLabel_ForceLimit[18] = "Drive?.ForceLimit";
char driveLabel_Acceleration[20] = "Drive?.Acceleration";
for (int32 i = 0; i < 6; i++)
{
driveLabel_Stiffness[5] = '0' + i;
driveLabel_Damping[5] = '0' + i;
driveLabel_ForceLimit[5] = '0' + i;
driveLabel_Acceleration[5] = '0' + i;
if (!other || _drive[i].Stiffness != other->_drive[i].Stiffness)
{
stream.Key(driveLabel_Stiffness, ARRAY_COUNT(driveLabel_Stiffness));
stream.Float(_drive[i].Stiffness);
}
if (!other || _drive[i].Damping != other->_drive[i].Damping)
{
stream.Key(driveLabel_Damping, ARRAY_COUNT(driveLabel_Damping));
stream.Float(_drive[i].Damping);
}
if (!other || _drive[i].ForceLimit != other->_drive[i].ForceLimit)
{
stream.Key(driveLabel_ForceLimit, ARRAY_COUNT(driveLabel_ForceLimit));
stream.Float(_drive[i].ForceLimit);
}
if (!other || _drive[i].Acceleration != other->_drive[i].Acceleration)
{
stream.Key(driveLabel_Acceleration, ARRAY_COUNT(driveLabel_Acceleration));
stream.Bool(_drive[i].Acceleration);
}
}
static_assert(ARRAY_COUNT(_drive) == 6, "Invalid drive array size");
//
SERIALIZE_MEMBER(LimitLinear.Extent, _limitLinear.Extent);
SERIALIZE_MEMBER(LimitLinear.Restitution, _limitLinear.Restitution);
SERIALIZE_MEMBER(LimitLinear.ContactDist, _limitLinear.ContactDist);
SERIALIZE_MEMBER(LimitLinear.Stiffness, _limitLinear.Spring.Stiffness);
SERIALIZE_MEMBER(LimitLinear.Damping, _limitLinear.Spring.Damping);
//
SERIALIZE_MEMBER(LimitTwist.Lower, _limitTwist.Lower);
SERIALIZE_MEMBER(LimitTwist.Upper, _limitTwist.Upper);
SERIALIZE_MEMBER(LimitTwist.Restitution, _limitTwist.Restitution);
SERIALIZE_MEMBER(LimitTwist.ContactDist, _limitTwist.ContactDist);
SERIALIZE_MEMBER(LimitTwist.Stiffness, _limitTwist.Spring.Stiffness);
SERIALIZE_MEMBER(LimitTwist.Damping, _limitTwist.Spring.Damping);
//
SERIALIZE_MEMBER(LimitSwing.YLimitAngle, _limitSwing.YLimitAngle);
SERIALIZE_MEMBER(LimitSwing.ZLimitAngle, _limitSwing.ZLimitAngle);
SERIALIZE_MEMBER(LimitSwing.Restitution, _limitSwing.Restitution);
SERIALIZE_MEMBER(LimitSwing.ContactDist, _limitSwing.ContactDist);
SERIALIZE_MEMBER(LimitSwing.Stiffness, _limitSwing.Spring.Stiffness);
SERIALIZE_MEMBER(LimitSwing.Damping, _limitSwing.Spring.Damping);
}
void D6Joint::Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)
{
// Base
Joint::Deserialize(stream, modifier);
char motionLabel[8] = "Motion?";
for (int32 i = 0; i < 6; i++)
{
motionLabel[6] = '0' + i;
JsonTools::GetEnum(_motion[i], stream, motionLabel);
}
static_assert(ARRAY_COUNT(_motion) == 6, "Invalid motion array size");
//
char driveLabel_Stiffness[17] = "Drive?.Stiffness";
char driveLabel_Damping[17] = "Drive?.Damping";
char driveLabel_ForceLimit[18] = "Drive?.ForceLimit";
char driveLabel_Acceleration[20] = "Drive?.Acceleration";
for (int32 i = 0; i < 6; i++)
{
driveLabel_Stiffness[5] = '0' + i;
driveLabel_Damping[5] = '0' + i;
driveLabel_ForceLimit[5] = '0' + i;
driveLabel_Acceleration[5] = '0' + i;
JsonTools::GetFloat(_drive[i].Stiffness, stream, driveLabel_Stiffness);
JsonTools::GetFloat(_drive[i].Damping, stream, driveLabel_Damping);
JsonTools::GetFloat(_drive[i].ForceLimit, stream, driveLabel_ForceLimit);
JsonTools::GetBool(_drive[i].Acceleration, stream, driveLabel_Acceleration);
}
static_assert(ARRAY_COUNT(_drive) == 6, "Invalid drive array size");
//
JsonTools::GetFloat(_limitLinear.Extent, stream, "LimitLinear.Extent");
JsonTools::GetFloat(_limitLinear.Restitution, stream, "LimitLinear.Restitution");
JsonTools::GetFloat(_limitLinear.ContactDist, stream, "LimitLinear.ContactDist");
JsonTools::GetFloat(_limitLinear.Spring.Stiffness, stream, "LimitLinear.Stiffness");
JsonTools::GetFloat(_limitLinear.Spring.Damping, stream, "LimitLinear.Damping");
//
JsonTools::GetFloat(_limitTwist.Lower, stream, "LimitTwist.Lower");
JsonTools::GetFloat(_limitTwist.Upper, stream, "LimitTwist.Upper");
JsonTools::GetFloat(_limitTwist.Restitution, stream, "LimitTwist.Restitution");
JsonTools::GetFloat(_limitTwist.ContactDist, stream, "LimitTwist.ContactDist");
JsonTools::GetFloat(_limitTwist.Spring.Stiffness, stream, "LimitTwist.Stiffness");
JsonTools::GetFloat(_limitTwist.Spring.Damping, stream, "LimitTwist.Damping");
//
JsonTools::GetFloat(_limitSwing.YLimitAngle, stream, "LimitSwing.YLimitAngle");
JsonTools::GetFloat(_limitSwing.ZLimitAngle, stream, "LimitSwing.ZLimitAngle");
JsonTools::GetFloat(_limitSwing.Restitution, stream, "LimitSwing.Restitution");
JsonTools::GetFloat(_limitSwing.ContactDist, stream, "LimitSwing.ContactDist");
JsonTools::GetFloat(_limitSwing.Spring.Stiffness, stream, "LimitSwing.Stiffness");
JsonTools::GetFloat(_limitSwing.Spring.Damping, stream, "LimitSwing.Damping");
}
PxJoint* D6Joint::CreateJoint(JointData& data)
{
const PxTransform trans0(C2P(data.Pos0), C2P(data.Rot0));
const PxTransform trans1(C2P(data.Pos1), C2P(data.Rot1));
auto joint = PxD6JointCreate(*data.Physics, data.Actor0, trans0, data.Actor1, trans1);
for (int32 i = 0; i < static_cast<int32>(D6JointAxis::MAX); i++)
{
joint->setMotion(static_cast<PxD6Axis::Enum>(i), static_cast<PxD6Motion::Enum>(_motion[i]));
}
for (int32 i = 0; i < static_cast<int32>(D6JointAxis::MAX); i++)
{
const auto& value = _drive[i];
PxD6JointDrive drive;
if (value.Acceleration)
drive.flags = PxD6JointDriveFlag::eACCELERATION;
drive.stiffness = value.Stiffness;
drive.damping = value.Damping;
drive.forceLimit = value.ForceLimit;
joint->setDrive(static_cast<PxD6Drive::Enum>(i), drive);
}
{
const auto& value = _limitLinear;
PxJointLinearLimit pxLimit(*Physics::GetTolerancesScale(), Math::Max(value.Extent, 0.01f), value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution;
joint->setDistanceLimit(pxLimit);
}
{
const auto& value = _limitTwist;
PxJointAngularLimitPair pxLimit(value.Lower * DegreesToRadians, value.Upper * DegreesToRadians, value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution;
joint->setTwistLimit(pxLimit);
}
{
const auto& value = _limitSwing;
PxJointLimitCone pxLimit(value.YLimitAngle * DegreesToRadians, value.ZLimitAngle * DegreesToRadians, value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution;
joint->setSwingLimit(pxLimit);
}
return joint;
}