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Fixes and tweaks to SplineRopeBody

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This commit is contained in:
Wojtek Figat
2021-02-12 17:18:32 +01:00
parent 55194edd2c
commit bd5897eaab
2 changed files with 38 additions and 63 deletions
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92
Source/Engine/Physics/Actors/SplineRopeBody.cpp
View File

@@ -19,10 +19,6 @@ void SplineRopeBody::Tick()
return;
PROFILE_CPU();
// TODO: add as configs
const float SubstepTime = 0.02f;
const int32 SolverIterations = 1;
// Cache data
const Vector3 gravity = Physics::GetGravity() * GravityScale;
auto& keyframes = _spline->Curve.GetKeyframes();
@@ -92,17 +88,40 @@ void SplineRopeBody::Tick()
}
}
// Constraints solving
for (int32 iteration = 0; iteration < SolverIterations; iteration++)
// Distance constraint
for (int32 i = 1; i < keyframesCount; i++)
{
// Distance constraint
for (int32 i = 1; i < keyframesCount; i++)
auto& massA = _masses[i - 1];
auto& massB = _masses[i];
Vector3 offset = massB.Position - massA.Position;
const float distance = offset.Length();
const float scale = (distance - massB.SegmentLength) / Math::Max(distance, ZeroTolerance);
if (massA.Unconstrained && massB.Unconstrained)
{
auto& massA = _masses[i - 1];
offset *= scale * 0.5f;
massA.Position += offset;
massB.Position -= offset;
}
else if (massA.Unconstrained)
{
massA.Position += scale * offset;
}
else if (massB.Unconstrained)
{
massB.Position -= scale * offset;
}
}
// Stiffness constraint
if (EnableStiffness)
{
for (int32 i = 2; i < keyframesCount; i++)
{
auto& massA = _masses[i - 2];
auto& massB = _masses[i];
Vector3 offset = massB.Position - massA.Position;
const float distance = offset.Length();
const float scale = (distance - massB.SegmentLength) / Math::Max(distance, ZeroTolerance);
const float scale = (distance - massB.SegmentLength * 2.0f) / Math::Max(distance, ZeroTolerance);
if (massA.Unconstrained && massB.Unconstrained)
{
offset *= scale * 0.5f;
@@ -118,33 +137,6 @@ void SplineRopeBody::Tick()
massB.Position -= scale * offset;
}
}
// Stiffness constraint
if (EnableStiffness)
{
for (int32 i = 2; i < keyframesCount; i++)
{
auto& massA = _masses[i - 2];
auto& massB = _masses[i];
Vector3 offset = massB.Position - massA.Position;
const float distance = offset.Length();
const float scale = (distance - massB.SegmentLength * 2.0f) / Math::Max(distance, ZeroTolerance);
if (massA.Unconstrained && massB.Unconstrained)
{
offset *= scale * 0.5f;
massA.Position += offset;
massB.Position -= offset;
}
else if (massA.Unconstrained)
{
massA.Position += scale * offset;
}
else if (massB.Unconstrained)
{
massB.Position -= scale * offset;
}
}
}
}
_time -= substepTime;
@@ -161,31 +153,9 @@ void SplineRopeBody::Tick()
}
}
void SplineRopeBody::Serialize(SerializeStream& stream, const void* otherObj)
{
Actor::Serialize(stream, otherObj);
SERIALIZE_GET_OTHER_OBJ(SplineRopeBody);
SERIALIZE(AttachEnd);
SERIALIZE(GravityScale);
SERIALIZE(AdditionalForce);
SERIALIZE(EnableStiffness);
}
void SplineRopeBody::Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)
{
Actor::Deserialize(stream, modifier);
DESERIALIZE(AttachEnd);
DESERIALIZE(GravityScale);
DESERIALIZE(AdditionalForce);
DESERIALIZE(EnableStiffness);
}
void SplineRopeBody::OnEnable()
{
GetScene()->Ticking.Update.AddTick<SplineRopeBody, &SplineRopeBody::Tick>(this);
GetScene()->Ticking.FixedUpdate.AddTick<SplineRopeBody, &SplineRopeBody::Tick>(this);
Actor::OnEnable();
}
@@ -194,7 +164,7 @@ void SplineRopeBody::OnDisable()
{
Actor::OnDisable();
GetScene()->Ticking.Update.RemoveTick(this);
GetScene()->Ticking.FixedUpdate.RemoveTick(this);
}
void SplineRopeBody::OnParentChanged()

9
Source/Engine/Physics/Actors/SplineRopeBody.h
View File

@@ -13,6 +13,7 @@ class Spline;
/// <seealso cref="Spline" />
API_CLASS() class FLAXENGINE_API SplineRopeBody : public Actor
{
API_AUTO_SERIALIZATION();
DECLARE_SCENE_OBJECT(SplineRopeBody);
private:
@@ -54,6 +55,12 @@ public:
API_FIELD(Attributes="EditorOrder(30), EditorDisplay(\"Rope\")")
bool EnableStiffness = false;
/// <summary>
/// The rope simulation update substep (in seconds). Defines the frequency of physics update.
/// </summary>
API_FIELD(Attributes="EditorOrder(40), Limit(0, 0.1f, 0.0001f), EditorDisplay(\"Rope\")")
float SubstepTime = 0.02f;
private:
void Tick();
@@ -61,8 +68,6 @@ private:
public:
// [Actor]
void Serialize(SerializeStream& stream, const void* otherObj) override;
void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;
void OnEnable() override;
void OnDisable() override;
void OnTransformChanged() override;