359 lines
12 KiB
C++
359 lines
12 KiB
C++
// Copyright (c) 2012-2024 Wojciech Figat. All rights reserved.
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#include "D6Joint.h"
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#include "Engine/Serialization/JsonTools.h"
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#include "Engine/Serialization/Serialization.h"
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#include "Engine/Physics/PhysicsBackend.h"
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D6Joint::D6Joint(const SpawnParams& params)
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: Joint(params)
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{
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for (int32 i = 0; i < static_cast<int32>(D6JointAxis::MAX); i++)
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_motion[i] = D6JointMotion::Locked;
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_limitLinear.Extent = 100.0f;
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}
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void D6Joint::SetMotion(const D6JointAxis axis, const D6JointMotion value)
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{
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if (value == GetMotion(axis))
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return;
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_motion[static_cast<int32>(axis)] = value;
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if (_joint)
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PhysicsBackend::SetD6JointMotion(_joint, axis, value);
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}
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void D6Joint::SetDrive(const D6JointDriveType index, const D6JointDrive& value)
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{
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if (value == GetDrive(index))
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return;
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_drive[static_cast<int32>(index)] = value;
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if (_joint)
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PhysicsBackend::SetD6JointDrive(_joint, index, value);
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}
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void D6Joint::SetLimitLinear(const LimitLinear& value)
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{
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if (value == _limitLinear)
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return;
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_limitLinear = value;
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if (_joint)
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PhysicsBackend::SetD6JointLimitLinear(_joint, value);
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}
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void D6Joint::SetLimitTwist(const LimitAngularRange& value)
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{
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if (value == _limitTwist)
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return;
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_limitTwist = value;
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if (_joint)
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PhysicsBackend::SetD6JointLimitTwist(_joint, value);
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}
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void D6Joint::SetLimitSwing(const LimitConeRange& value)
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{
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if (value == _limitSwing)
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return;
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_limitSwing = value;
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if (_joint)
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PhysicsBackend::SetD6JointLimitSwing(_joint, value);
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}
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Vector3 D6Joint::GetDrivePosition() const
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{
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return _joint ? PhysicsBackend::GetD6JointDrivePosition(_joint) : Vector3::Zero;
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}
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void D6Joint::SetDrivePosition(const Vector3& value)
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{
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if (_joint)
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PhysicsBackend::SetD6JointDrivePosition(_joint, value);
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}
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Quaternion D6Joint::GetDriveRotation() const
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{
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return _joint ? PhysicsBackend::GetD6JointDriveRotation(_joint) : Quaternion::Identity;
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}
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void D6Joint::SetDriveRotation(const Quaternion& value)
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{
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if (_joint)
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PhysicsBackend::SetD6JointDriveRotation(_joint, value);
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}
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Vector3 D6Joint::GetDriveLinearVelocity() const
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{
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Vector3 linear = Vector3::Zero, angular;
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if (_joint)
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PhysicsBackend::GetD6JointDriveVelocity(_joint, linear, angular);
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return linear;
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}
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void D6Joint::SetDriveLinearVelocity(const Vector3& value)
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{
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if (_joint)
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{
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Vector3 linear, angular;
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PhysicsBackend::GetD6JointDriveVelocity(_joint, linear, angular);
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PhysicsBackend::SetD6JointDriveVelocity(_joint, value, angular);
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}
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}
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Vector3 D6Joint::GetDriveAngularVelocity() const
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{
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Vector3 linear, angular = Vector3::Zero;
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if (_joint)
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PhysicsBackend::GetD6JointDriveVelocity(_joint, linear, angular);
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return angular;
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}
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void D6Joint::SetDriveAngularVelocity(const Vector3& value)
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{
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if (_joint)
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{
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Vector3 linear, angular;
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PhysicsBackend::GetD6JointDriveVelocity(_joint, linear, angular);
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PhysicsBackend::SetD6JointDriveVelocity(_joint, linear, value);
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}
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}
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float D6Joint::GetCurrentTwist() const
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{
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return _joint ? PhysicsBackend::GetD6JointTwist(_joint) : 0.0f;
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}
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float D6Joint::GetCurrentSwingY() const
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{
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return _joint ? PhysicsBackend::GetD6JointSwingY(_joint) : 0.0f;
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}
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float D6Joint::GetCurrentSwingZ() const
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{
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return _joint ? PhysicsBackend::GetD6JointSwingZ(_joint) : 0.0f;
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}
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#if USE_EDITOR
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#include "Engine/Debug/DebugDraw.h"
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float GetAngle(float angle, D6JointMotion motion)
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{
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switch (motion)
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{
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case D6JointMotion::Limited:
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return angle * DegreesToRadians;
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case D6JointMotion::Free:
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return PI;
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default:
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return 0.0f;
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}
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}
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void D6Joint::OnDebugDrawSelected()
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{
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const Vector3 source = GetPosition();
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const Quaternion xRot = Quaternion::LookRotation(Vector3::UnitX, Vector3::UnitY);
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const Quaternion sourceRotation = GetOrientation() * xRot;
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const Vector3 target = GetTargetPosition();
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const Quaternion targetRotation = GetTargetOrientation() * xRot;
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const float swingSize = 15.0f;
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const float twistSize = 9.0f;
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const Color swingColor = Color::Green.AlphaMultiplied(0.6f);
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const Color twistColor = Color::Yellow.AlphaMultiplied(0.5f);
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const float arrowSize = swingSize / 100.0f * 0.5f;
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DEBUG_DRAW_WIRE_ARROW(target, targetRotation, arrowSize, arrowSize * 0.5f, Color::Red, 0, false);
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if (_motion[(int32)D6JointAxis::SwingY] == D6JointMotion::Locked && _motion[(int32)D6JointAxis::SwingZ] == D6JointMotion::Locked)
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{
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// Swing is locked
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}
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else if (_motion[(int32)D6JointAxis::SwingY] == D6JointMotion::Free && _motion[(int32)D6JointAxis::SwingZ] == D6JointMotion::Free)
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{
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// Swing is free
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DEBUG_DRAW_SPHERE(BoundingSphere(source, swingSize), swingColor, 0, false);
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}
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else
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{
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// Swing is limited
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const float angleY = GetAngle(_limitSwing.YLimitAngle, _motion[(int32)D6JointAxis::SwingY]);
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const float angleZ = GetAngle(_limitSwing.ZLimitAngle, _motion[(int32)D6JointAxis::SwingZ]);
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DEBUG_DRAW_CONE(source, sourceRotation, swingSize, angleY, angleZ, swingColor, 0, false);
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}
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if (_motion[(int32)D6JointAxis::Twist] == D6JointMotion::Locked)
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{
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// Twist is locked
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}
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else if (_motion[(int32)D6JointAxis::Twist] == D6JointMotion::Free)
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{
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// Twist is free
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DEBUG_DRAW_ARC(source, sourceRotation, twistSize, TWO_PI, twistColor, 0, false);
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}
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else
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{
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// Twist is limited
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const float lower = _limitTwist.Lower * DegreesToRadians;
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const float upper = Math::Max(lower, _limitTwist.Upper * DegreesToRadians);
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DEBUG_DRAW_ARC(source, sourceRotation * Quaternion::RotationYawPitchRoll(0, 0, lower), twistSize, upper - lower, twistColor, 0, false);
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}
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// Base
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Joint::OnDebugDrawSelected();
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}
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#endif
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void D6Joint::Serialize(SerializeStream& stream, const void* otherObj)
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{
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// Base
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Joint::Serialize(stream, otherObj);
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SERIALIZE_GET_OTHER_OBJ(D6Joint);
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char motionLabel[8] = "Motion?";
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for (int32 i = 0; i < 6; i++)
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{
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if (!other || _motion[i] != other->_motion[i])
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{
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motionLabel[6] = '0' + i;
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stream.Key(motionLabel, ARRAY_COUNT(motionLabel) - 1);
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stream.Enum(_motion[i]);
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}
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}
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static_assert(ARRAY_COUNT(_motion) == 6, "Invalid motion array size");
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//
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char driveLabel_Stiffness[17] = "Drive?.Stiffness";
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char driveLabel_Damping[17] = "Drive?.Damping";
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char driveLabel_ForceLimit[18] = "Drive?.ForceLimit";
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char driveLabel_Acceleration[20] = "Drive?.Acceleration";
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for (int32 i = 0; i < 6; i++)
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{
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if (!other || _drive[i].Stiffness != other->_drive[i].Stiffness)
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{
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driveLabel_Stiffness[5] = '0' + i;
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stream.Key(driveLabel_Stiffness, ARRAY_COUNT(driveLabel_Stiffness) - 1);
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stream.Float(_drive[i].Stiffness);
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}
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if (!other || _drive[i].Damping != other->_drive[i].Damping)
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{
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driveLabel_Damping[5] = '0' + i;
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stream.Key(driveLabel_Damping, ARRAY_COUNT(driveLabel_Damping) - 1);
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stream.Float(_drive[i].Damping);
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}
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if (!other || _drive[i].ForceLimit != other->_drive[i].ForceLimit)
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{
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driveLabel_ForceLimit[5] = '0' + i;
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stream.Key(driveLabel_ForceLimit, ARRAY_COUNT(driveLabel_ForceLimit) - 1);
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stream.Float(_drive[i].ForceLimit);
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}
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if (!other || _drive[i].Acceleration != other->_drive[i].Acceleration)
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{
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driveLabel_Acceleration[5] = '0' + i;
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stream.Key(driveLabel_Acceleration, ARRAY_COUNT(driveLabel_Acceleration) - 1);
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stream.Bool(_drive[i].Acceleration);
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}
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}
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static_assert(ARRAY_COUNT(_drive) == 6, "Invalid drive array size");
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//
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SERIALIZE_MEMBER(LimitLinear.Extent, _limitLinear.Extent);
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SERIALIZE_MEMBER(LimitLinear.Restitution, _limitLinear.Restitution);
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SERIALIZE_MEMBER(LimitLinear.ContactDist, _limitLinear.ContactDist);
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SERIALIZE_MEMBER(LimitLinear.Stiffness, _limitLinear.Spring.Stiffness);
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SERIALIZE_MEMBER(LimitLinear.Damping, _limitLinear.Spring.Damping);
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//
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SERIALIZE_MEMBER(LimitTwist.Lower, _limitTwist.Lower);
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SERIALIZE_MEMBER(LimitTwist.Upper, _limitTwist.Upper);
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SERIALIZE_MEMBER(LimitTwist.Restitution, _limitTwist.Restitution);
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SERIALIZE_MEMBER(LimitTwist.ContactDist, _limitTwist.ContactDist);
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SERIALIZE_MEMBER(LimitTwist.Stiffness, _limitTwist.Spring.Stiffness);
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SERIALIZE_MEMBER(LimitTwist.Damping, _limitTwist.Spring.Damping);
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//
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SERIALIZE_MEMBER(LimitSwing.YLimitAngle, _limitSwing.YLimitAngle);
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SERIALIZE_MEMBER(LimitSwing.ZLimitAngle, _limitSwing.ZLimitAngle);
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SERIALIZE_MEMBER(LimitSwing.Restitution, _limitSwing.Restitution);
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SERIALIZE_MEMBER(LimitSwing.ContactDist, _limitSwing.ContactDist);
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SERIALIZE_MEMBER(LimitSwing.Stiffness, _limitSwing.Spring.Stiffness);
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SERIALIZE_MEMBER(LimitSwing.Damping, _limitSwing.Spring.Damping);
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}
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void D6Joint::Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)
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{
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// Base
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Joint::Deserialize(stream, modifier);
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char motionLabel[8] = "Motion?";
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for (int32 i = 0; i < 6; i++)
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{
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motionLabel[6] = '0' + i;
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JsonTools::GetEnum(_motion[i], stream, motionLabel);
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}
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static_assert(ARRAY_COUNT(_motion) == 6, "Invalid motion array size");
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//
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char driveLabel_Stiffness[17] = "Drive?.Stiffness";
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char driveLabel_Damping[17] = "Drive?.Damping";
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char driveLabel_ForceLimit[18] = "Drive?.ForceLimit";
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char driveLabel_Acceleration[20] = "Drive?.Acceleration";
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for (int32 i = 0; i < 6; i++)
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{
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driveLabel_Stiffness[5] = '0' + i;
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driveLabel_Damping[5] = '0' + i;
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driveLabel_ForceLimit[5] = '0' + i;
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driveLabel_Acceleration[5] = '0' + i;
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JsonTools::GetFloat(_drive[i].Stiffness, stream, driveLabel_Stiffness);
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JsonTools::GetFloat(_drive[i].Damping, stream, driveLabel_Damping);
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JsonTools::GetFloat(_drive[i].ForceLimit, stream, driveLabel_ForceLimit);
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JsonTools::GetBool(_drive[i].Acceleration, stream, driveLabel_Acceleration);
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}
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static_assert(ARRAY_COUNT(_drive) == 6, "Invalid drive array size");
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//
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JsonTools::GetFloat(_limitLinear.Extent, stream, "LimitLinear.Extent");
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JsonTools::GetFloat(_limitLinear.Restitution, stream, "LimitLinear.Restitution");
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JsonTools::GetFloat(_limitLinear.ContactDist, stream, "LimitLinear.ContactDist");
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JsonTools::GetFloat(_limitLinear.Spring.Stiffness, stream, "LimitLinear.Stiffness");
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JsonTools::GetFloat(_limitLinear.Spring.Damping, stream, "LimitLinear.Damping");
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//
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JsonTools::GetFloat(_limitTwist.Lower, stream, "LimitTwist.Lower");
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JsonTools::GetFloat(_limitTwist.Upper, stream, "LimitTwist.Upper");
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JsonTools::GetFloat(_limitTwist.Restitution, stream, "LimitTwist.Restitution");
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JsonTools::GetFloat(_limitTwist.ContactDist, stream, "LimitTwist.ContactDist");
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JsonTools::GetFloat(_limitTwist.Spring.Stiffness, stream, "LimitTwist.Stiffness");
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JsonTools::GetFloat(_limitTwist.Spring.Damping, stream, "LimitTwist.Damping");
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//
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JsonTools::GetFloat(_limitSwing.YLimitAngle, stream, "LimitSwing.YLimitAngle");
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JsonTools::GetFloat(_limitSwing.ZLimitAngle, stream, "LimitSwing.ZLimitAngle");
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JsonTools::GetFloat(_limitSwing.Restitution, stream, "LimitSwing.Restitution");
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JsonTools::GetFloat(_limitSwing.ContactDist, stream, "LimitSwing.ContactDist");
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JsonTools::GetFloat(_limitSwing.Spring.Stiffness, stream, "LimitSwing.Stiffness");
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JsonTools::GetFloat(_limitSwing.Spring.Damping, stream, "LimitSwing.Damping");
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}
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void* D6Joint::CreateJoint(const PhysicsJointDesc& desc)
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{
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void* joint = PhysicsBackend::CreateD6Joint(desc);
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for (int32 i = 0; i < static_cast<int32>(D6JointAxis::MAX); i++)
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PhysicsBackend::SetD6JointMotion(joint, (D6JointAxis)i, _motion[i]);
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for (int32 i = 0; i < static_cast<int32>(D6JointAxis::MAX); i++)
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PhysicsBackend::SetD6JointDrive(joint, (D6JointDriveType)i, _drive[i]);
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PhysicsBackend::SetD6JointLimitLinear(joint, _limitLinear);
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PhysicsBackend::SetD6JointLimitTwist(joint, _limitTwist);
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PhysicsBackend::SetD6JointLimitSwing(joint, _limitSwing);
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return joint;
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}
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