/**************************************************************************/
/* jolt_pin_joint_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/**************************************************************************/
#include "jolt_pin_joint_3d.h"
#include "../misc/jolt_type_conversions.h"
#include "../objects/jolt_body_3d.h"
#include "../spaces/jolt_space_3d.h"
#include <Jolt/Physics/Constraints/PointConstraint.h>
namespace {
constexpr double PIN_DEFAULT_BIAS = 0.3;
constexpr double PIN_DEFAULT_DAMPING = 1.0;
constexpr double PIN_DEFAULT_IMPULSE_CLAMP = 0.0;
} // namespace
JPH::Constraint *JoltPinJoint3D::_build_pin(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b) {
JPH::PointConstraintSettings constraint_settings;
constraint_settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
constraint_settings.mPoint1 = to_jolt_r(p_shifted_ref_a.origin);
constraint_settings.mPoint2 = to_jolt_r(p_shifted_ref_b.origin);
if (p_jolt_body_a == nullptr) {
return constraint_settings.Create(JPH::Body::sFixedToWorld, *p_jolt_body_b);
} else if (p_jolt_body_b == nullptr) {
return constraint_settings.Create(*p_jolt_body_a, JPH::Body::sFixedToWorld);
} else {
return constraint_settings.Create(*p_jolt_body_a, *p_jolt_body_b);
}
}
void JoltPinJoint3D::_points_changed() {
rebuild();
_wake_up_bodies();
}
JoltPinJoint3D::JoltPinJoint3D(const JoltJoint3D &p_old_joint, JoltBody3D *p_body_a, JoltBody3D *p_body_b, const Vector3 &p_local_a, const Vector3 &p_local_b) :
JoltJoint3D(p_old_joint, p_body_a, p_body_b, Transform3D({}, p_local_a), Transform3D({}, p_local_b)) {
rebuild();
}
void JoltPinJoint3D::set_local_a(const Vector3 &p_local_a) {
local_ref_a = Transform3D({}, p_local_a);
_points_changed();
}
void JoltPinJoint3D::set_local_b(const Vector3 &p_local_b) {
local_ref_b = Transform3D({}, p_local_b);
_points_changed();
}
double JoltPinJoint3D::get_param(PhysicsServer3D::PinJointParam p_param) const {
switch (p_param) {
case PhysicsServer3D::PIN_JOINT_BIAS: {
return PIN_DEFAULT_BIAS;
}
case PhysicsServer3D::PIN_JOINT_DAMPING: {
return PIN_DEFAULT_DAMPING;
}
case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP: {
return PIN_DEFAULT_IMPULSE_CLAMP;
}
default: {
ERR_FAIL_V_MSG(0.0, vformat("Unhandled pin joint parameter: '%d'. This should not happen. Please report this.", p_param));
}
}
}
void JoltPinJoint3D::set_param(PhysicsServer3D::PinJointParam p_param, double p_value) {
switch (p_param) {
case PhysicsServer3D::PIN_JOINT_BIAS: {
if (!Math::is_equal_approx(p_value, PIN_DEFAULT_BIAS)) {
WARN_PRINT(vformat("Pin joint bias is not supported when using Jolt Physics. Any such value will be ignored. This joint connects %s.", _bodies_to_string()));
}
} break;
case PhysicsServer3D::PIN_JOINT_DAMPING: {
if (!Math::is_equal_approx(p_value, PIN_DEFAULT_DAMPING)) {
WARN_PRINT(vformat("Pin joint damping is not supported when using Jolt Physics. Any such value will be ignored. This joint connects %s.", _bodies_to_string()));
}
} break;
case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP: {
if (!Math::is_equal_approx(p_value, PIN_DEFAULT_IMPULSE_CLAMP)) {
WARN_PRINT(vformat("Pin joint impulse clamp is not supported when using Jolt Physics. Any such value will be ignored. This joint connects %s.", _bodies_to_string()));
}
} break;
default: {
ERR_FAIL_MSG(vformat("Unhandled pin joint parameter: '%d'. This should not happen. Please report this.", p_param));
} break;
}
}
float JoltPinJoint3D::get_applied_force() const {
JPH::PointConstraint *constraint = static_cast<JPH::PointConstraint *>(jolt_ref.GetPtr());
ERR_FAIL_NULL_V(constraint, 0.0f);
JoltSpace3D *space = get_space();
ERR_FAIL_NULL_V(space, 0.0f);
const float last_step = space->get_last_step();
if (unlikely(last_step == 0.0f)) {
return 0.0f;
}
return constraint->GetTotalLambdaPosition().Length() / last_step;
}
void JoltPinJoint3D::rebuild() {
destroy();
JoltSpace3D *space = get_space();
if (space == nullptr) {
return;
}
JPH::Body *jolt_body_a = body_a != nullptr ? body_a->get_jolt_body() : nullptr;
JPH::Body *jolt_body_b = body_b != nullptr ? body_b->get_jolt_body() : nullptr;
ERR_FAIL_COND(jolt_body_a == nullptr && jolt_body_b == nullptr);
Transform3D shifted_ref_a;
Transform3D shifted_ref_b;
_shift_reference_frames(Vector3(), Vector3(), shifted_ref_a, shifted_ref_b);
jolt_ref = _build_pin(jolt_body_a, jolt_body_b, shifted_ref_a, shifted_ref_b);
space->add_joint(this);
_update_enabled();
_update_iterations();
}