@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/ConstraintPart/AngleConstraintPart.h

@@ -0,0 +1,257 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Body/Body.h>
+#include <Jolt/Physics/Constraints/ConstraintPart/SpringPart.h>
+#include <Jolt/Physics/Constraints/SpringSettings.h>
+#include <Jolt/Physics/StateRecorder.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Constraint that constrains rotation along 1 axis
+///
+/// Based on: "Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, see section 2.4.5
+///
+/// Constraint equation (eq 108):
+///
+/// \f[C = \theta(t) - \theta_{min}\f]
+///
+/// Jacobian (eq 109):
+///
+/// \f[J = \begin{bmatrix}0 & -a^T & 0 & a^T\end{bmatrix}\f]
+///
+/// Used terms (here and below, everything in world space):\n
+/// a = axis around which rotation is constrained (normalized).\n
+/// x1, x2 = center of mass for the bodies.\n
+/// v = [v1, w1, v2, w2].\n
+/// v1, v2 = linear velocity of body 1 and 2.\n
+/// w1, w2 = angular velocity of body 1 and 2.\n
+/// M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].\n
+/// \f$K^{-1} = \left( J M^{-1} J^T \right)^{-1}\f$ = effective mass.\n
+/// b = velocity bias.\n
+/// \f$\beta\f$ = baumgarte constant.
+class AngleConstraintPart
+{
+	/// Internal helper function to update velocities of bodies after Lagrange multiplier is calculated
+	JPH_INLINE bool				ApplyVelocityStep(Body &ioBody1, Body &ioBody2, float inLambda) const
+	{
+		// Apply impulse if delta is not zero
+		if (inLambda != 0.0f)
+		{
+			// Calculate velocity change due to constraint
+			//
+			// Impulse:
+			// P = J^T lambda
+			//
+			// Euler velocity integration:
+			// v' = v + M^-1 P
+			if (ioBody1.IsDynamic())
+				ioBody1.GetMotionProperties()->SubAngularVelocityStep(inLambda * mInvI1_Axis);
+			if (ioBody2.IsDynamic())
+				ioBody2.GetMotionProperties()->AddAngularVelocityStep(inLambda * mInvI2_Axis);
+			return true;
+		}
+
+		return false;
+	}
+
+	/// Internal helper function to calculate the inverse effective mass
+	JPH_INLINE float				CalculateInverseEffectiveMass(const Body &inBody1, const Body &inBody2, Vec3Arg inWorldSpaceAxis)
+	{
+		JPH_ASSERT(inWorldSpaceAxis.IsNormalized(1.0e-4f));
+
+		// Calculate properties used below
+		mInvI1_Axis = inBody1.IsDynamic()? inBody1.GetMotionProperties()->MultiplyWorldSpaceInverseInertiaByVector(inBody1.GetRotation(), inWorldSpaceAxis) : Vec3::sZero();
+		mInvI2_Axis = inBody2.IsDynamic()? inBody2.GetMotionProperties()->MultiplyWorldSpaceInverseInertiaByVector(inBody2.GetRotation(), inWorldSpaceAxis) : Vec3::sZero();
+
+		// Calculate inverse effective mass: K = J M^-1 J^T
+		return inWorldSpaceAxis.Dot(mInvI1_Axis + mInvI2_Axis);
+	}
+
+public:
+	/// Calculate properties used during the functions below
+	/// @param inBody1 The first body that this constraint is attached to
+	/// @param inBody2 The second body that this constraint is attached to
+	/// @param inWorldSpaceAxis The axis of rotation along which the constraint acts (normalized)
+	/// Set the following terms to zero if you don't want to drive the constraint to zero with a spring:
+	/// @param inBias Bias term (b) for the constraint impulse: lambda = J v + b
+	inline void					CalculateConstraintProperties(const Body &inBody1, const Body &inBody2, Vec3Arg inWorldSpaceAxis, float inBias = 0.0f)
+	{
+		float inv_effective_mass = CalculateInverseEffectiveMass(inBody1, inBody2, inWorldSpaceAxis);
+
+		if (inv_effective_mass == 0.0f)
+			Deactivate();
+		else
+		{
+			mEffectiveMass = 1.0f / inv_effective_mass;
+			mSpringPart.CalculateSpringPropertiesWithBias(inBias);
+		}
+	}
+
+	/// Calculate properties used during the functions below
+	/// @param inDeltaTime Time step
+	/// @param inBody1 The first body that this constraint is attached to
+	/// @param inBody2 The second body that this constraint is attached to
+	/// @param inWorldSpaceAxis The axis of rotation along which the constraint acts (normalized)
+	/// Set the following terms to zero if you don't want to drive the constraint to zero with a spring:
+	/// @param inBias Bias term (b) for the constraint impulse: lambda = J v + b
+	///	@param inC Value of the constraint equation (C)
+	///	@param inFrequency Oscillation frequency (Hz)
+	///	@param inDamping Damping factor (0 = no damping, 1 = critical damping)
+	inline void					CalculateConstraintPropertiesWithFrequencyAndDamping(float inDeltaTime, const Body &inBody1, const Body &inBody2, Vec3Arg inWorldSpaceAxis, float inBias, float inC, float inFrequency, float inDamping)
+	{
+		float inv_effective_mass = CalculateInverseEffectiveMass(inBody1, inBody2, inWorldSpaceAxis);
+
+		if (inv_effective_mass == 0.0f)
+			Deactivate();
+		else
+			mSpringPart.CalculateSpringPropertiesWithFrequencyAndDamping(inDeltaTime, inv_effective_mass, inBias, inC, inFrequency, inDamping, mEffectiveMass);
+	}
+
+	/// Calculate properties used during the functions below
+	/// @param inDeltaTime Time step
+	/// @param inBody1 The first body that this constraint is attached to
+	/// @param inBody2 The second body that this constraint is attached to
+	/// @param inWorldSpaceAxis The axis of rotation along which the constraint acts (normalized)
+	/// Set the following terms to zero if you don't want to drive the constraint to zero with a spring:
+	/// @param inBias Bias term (b) for the constraint impulse: lambda = J v + b
+	///	@param inC Value of the constraint equation (C)
+	///	@param inStiffness Spring stiffness k.
+	///	@param inDamping Spring damping coefficient c.
+	inline void					CalculateConstraintPropertiesWithStiffnessAndDamping(float inDeltaTime, const Body &inBody1, const Body &inBody2, Vec3Arg inWorldSpaceAxis, float inBias, float inC, float inStiffness, float inDamping)
+	{
+		float inv_effective_mass = CalculateInverseEffectiveMass(inBody1, inBody2, inWorldSpaceAxis);
+
+		if (inv_effective_mass == 0.0f)
+			Deactivate();
+		else
+			mSpringPart.CalculateSpringPropertiesWithStiffnessAndDamping(inDeltaTime, inv_effective_mass, inBias, inC, inStiffness, inDamping, mEffectiveMass);
+	}
+
+	/// Selects one of the above functions based on the spring settings
+	inline void					CalculateConstraintPropertiesWithSettings(float inDeltaTime, const Body &inBody1, const Body &inBody2, Vec3Arg inWorldSpaceAxis, float inBias, float inC, const SpringSettings &inSpringSettings)
+	{
+		float inv_effective_mass = CalculateInverseEffectiveMass(inBody1, inBody2, inWorldSpaceAxis);
+
+		if (inv_effective_mass == 0.0f)
+			Deactivate();
+		else if (inSpringSettings.mMode == ESpringMode::FrequencyAndDamping)
+			mSpringPart.CalculateSpringPropertiesWithFrequencyAndDamping(inDeltaTime, inv_effective_mass, inBias, inC, inSpringSettings.mFrequency, inSpringSettings.mDamping, mEffectiveMass);
+		else
+			mSpringPart.CalculateSpringPropertiesWithStiffnessAndDamping(inDeltaTime, inv_effective_mass, inBias, inC, inSpringSettings.mStiffness, inSpringSettings.mDamping, mEffectiveMass);
+	}
+
+	/// Deactivate this constraint
+	inline void					Deactivate()
+	{
+		mEffectiveMass = 0.0f;
+		mTotalLambda = 0.0f;
+	}
+
+	/// Check if constraint is active
+	inline bool					IsActive() const
+	{
+		return mEffectiveMass != 0.0f;
+	}
+
+	/// Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses
+	/// @param ioBody1 The first body that this constraint is attached to
+	/// @param ioBody2 The second body that this constraint is attached to
+	/// @param inWarmStartImpulseRatio Ratio of new step to old time step (dt_new / dt_old) for scaling the lagrange multiplier of the previous frame
+	inline void					WarmStart(Body &ioBody1, Body &ioBody2, float inWarmStartImpulseRatio)
+	{
+		mTotalLambda *= inWarmStartImpulseRatio;
+		ApplyVelocityStep(ioBody1, ioBody2, mTotalLambda);
+	}
+
+	/// Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation.
+	/// @param ioBody1 The first body that this constraint is attached to
+	/// @param ioBody2 The second body that this constraint is attached to
+	/// @param inWorldSpaceAxis The axis of rotation along which the constraint acts (normalized)
+	/// @param inMinLambda Minimum angular impulse to apply (N m s)
+	/// @param inMaxLambda Maximum angular impulse to apply (N m s)
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Body &ioBody2, Vec3Arg inWorldSpaceAxis, float inMinLambda, float inMaxLambda)
+	{
+		// Lagrange multiplier is:
+		//
+		// lambda = -K^-1 (J v + b)
+		float lambda = mEffectiveMass * (inWorldSpaceAxis.Dot(ioBody1.GetAngularVelocity() - ioBody2.GetAngularVelocity()) - mSpringPart.GetBias(mTotalLambda));
+		float new_lambda = Clamp(mTotalLambda + lambda, inMinLambda, inMaxLambda); // Clamp impulse
+		lambda = new_lambda - mTotalLambda; // Lambda potentially got clamped, calculate the new impulse to apply
+		mTotalLambda = new_lambda; // Store accumulated impulse
+
+		return ApplyVelocityStep(ioBody1, ioBody2, lambda);
+	}
+
+	/// Return lagrange multiplier
+	float						GetTotalLambda() const
+	{
+		return mTotalLambda;
+	}
+
+	/// Iteratively update the position constraint. Makes sure C(...) == 0.
+	/// @param ioBody1 The first body that this constraint is attached to
+	/// @param ioBody2 The second body that this constraint is attached to
+	/// @param inC Value of the constraint equation (C)
+	/// @param inBaumgarte Baumgarte constant (fraction of the error to correct)
+	inline bool					SolvePositionConstraint(Body &ioBody1, Body &ioBody2, float inC, float inBaumgarte) const
+	{
+		// Only apply position constraint when the constraint is hard, otherwise the velocity bias will fix the constraint
+		if (inC != 0.0f && !mSpringPart.IsActive())
+		{
+			// Calculate lagrange multiplier (lambda) for Baumgarte stabilization:
+			//
+			// lambda = -K^-1 * beta / dt * C
+			//
+			// We should divide by inDeltaTime, but we should multiply by inDeltaTime in the Euler step below so they're cancelled out
+			float lambda = -mEffectiveMass * inBaumgarte * inC;
+
+			// Directly integrate velocity change for one time step
+			//
+			// Euler velocity integration:
+			// dv = M^-1 P
+			//
+			// Impulse:
+			// P = J^T lambda
+			//
+			// Euler position integration:
+			// x' = x + dv * dt
+			//
+			// Note we don't accumulate velocities for the stabilization. This is using the approach described in 'Modeling and
+			// Solving Constraints' by Erin Catto presented at GDC 2007. On slide 78 it is suggested to split up the Baumgarte
+			// stabilization for positional drift so that it does not actually add to the momentum. We combine an Euler velocity
+			// integrate + a position integrate and then discard the velocity change.
+			if (ioBody1.IsDynamic())
+				ioBody1.SubRotationStep(lambda * mInvI1_Axis);
+			if (ioBody2.IsDynamic())
+				ioBody2.AddRotationStep(lambda * mInvI2_Axis);
+			return true;
+		}
+
+		return false;
+	}
+
+	/// Save state of this constraint part
+	void						SaveState(StateRecorder &inStream) const
+	{
+		inStream.Write(mTotalLambda);
+	}
+
+	/// Restore state of this constraint part
+	void						RestoreState(StateRecorder &inStream)
+	{
+		inStream.Read(mTotalLambda);
+	}
+
+private:
+	Vec3						mInvI1_Axis;
+	Vec3						mInvI2_Axis;
+	float						mEffectiveMass = 0.0f;
+	SpringPart					mSpringPart;
+	float						mTotalLambda = 0.0f;
+};
+
+JPH_NAMESPACE_END