@bloomengine/engine 0.3.1

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

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+// 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/StateRecorder.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Constrains rotation around all axis so that only translation is allowed
+///
+/// Based on: "Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.5.1
+///
+/// Constraint equation (eq 129):
+///
+/// \f[C = \begin{bmatrix}\Delta\theta_x, \Delta\theta_y, \Delta\theta_z\end{bmatrix}\f]
+///
+/// Jacobian (eq 131):
+///
+/// \f[J = \begin{bmatrix}0 & -E & 0 & E\end{bmatrix}\f]
+///
+/// Used terms (here and below, everything in world space):\n
+/// delta_theta_* = difference in rotation between initial rotation of bodies 1 and 2.\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.\n
+/// E = identity matrix.\n
+class RotationEulerConstraintPart
+{
+private:
+	/// Internal helper function to update velocities of bodies after Lagrange multiplier is calculated
+	JPH_INLINE bool				ApplyVelocityStep(Body &ioBody1, Body &ioBody2, Vec3Arg inLambda) const
+	{
+		// Apply impulse if delta is not zero
+		if (inLambda != Vec3::sZero())
+		{
+			// 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(mInvI1.Multiply3x3(inLambda));
+			if (ioBody2.IsDynamic())
+				ioBody2.GetMotionProperties()->AddAngularVelocityStep(mInvI2.Multiply3x3(inLambda));
+			return true;
+		}
+
+		return false;
+	}
+
+public:
+	/// Return inverse of initial rotation from body 1 to body 2 in body 1 space
+	static Quat					sGetInvInitialOrientation(const Body &inBody1, const Body &inBody2)
+	{
+		// q20 = q10 r0
+		// <=> r0 = q10^-1 q20
+		// <=> r0^-1 = q20^-1 q10
+		//
+		// where:
+		//
+		// q20 = initial orientation of body 2
+		// q10 = initial orientation of body 1
+		// r0 = initial rotation from body 1 to body 2
+		return inBody2.GetRotation().Conjugated() * inBody1.GetRotation();
+	}
+
+	/// @brief Return inverse of initial rotation from body 1 to body 2 in body 1 space
+	/// @param inAxisX1 Reference axis X for body 1
+	/// @param inAxisY1 Reference axis Y for body 1
+	/// @param inAxisX2 Reference axis X for body 2
+	/// @param inAxisY2 Reference axis Y for body 2
+	static Quat					sGetInvInitialOrientationXY(Vec3Arg inAxisX1, Vec3Arg inAxisY1, Vec3Arg inAxisX2, Vec3Arg inAxisY2)
+	{
+		// Store inverse of initial rotation from body 1 to body 2 in body 1 space:
+		//
+		// q20 = q10 r0
+		// <=> r0 = q10^-1 q20
+		// <=> r0^-1 = q20^-1 q10
+		//
+		// where:
+		//
+		// q10, q20 = world space initial orientation of body 1 and 2
+		// r0 = initial rotation from body 1 to body 2 in local space of body 1
+		//
+		// We can also write this in terms of the constraint matrices:
+		//
+		// q20 c2 = q10 c1
+		// <=> q20 = q10 c1 c2^-1
+		// => r0 = c1 c2^-1
+		// <=> r0^-1 = c2 c1^-1
+		//
+		// where:
+		//
+		// c1, c2 = matrix that takes us from body 1 and 2 COM to constraint space 1 and 2
+		if (inAxisX1 == inAxisX2 && inAxisY1 == inAxisY2)
+		{
+			// Axis are the same -> identity transform
+			return Quat::sIdentity();
+		}
+		else
+		{
+			Mat44 constraint1(Vec4(inAxisX1, 0), Vec4(inAxisY1, 0), Vec4(inAxisX1.Cross(inAxisY1), 0), Vec4(0, 0, 0, 1));
+			Mat44 constraint2(Vec4(inAxisX2, 0), Vec4(inAxisY2, 0), Vec4(inAxisX2.Cross(inAxisY2), 0), Vec4(0, 0, 0, 1));
+			return constraint2.GetQuaternion() * constraint1.GetQuaternion().Conjugated();
+		}
+	}
+
+	/// @brief Return inverse of initial rotation from body 1 to body 2 in body 1 space
+	/// @param inAxisX1 Reference axis X for body 1
+	/// @param inAxisZ1 Reference axis Z for body 1
+	/// @param inAxisX2 Reference axis X for body 2
+	/// @param inAxisZ2 Reference axis Z for body 2
+	static Quat					sGetInvInitialOrientationXZ(Vec3Arg inAxisX1, Vec3Arg inAxisZ1, Vec3Arg inAxisX2, Vec3Arg inAxisZ2)
+	{
+		// See comment at sGetInvInitialOrientationXY
+		if (inAxisX1 == inAxisX2 && inAxisZ1 == inAxisZ2)
+		{
+			return Quat::sIdentity();
+		}
+		else
+		{
+			Mat44 constraint1(Vec4(inAxisX1, 0), Vec4(inAxisZ1.Cross(inAxisX1), 0), Vec4(inAxisZ1, 0), Vec4(0, 0, 0, 1));
+			Mat44 constraint2(Vec4(inAxisX2, 0), Vec4(inAxisZ2.Cross(inAxisX2), 0), Vec4(inAxisZ2, 0), Vec4(0, 0, 0, 1));
+			return constraint2.GetQuaternion() * constraint1.GetQuaternion().Conjugated();
+		}
+	}
+
+	/// Calculate properties used during the functions below
+	inline void					CalculateConstraintProperties(const Body &inBody1, Mat44Arg inRotation1, const Body &inBody2, Mat44Arg inRotation2)
+	{
+		// Calculate properties used during constraint solving
+		mInvI1 = inBody1.IsDynamic()? inBody1.GetMotionProperties()->GetInverseInertiaForRotation(inRotation1) : Mat44::sZero();
+		mInvI2 = inBody2.IsDynamic()? inBody2.GetMotionProperties()->GetInverseInertiaForRotation(inRotation2) : Mat44::sZero();
+
+		// Calculate effective mass: K^-1 = (J M^-1 J^T)^-1
+		Mat44 inertia_sum = mInvI1 + mInvI2;
+		if (!mEffectiveMass.SetInversed3x3(inertia_sum))
+		{
+			// If a column is zero, the axis is locked and we set the column to identity.
+			// This does not matter because any impulse will always be multiplied with mInvI1 or mInvI2 which will result in zero for the locked coordinate.
+			Vec4 zero = Vec4::sZero();
+			if (inertia_sum.GetColumn4(0) == zero)
+				inertia_sum.SetColumn4(0, Vec4(1, 0, 0, 0));
+			if (inertia_sum.GetColumn4(1) == zero)
+				inertia_sum.SetColumn4(1, Vec4(0, 1, 0, 0));
+			if (inertia_sum.GetColumn4(2) == zero)
+				inertia_sum.SetColumn4(2, Vec4(0, 0, 1, 0));
+			if (!mEffectiveMass.SetInversed3x3(inertia_sum))
+				Deactivate();
+		}
+	}
+
+	/// Deactivate this constraint
+	inline void					Deactivate()
+	{
+		mEffectiveMass = Mat44::sZero();
+		mTotalLambda = Vec3::sZero();
+	}
+
+	/// Check if constraint is active
+	inline bool					IsActive() const
+	{
+		return mEffectiveMass(3, 3) != 0.0f;
+	}
+
+	/// Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses
+	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.
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Body &ioBody2)
+	{
+		// Calculate lagrange multiplier:
+		//
+		// lambda = -K^-1 (J v + b)
+		Vec3 lambda = mEffectiveMass.Multiply3x3(ioBody1.GetAngularVelocity() - ioBody2.GetAngularVelocity());
+		mTotalLambda += lambda;
+		return ApplyVelocityStep(ioBody1, ioBody2, lambda);
+	}
+
+	/// Iteratively update the position constraint. Makes sure C(...) = 0.
+	inline bool					SolvePositionConstraint(Body &ioBody1, Body &ioBody2, QuatArg inInvInitialOrientation, float inBaumgarte) const
+	{
+		// Calculate difference in rotation
+		//
+		// The rotation should be:
+		//
+		// q2 = q1 r0
+		//
+		// But because of drift the actual rotation is
+		//
+		// q2 = diff q1 r0
+		// <=> diff = q2 r0^-1 q1^-1
+		//
+		// Where:
+		// q1 = current rotation of body 1
+		// q2 = current rotation of body 2
+		// diff = error that needs to be reduced to zero
+		Quat diff = ioBody2.GetRotation() * inInvInitialOrientation * ioBody1.GetRotation().Conjugated();
+
+		// A quaternion can be seen as:
+		//
+		// q = [sin(theta / 2) * v, cos(theta/2)]
+		//
+		// Where:
+		// v = rotation vector
+		// theta = rotation angle
+		//
+		// If we assume theta is small (error is small) then sin(x) = x so an approximation of the error angles is:
+		Vec3 error = 2.0f * diff.EnsureWPositive().GetXYZ();
+		if (error != Vec3::sZero())
+		{
+			// 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
+			Vec3 lambda = -inBaumgarte * mEffectiveMass * error;
+
+			// 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(mInvI1.Multiply3x3(lambda));
+			if (ioBody2.IsDynamic())
+				ioBody2.AddRotationStep(mInvI2.Multiply3x3(lambda));
+			return true;
+		}
+
+		return false;
+	}
+
+	/// Return lagrange multiplier
+	Vec3						GetTotalLambda() const
+	{
+		return mTotalLambda;
+	}
+
+	/// 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:
+	Mat44						mInvI1;
+	Mat44						mInvI2;
+	Mat44						mEffectiveMass;
+	Vec3						mTotalLambda { Vec3::sZero() };
+};
+
+JPH_NAMESPACE_END

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

@@ -0,0 +1,246 @@
+// 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/StateRecorder.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Quaternion based constraint that constrains rotation around all axis so that only translation is allowed.
+///
+/// NOTE: This constraint part is more expensive than the RotationEulerConstraintPart and slightly more correct since
+/// RotationEulerConstraintPart::SolvePositionConstraint contains an approximation. In practice the difference
+/// is small, so the RotationEulerConstraintPart is probably the better choice.
+///
+/// Rotation is fixed between bodies like this:
+///
+/// q2 = q1 r0
+///
+/// Where:
+/// q1, q2 = world space quaternions representing rotation of body 1 and 2.
+/// r0 = initial rotation between bodies in local space of body 1, this can be calculated by:
+///
+/// q20 = q10 r0
+/// <=> r0 = q10^* q20
+///
+/// Where:
+/// q10, q20 = initial world space rotations of body 1 and 2.
+/// q10^* = conjugate of quaternion q10 (which is the same as the inverse for a unit quaternion)
+///
+/// We exclusively use the conjugate below:
+///
+/// r0^* = q20^* q10
+///
+/// The error in the rotation is (in local space of body 1):
+///
+/// q2 = q1 error r0
+/// <=> error = q1^* q2 r0^*
+///
+/// The imaginary part of the quaternion represents the rotation axis * sin(angle / 2). The real part of the quaternion
+/// does not add any additional information (we know the quaternion in normalized) and we're removing 3 degrees of freedom
+/// so we want 3 parameters. Therefore we define the constraint equation like:
+///
+/// C = A q1^* q2 r0^* = 0
+///
+/// Where (if you write a quaternion as [real-part, i-part, j-part, k-part]):
+///
+///		    [0, 1, 0, 0]
+///		A = [0, 0, 1, 0]
+///		    [0, 0, 0, 1]
+///
+/// or in our case since we store a quaternion like [i-part, j-part, k-part, real-part]:
+///
+///		    [1, 0, 0, 0]
+///		A = [0, 1, 0, 0]
+///		    [0, 0, 1, 0]
+///
+/// Time derivative:
+///
+/// d/dt C = A (q1^* d/dt(q2) + d/dt(q1^*) q2) r0^*
+/// = A (q1^* (1/2 W2 q2) + (1/2 W1 q1)^* q2) r0^*
+/// = 1/2 A (q1^* W2 q2 + q1^* W1^* q2) r0^*
+/// = 1/2 A (q1^* W2 q2 - q1^* W1 * q2) r0^*
+/// = 1/2 A ML(q1^*) MR(q2 r0^*) (W2 - W1)
+/// = 1/2 A ML(q1^*) MR(q2 r0^*) A^T (w2 - w1)
+///
+/// Where:
+/// W1 = [0, w1], W2 = [0, w2] (converting angular velocity to imaginary part of quaternion).
+/// w1, w2 = angular velocity of body 1 and 2.
+/// d/dt(q) = 1/2 W q (time derivative of a quaternion).
+/// W^* = -W (conjugate negates angular velocity as quaternion).
+/// ML(q): 4x4 matrix so that q * p = ML(q) * p, where q and p are quaternions.
+/// MR(p): 4x4 matrix so that q * p = MR(p) * q, where q and p are quaternions.
+/// A^T: Transpose of A.
+///
+/// Jacobian:
+///
+/// J = [0, -1/2 A ML(q1^*) MR(q2 r0^*) A^T, 0, 1/2 A ML(q1^*) MR(q2 r0^*) A^T]
+/// = [0, -JP, 0, JP]
+///
+/// Suggested reading:
+/// - 3D Constraint Derivations for Impulse Solvers - Marijn Tamis
+/// - Game Physics Pearls - Section 9 - Quaternion Based Constraints - Claude Lacoursiere
+class RotationQuatConstraintPart
+{
+private:
+	/// Internal helper function to update velocities of bodies after Lagrange multiplier is calculated
+	JPH_INLINE bool				ApplyVelocityStep(Body &ioBody1, Body &ioBody2, Vec3Arg inLambda) const
+	{
+		// Apply impulse if delta is not zero
+		if (inLambda != Vec3::sZero())
+		{
+			// 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(mInvI1_JPT.Multiply3x3(inLambda));
+			if (ioBody2.IsDynamic())
+				ioBody2.GetMotionProperties()->AddAngularVelocityStep(mInvI2_JPT.Multiply3x3(inLambda));
+			return true;
+		}
+
+		return false;
+	}
+
+public:
+	/// Return inverse of initial rotation from body 1 to body 2 in body 1 space
+	static Quat					sGetInvInitialOrientation(const Body &inBody1, const Body &inBody2)
+	{
+		// q20 = q10 r0
+		// <=> r0 = q10^-1 q20
+		// <=> r0^-1 = q20^-1 q10
+		//
+		// where:
+		//
+		// q20 = initial orientation of body 2
+		// q10 = initial orientation of body 1
+		// r0 = initial rotation from body 1 to body 2
+		return inBody2.GetRotation().Conjugated() * inBody1.GetRotation();
+	}
+
+	/// Calculate properties used during the functions below
+	inline void					CalculateConstraintProperties(const Body &inBody1, Mat44Arg inRotation1, const Body &inBody2, Mat44Arg inRotation2, QuatArg inInvInitialOrientation)
+	{
+		// Calculate: JP = 1/2 A ML(q1^*) MR(q2 r0^*) A^T
+		Mat44 jp = (Mat44::sQuatLeftMultiply(0.5f * inBody1.GetRotation().Conjugated()) * Mat44::sQuatRightMultiply(inBody2.GetRotation() * inInvInitialOrientation)).GetRotationSafe();
+
+		// Calculate properties used during constraint solving
+		Mat44 inv_i1 = inBody1.IsDynamic()? inBody1.GetMotionProperties()->GetInverseInertiaForRotation(inRotation1) : Mat44::sZero();
+		Mat44 inv_i2 = inBody2.IsDynamic()? inBody2.GetMotionProperties()->GetInverseInertiaForRotation(inRotation2) : Mat44::sZero();
+		mInvI1_JPT = inv_i1.Multiply3x3RightTransposed(jp);
+		mInvI2_JPT = inv_i2.Multiply3x3RightTransposed(jp);
+
+		// Calculate effective mass: K^-1 = (J M^-1 J^T)^-1
+		// = (JP * I1^-1 * JP^T + JP * I2^-1 * JP^T)^-1
+		// = (JP * (I1^-1 + I2^-1) * JP^T)^-1
+		if (!mEffectiveMass.SetInversed3x3(jp.Multiply3x3(inv_i1 + inv_i2).Multiply3x3RightTransposed(jp)))
+			Deactivate();
+		else
+			mEffectiveMass_JP = mEffectiveMass.Multiply3x3(jp);
+	}
+
+	/// Deactivate this constraint
+	inline void					Deactivate()
+	{
+		mEffectiveMass = Mat44::sZero();
+		mEffectiveMass_JP = Mat44::sZero();
+		mTotalLambda = Vec3::sZero();
+	}
+
+	/// Check if constraint is active
+	inline bool					IsActive() const
+	{
+		return mEffectiveMass(3, 3) != 0.0f;
+	}
+
+	/// Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses
+	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.
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Body &ioBody2)
+	{
+		// Calculate lagrange multiplier:
+		//
+		// lambda = -K^-1 (J v + b)
+		Vec3 lambda = mEffectiveMass_JP.Multiply3x3(ioBody1.GetAngularVelocity() - ioBody2.GetAngularVelocity());
+		mTotalLambda += lambda;
+		return ApplyVelocityStep(ioBody1, ioBody2, lambda);
+	}
+
+	/// Iteratively update the position constraint. Makes sure C(...) = 0.
+	inline bool					SolvePositionConstraint(Body &ioBody1, Body &ioBody2, QuatArg inInvInitialOrientation, float inBaumgarte) const
+	{
+		// Calculate constraint equation
+		Vec3 c = (ioBody1.GetRotation().Conjugated() * ioBody2.GetRotation() * inInvInitialOrientation).GetXYZ();
+		if (c != Vec3::sZero())
+		{
+			// 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
+			Vec3 lambda = -inBaumgarte * mEffectiveMass * c;
+
+			// 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(mInvI1_JPT.Multiply3x3(lambda));
+			if (ioBody2.IsDynamic())
+				ioBody2.AddRotationStep(mInvI2_JPT.Multiply3x3(lambda));
+			return true;
+		}
+
+		return false;
+	}
+
+	/// Return lagrange multiplier
+	Vec3						GetTotalLambda() const
+	{
+		return mTotalLambda;
+	}
+
+	/// 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:
+	Mat44						mInvI1_JPT;
+	Mat44						mInvI2_JPT;
+	Mat44						mEffectiveMass;
+	Mat44						mEffectiveMass_JP;
+	Vec3						mTotalLambda { Vec3::sZero() };
+};
+
+JPH_NAMESPACE_END