@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/HingeConstraint.cpp

@@ -0,0 +1,443 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <Jolt/Jolt.h>
+
+#include <Jolt/Physics/Constraints/HingeConstraint.h>
+#include <Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h>
+#include <Jolt/Physics/Body/Body.h>
+#include <Jolt/ObjectStream/TypeDeclarations.h>
+#include <Jolt/Core/StreamIn.h>
+#include <Jolt/Core/StreamOut.h>
+#ifdef JPH_DEBUG_RENDERER
+	#include <Jolt/Renderer/DebugRenderer.h>
+#endif // JPH_DEBUG_RENDERER
+
+JPH_NAMESPACE_BEGIN
+
+JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(HingeConstraintSettings)
+{
+	JPH_ADD_BASE_CLASS(HingeConstraintSettings, TwoBodyConstraintSettings)
+
+	JPH_ADD_ENUM_ATTRIBUTE(HingeConstraintSettings, mSpace)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mPoint1)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mHingeAxis1)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mNormalAxis1)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mPoint2)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mHingeAxis2)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mNormalAxis2)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mLimitsMin)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mLimitsMax)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mLimitsSpringSettings)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mMaxFrictionTorque)
+	JPH_ADD_ATTRIBUTE(HingeConstraintSettings, mMotorSettings)
+}
+
+void HingeConstraintSettings::SaveBinaryState(StreamOut &inStream) const
+{
+	ConstraintSettings::SaveBinaryState(inStream);
+
+	inStream.Write(mSpace);
+	inStream.Write(mPoint1);
+	inStream.Write(mHingeAxis1);
+	inStream.Write(mNormalAxis1);
+	inStream.Write(mPoint2);
+	inStream.Write(mHingeAxis2);
+	inStream.Write(mNormalAxis2);
+	inStream.Write(mLimitsMin);
+	inStream.Write(mLimitsMax);
+	inStream.Write(mMaxFrictionTorque);
+	mLimitsSpringSettings.SaveBinaryState(inStream);
+	mMotorSettings.SaveBinaryState(inStream);
+}
+
+void HingeConstraintSettings::RestoreBinaryState(StreamIn &inStream)
+{
+	ConstraintSettings::RestoreBinaryState(inStream);
+
+	inStream.Read(mSpace);
+	inStream.Read(mPoint1);
+	inStream.Read(mHingeAxis1);
+	inStream.Read(mNormalAxis1);
+	inStream.Read(mPoint2);
+	inStream.Read(mHingeAxis2);
+	inStream.Read(mNormalAxis2);
+	inStream.Read(mLimitsMin);
+	inStream.Read(mLimitsMax);
+	inStream.Read(mMaxFrictionTorque);
+	mLimitsSpringSettings.RestoreBinaryState(inStream);
+	mMotorSettings.RestoreBinaryState(inStream);}
+
+TwoBodyConstraint *HingeConstraintSettings::Create(Body &inBody1, Body &inBody2) const
+{
+	return new HingeConstraint(inBody1, inBody2, *this);
+}
+
+HingeConstraint::HingeConstraint(Body &inBody1, Body &inBody2, const HingeConstraintSettings &inSettings) :
+	TwoBodyConstraint(inBody1, inBody2, inSettings),
+	mMaxFrictionTorque(inSettings.mMaxFrictionTorque),
+	mMotorSettings(inSettings.mMotorSettings)
+{
+	// Store limits
+	JPH_ASSERT(inSettings.mLimitsMin != inSettings.mLimitsMax || inSettings.mLimitsSpringSettings.mFrequency > 0.0f, "Better use a fixed constraint in this case");
+	SetLimits(inSettings.mLimitsMin, inSettings.mLimitsMax);
+
+	// Store inverse of initial rotation from body 1 to body 2 in body 1 space
+	mInvInitialOrientation = RotationEulerConstraintPart::sGetInvInitialOrientationXZ(inSettings.mNormalAxis1, inSettings.mHingeAxis1, inSettings.mNormalAxis2, inSettings.mHingeAxis2);
+
+	if (inSettings.mSpace == EConstraintSpace::WorldSpace)
+	{
+		// If all properties were specified in world space, take them to local space now
+		RMat44 inv_transform1 = inBody1.GetInverseCenterOfMassTransform();
+		mLocalSpacePosition1 = Vec3(inv_transform1 * inSettings.mPoint1);
+		mLocalSpaceHingeAxis1 = inv_transform1.Multiply3x3(inSettings.mHingeAxis1).Normalized();
+		mLocalSpaceNormalAxis1 = inv_transform1.Multiply3x3(inSettings.mNormalAxis1).Normalized();
+
+		RMat44 inv_transform2 = inBody2.GetInverseCenterOfMassTransform();
+		mLocalSpacePosition2 = Vec3(inv_transform2 * inSettings.mPoint2);
+		mLocalSpaceHingeAxis2 = inv_transform2.Multiply3x3(inSettings.mHingeAxis2).Normalized();
+		mLocalSpaceNormalAxis2 = inv_transform2.Multiply3x3(inSettings.mNormalAxis2).Normalized();
+
+		// Constraints were specified in world space, so we should have replaced c1 with q10^-1 c1 and c2 with q20^-1 c2
+		// => r0^-1 = (q20^-1 c2) (q10^-1 c1)^1 = q20^-1 (c2 c1^-1) q10
+		mInvInitialOrientation = inBody2.GetRotation().Conjugated() * mInvInitialOrientation * inBody1.GetRotation();
+	}
+	else
+	{
+		mLocalSpacePosition1 = Vec3(inSettings.mPoint1);
+		mLocalSpaceHingeAxis1 = inSettings.mHingeAxis1;
+		mLocalSpaceNormalAxis1 = inSettings.mNormalAxis1;
+
+		mLocalSpacePosition2 = Vec3(inSettings.mPoint2);
+		mLocalSpaceHingeAxis2 = inSettings.mHingeAxis2;
+		mLocalSpaceNormalAxis2 = inSettings.mNormalAxis2;
+	}
+
+	// Store spring settings
+	SetLimitsSpringSettings(inSettings.mLimitsSpringSettings);
+}
+
+void HingeConstraint::NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM)
+{
+	if (mBody1->GetID() == inBodyID)
+		mLocalSpacePosition1 -= inDeltaCOM;
+	else if (mBody2->GetID() == inBodyID)
+		mLocalSpacePosition2 -= inDeltaCOM;
+}
+
+float HingeConstraint::GetCurrentAngle() const
+{
+	// See: CalculateA1AndTheta
+	Quat rotation1 = mBody1->GetRotation();
+	Quat diff = mBody2->GetRotation() * mInvInitialOrientation * rotation1.Conjugated();
+	return diff.GetRotationAngle(rotation1 * mLocalSpaceHingeAxis1);
+}
+
+void HingeConstraint::SetTargetOrientationBS(QuatArg inOrientation)
+{
+	// See: CalculateA1AndTheta
+	//
+	// The rotation between body 1 and 2 can be written as:
+	//
+	// q2 = q1 rh1 r0
+	//
+	// where rh1 is a rotation around local hinge axis 1, also:
+	//
+	// q2 = q1 inOrientation
+	//
+	// This means:
+	//
+	// rh1 r0 = inOrientation <=> rh1 = inOrientation * r0^-1
+	Quat rh1 = inOrientation * mInvInitialOrientation;
+	SetTargetAngle(rh1.GetRotationAngle(mLocalSpaceHingeAxis1));
+}
+
+void HingeConstraint::SetLimits(float inLimitsMin, float inLimitsMax)
+{
+	JPH_ASSERT(inLimitsMin <= 0.0f && inLimitsMin >= -JPH_PI);
+	JPH_ASSERT(inLimitsMax >= 0.0f && inLimitsMax <= JPH_PI);
+	mLimitsMin = inLimitsMin;
+	mLimitsMax = inLimitsMax;
+	mHasLimits = mLimitsMin > -JPH_PI || mLimitsMax < JPH_PI;
+}
+
+void HingeConstraint::CalculateA1AndTheta()
+{
+	if (mHasLimits || mMotorState != EMotorState::Off || mMaxFrictionTorque > 0.0f)
+	{
+		Quat rotation1 = mBody1->GetRotation();
+
+		// Calculate relative rotation in world space
+		//
+		// The rest rotation is:
+		//
+		// q2 = q1 r0
+		//
+		// But 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 = relative rotation in world space
+		Quat diff = mBody2->GetRotation() * mInvInitialOrientation * rotation1.Conjugated();
+
+		// Calculate hinge axis in world space
+		mA1 = rotation1 * mLocalSpaceHingeAxis1;
+
+		// Get rotation angle around the hinge axis
+		mTheta = diff.GetRotationAngle(mA1);
+	}
+}
+
+void HingeConstraint::CalculateRotationLimitsConstraintProperties(float inDeltaTime)
+{
+	// Apply constraint if outside of limits
+	if (mHasLimits && (mTheta <= mLimitsMin || mTheta >= mLimitsMax))
+		mRotationLimitsConstraintPart.CalculateConstraintPropertiesWithSettings(inDeltaTime, *mBody1, *mBody2, mA1, 0.0f, GetSmallestAngleToLimit(), mLimitsSpringSettings);
+	else
+		mRotationLimitsConstraintPart.Deactivate();
+}
+
+void HingeConstraint::CalculateMotorConstraintProperties(float inDeltaTime)
+{
+	switch (mMotorState)
+	{
+	case EMotorState::Off:
+		if (mMaxFrictionTorque > 0.0f)
+			mMotorConstraintPart.CalculateConstraintProperties(*mBody1, *mBody2, mA1);
+		else
+			mMotorConstraintPart.Deactivate();
+		break;
+
+	case EMotorState::Velocity:
+		mMotorConstraintPart.CalculateConstraintProperties(*mBody1, *mBody2, mA1, -mTargetAngularVelocity);
+		break;
+
+	case EMotorState::Position:
+		if (mMotorSettings.mSpringSettings.HasStiffness())
+			mMotorConstraintPart.CalculateConstraintPropertiesWithSettings(inDeltaTime, *mBody1, *mBody2, mA1, 0.0f, CenterAngleAroundZero(mTheta - mTargetAngle), mMotorSettings.mSpringSettings);
+		else
+			mMotorConstraintPart.Deactivate();
+		break;
+	}
+}
+
+void HingeConstraint::SetupVelocityConstraint(float inDeltaTime)
+{
+	// Cache constraint values that are valid until the bodies move
+	Mat44 rotation1 = Mat44::sRotation(mBody1->GetRotation());
+	Mat44 rotation2 = Mat44::sRotation(mBody2->GetRotation());
+	mPointConstraintPart.CalculateConstraintProperties(*mBody1, rotation1, mLocalSpacePosition1, *mBody2, rotation2, mLocalSpacePosition2);
+	mRotationConstraintPart.CalculateConstraintProperties(*mBody1, rotation1, rotation1.Multiply3x3(mLocalSpaceHingeAxis1), *mBody2, rotation2, rotation2.Multiply3x3(mLocalSpaceHingeAxis2));
+	CalculateA1AndTheta();
+	CalculateRotationLimitsConstraintProperties(inDeltaTime);
+	CalculateMotorConstraintProperties(inDeltaTime);
+}
+
+void HingeConstraint::ResetWarmStart()
+{
+	mMotorConstraintPart.Deactivate();
+	mPointConstraintPart.Deactivate();
+	mRotationConstraintPart.Deactivate();
+	mRotationLimitsConstraintPart.Deactivate();
+}
+
+void HingeConstraint::WarmStartVelocityConstraint(float inWarmStartImpulseRatio)
+{
+	// Warm starting: Apply previous frame impulse
+	mMotorConstraintPart.WarmStart(*mBody1, *mBody2, inWarmStartImpulseRatio);
+	mPointConstraintPart.WarmStart(*mBody1, *mBody2, inWarmStartImpulseRatio);
+	mRotationConstraintPart.WarmStart(*mBody1, *mBody2, inWarmStartImpulseRatio);
+	mRotationLimitsConstraintPart.WarmStart(*mBody1, *mBody2, inWarmStartImpulseRatio);
+}
+
+float HingeConstraint::GetSmallestAngleToLimit() const
+{
+	float dist_to_min = CenterAngleAroundZero(mTheta - mLimitsMin);
+	float dist_to_max = CenterAngleAroundZero(mTheta - mLimitsMax);
+	return abs(dist_to_min) < abs(dist_to_max)? dist_to_min : dist_to_max;
+}
+
+bool HingeConstraint::IsMinLimitClosest() const
+{
+	float dist_to_min = CenterAngleAroundZero(mTheta - mLimitsMin);
+	float dist_to_max = CenterAngleAroundZero(mTheta - mLimitsMax);
+	return abs(dist_to_min) < abs(dist_to_max);
+}
+
+bool HingeConstraint::SolveVelocityConstraint(float inDeltaTime)
+{
+	// Solve motor
+	bool motor = false;
+	if (mMotorConstraintPart.IsActive())
+	{
+		switch (mMotorState)
+		{
+		case EMotorState::Off:
+			{
+				float max_lambda = mMaxFrictionTorque * inDeltaTime;
+				motor = mMotorConstraintPart.SolveVelocityConstraint(*mBody1, *mBody2, mA1, -max_lambda, max_lambda);
+				break;
+			}
+
+		case EMotorState::Velocity:
+		case EMotorState::Position:
+			motor = mMotorConstraintPart.SolveVelocityConstraint(*mBody1, *mBody2, mA1, inDeltaTime * mMotorSettings.mMinTorqueLimit, inDeltaTime * mMotorSettings.mMaxTorqueLimit);
+			break;
+		}
+	}
+
+	// Solve point constraint
+	bool pos = mPointConstraintPart.SolveVelocityConstraint(*mBody1, *mBody2);
+
+	// Solve rotation constraint
+	bool rot = mRotationConstraintPart.SolveVelocityConstraint(*mBody1, *mBody2);
+
+	// Solve rotation limits
+	bool limit = false;
+	if (mRotationLimitsConstraintPart.IsActive())
+	{
+		float min_lambda, max_lambda;
+		if (mLimitsMin == mLimitsMax)
+		{
+			min_lambda = -FLT_MAX;
+			max_lambda = FLT_MAX;
+		}
+		else if (IsMinLimitClosest())
+		{
+			min_lambda = 0.0f;
+			max_lambda = FLT_MAX;
+		}
+		else
+		{
+			min_lambda = -FLT_MAX;
+			max_lambda = 0.0f;
+		}
+		limit = mRotationLimitsConstraintPart.SolveVelocityConstraint(*mBody1, *mBody2, mA1, min_lambda, max_lambda);
+	}
+
+	return motor || pos || rot || limit;
+}
+
+bool HingeConstraint::SolvePositionConstraint(float inDeltaTime, float inBaumgarte)
+{
+	// Motor operates on velocities only, don't call SolvePositionConstraint
+
+	// Solve point constraint
+	mPointConstraintPart.CalculateConstraintProperties(*mBody1, Mat44::sRotation(mBody1->GetRotation()), mLocalSpacePosition1, *mBody2, Mat44::sRotation(mBody2->GetRotation()), mLocalSpacePosition2);
+	bool pos = mPointConstraintPart.SolvePositionConstraint(*mBody1, *mBody2, inBaumgarte);
+
+	// Solve rotation constraint
+	Mat44 rotation1 = Mat44::sRotation(mBody1->GetRotation()); // Note that previous call to GetRotation() is out of date since the rotation has changed
+	Mat44 rotation2 = Mat44::sRotation(mBody2->GetRotation());
+	mRotationConstraintPart.CalculateConstraintProperties(*mBody1, rotation1, rotation1.Multiply3x3(mLocalSpaceHingeAxis1), *mBody2, rotation2, rotation2.Multiply3x3(mLocalSpaceHingeAxis2));
+	bool rot = mRotationConstraintPart.SolvePositionConstraint(*mBody1, *mBody2, inBaumgarte);
+
+	// Solve rotation limits
+	bool limit = false;
+	if (mHasLimits && mLimitsSpringSettings.mFrequency <= 0.0f)
+	{
+		CalculateA1AndTheta();
+		CalculateRotationLimitsConstraintProperties(inDeltaTime);
+		if (mRotationLimitsConstraintPart.IsActive())
+			limit = mRotationLimitsConstraintPart.SolvePositionConstraint(*mBody1, *mBody2, GetSmallestAngleToLimit(), inBaumgarte);
+	}
+
+	return pos || rot || limit;
+}
+
+#ifdef JPH_DEBUG_RENDERER
+void HingeConstraint::DrawConstraint(DebugRenderer *inRenderer) const
+{
+	RMat44 transform1 = mBody1->GetCenterOfMassTransform();
+	RMat44 transform2 = mBody2->GetCenterOfMassTransform();
+
+	// Draw constraint
+	RVec3 constraint_pos1 = transform1 * mLocalSpacePosition1;
+	inRenderer->DrawMarker(constraint_pos1, Color::sRed, 0.1f);
+	inRenderer->DrawLine(constraint_pos1, transform1 * (mLocalSpacePosition1 + mDrawConstraintSize * mLocalSpaceHingeAxis1), Color::sRed);
+
+	RVec3 constraint_pos2 = transform2 * mLocalSpacePosition2;
+	inRenderer->DrawMarker(constraint_pos2, Color::sGreen, 0.1f);
+	inRenderer->DrawLine(constraint_pos2, transform2 * (mLocalSpacePosition2 + mDrawConstraintSize * mLocalSpaceHingeAxis2), Color::sGreen);
+	inRenderer->DrawLine(constraint_pos2, transform2 * (mLocalSpacePosition2 + mDrawConstraintSize * mLocalSpaceNormalAxis2), Color::sWhite);
+}
+
+void HingeConstraint::DrawConstraintLimits(DebugRenderer *inRenderer) const
+{
+	if (mHasLimits && mLimitsMax > mLimitsMin)
+	{
+		// Get constraint properties in world space
+		RMat44 transform1 = mBody1->GetCenterOfMassTransform();
+		RVec3 position1 = transform1 * mLocalSpacePosition1;
+		Vec3 hinge_axis1 = transform1.Multiply3x3(mLocalSpaceHingeAxis1);
+		Vec3 normal_axis1 = transform1.Multiply3x3(mLocalSpaceNormalAxis1);
+
+		inRenderer->DrawPie(position1, mDrawConstraintSize, hinge_axis1, normal_axis1, mLimitsMin, mLimitsMax, Color::sPurple, DebugRenderer::ECastShadow::Off);
+	}
+}
+#endif // JPH_DEBUG_RENDERER
+
+void HingeConstraint::SaveState(StateRecorder &inStream) const
+{
+	TwoBodyConstraint::SaveState(inStream);
+
+	mMotorConstraintPart.SaveState(inStream);
+	mRotationConstraintPart.SaveState(inStream);
+	mPointConstraintPart.SaveState(inStream);
+	mRotationLimitsConstraintPart.SaveState(inStream);
+
+	inStream.Write(mMotorState);
+	inStream.Write(mTargetAngularVelocity);
+	inStream.Write(mTargetAngle);
+}
+
+void HingeConstraint::RestoreState(StateRecorder &inStream)
+{
+	TwoBodyConstraint::RestoreState(inStream);
+
+	mMotorConstraintPart.RestoreState(inStream);
+	mRotationConstraintPart.RestoreState(inStream);
+	mPointConstraintPart.RestoreState(inStream);
+	mRotationLimitsConstraintPart.RestoreState(inStream);
+
+	inStream.Read(mMotorState);
+	inStream.Read(mTargetAngularVelocity);
+	inStream.Read(mTargetAngle);
+}
+
+
+Ref<ConstraintSettings> HingeConstraint::GetConstraintSettings() const
+{
+	HingeConstraintSettings *settings = new HingeConstraintSettings;
+	ToConstraintSettings(*settings);
+	settings->mSpace = EConstraintSpace::LocalToBodyCOM;
+	settings->mPoint1 = RVec3(mLocalSpacePosition1);
+	settings->mHingeAxis1 = mLocalSpaceHingeAxis1;
+	settings->mNormalAxis1 = mLocalSpaceNormalAxis1;
+	settings->mPoint2 = RVec3(mLocalSpacePosition2);
+	settings->mHingeAxis2 = mLocalSpaceHingeAxis2;
+	settings->mNormalAxis2 = mLocalSpaceNormalAxis2;
+	settings->mLimitsMin = mLimitsMin;
+	settings->mLimitsMax = mLimitsMax;
+	settings->mLimitsSpringSettings = mLimitsSpringSettings;
+	settings->mMaxFrictionTorque = mMaxFrictionTorque;
+	settings->mMotorSettings = mMotorSettings;
+	return settings;
+}
+
+Mat44 HingeConstraint::GetConstraintToBody1Matrix() const
+{
+	return Mat44(Vec4(mLocalSpaceHingeAxis1, 0), Vec4(mLocalSpaceNormalAxis1, 0), Vec4(mLocalSpaceHingeAxis1.Cross(mLocalSpaceNormalAxis1), 0), Vec4(mLocalSpacePosition1, 1));
+}
+
+Mat44 HingeConstraint::GetConstraintToBody2Matrix() const
+{
+	return Mat44(Vec4(mLocalSpaceHingeAxis2, 0), Vec4(mLocalSpaceNormalAxis2, 0), Vec4(mLocalSpaceHingeAxis2.Cross(mLocalSpaceNormalAxis2), 0), Vec4(mLocalSpacePosition2, 1));
+}
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/HingeConstraint.h

@@ -0,0 +1,205 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Constraints/TwoBodyConstraint.h>
+#include <Jolt/Physics/Constraints/MotorSettings.h>
+#include <Jolt/Physics/Constraints/ConstraintPart/PointConstraintPart.h>
+#include <Jolt/Physics/Constraints/ConstraintPart/HingeRotationConstraintPart.h>
+#include <Jolt/Physics/Constraints/ConstraintPart/AngleConstraintPart.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Hinge constraint settings, used to create a hinge constraint
+class JPH_EXPORT HingeConstraintSettings final : public TwoBodyConstraintSettings
+{
+	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, HingeConstraintSettings)
+
+public:
+	// See: ConstraintSettings::SaveBinaryState
+	virtual void				SaveBinaryState(StreamOut &inStream) const override;
+
+	/// Create an instance of this constraint
+	virtual TwoBodyConstraint *	Create(Body &inBody1, Body &inBody2) const override;
+
+	/// This determines in which space the constraint is setup, all properties below should be in the specified space
+	EConstraintSpace			mSpace = EConstraintSpace::WorldSpace;
+
+	/// Body 1 constraint reference frame (space determined by mSpace).
+	/// Hinge axis is the axis where rotation is allowed.
+	/// When the normal axis of both bodies align in world space, the hinge angle is defined to be 0.
+	/// mHingeAxis1 and mNormalAxis1 should be perpendicular. mHingeAxis2 and mNormalAxis2 should also be perpendicular.
+	/// If you configure the joint in world space and create both bodies with a relative rotation you want to be defined as zero,
+	/// you can simply set mHingeAxis1 = mHingeAxis2 and mNormalAxis1 = mNormalAxis2.
+	RVec3						mPoint1 = RVec3::sZero();
+	Vec3						mHingeAxis1 = Vec3::sAxisY();
+	Vec3						mNormalAxis1 = Vec3::sAxisX();
+
+	/// Body 2 constraint reference frame (space determined by mSpace)
+	RVec3						mPoint2 = RVec3::sZero();
+	Vec3						mHingeAxis2 = Vec3::sAxisY();
+	Vec3						mNormalAxis2 = Vec3::sAxisX();
+
+	/// Rotation around the hinge axis will be limited between [mLimitsMin, mLimitsMax] where mLimitsMin e [-pi, 0] and mLimitsMax e [0, pi].
+	/// Both angles are in radians.
+	float						mLimitsMin = -JPH_PI;
+	float						mLimitsMax = JPH_PI;
+
+	/// When enabled, this makes the limits soft. When the constraint exceeds the limits, a spring force will pull it back.
+	SpringSettings				mLimitsSpringSettings;
+
+	/// Maximum amount of torque (N m) to apply as friction when the constraint is not powered by a motor
+	float						mMaxFrictionTorque = 0.0f;
+
+	/// In case the constraint is powered, this determines the motor settings around the hinge axis
+	MotorSettings				mMotorSettings;
+
+protected:
+	// See: ConstraintSettings::RestoreBinaryState
+	virtual void				RestoreBinaryState(StreamIn &inStream) override;
+};
+
+/// A hinge constraint constrains 2 bodies on a single point and allows only a single axis of rotation
+class JPH_EXPORT HingeConstraint final : public TwoBodyConstraint
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Construct hinge constraint
+								HingeConstraint(Body &inBody1, Body &inBody2, const HingeConstraintSettings &inSettings);
+
+	// Generic interface of a constraint
+	virtual EConstraintSubType	GetSubType() const override								{ return EConstraintSubType::Hinge; }
+	virtual void				NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM) override;
+	virtual void				SetupVelocityConstraint(float inDeltaTime) override;
+	virtual void				ResetWarmStart() override;
+	virtual void				WarmStartVelocityConstraint(float inWarmStartImpulseRatio) override;
+	virtual bool				SolveVelocityConstraint(float inDeltaTime) override;
+	virtual bool				SolvePositionConstraint(float inDeltaTime, float inBaumgarte) override;
+#ifdef JPH_DEBUG_RENDERER
+	virtual void				DrawConstraint(DebugRenderer *inRenderer) const override;
+	virtual void				DrawConstraintLimits(DebugRenderer *inRenderer) const override;
+#endif // JPH_DEBUG_RENDERER
+	virtual void				SaveState(StateRecorder &inStream) const override;
+	virtual void				RestoreState(StateRecorder &inStream) override;
+	virtual Ref<ConstraintSettings> GetConstraintSettings() const override;
+
+	// See: TwoBodyConstraint
+	virtual Mat44				GetConstraintToBody1Matrix() const override;
+	virtual Mat44				GetConstraintToBody2Matrix() const override;
+
+	/// Get the attachment point for body 1 relative to body 1 COM (transform by Body::GetCenterOfMassTransform to take to world space)
+	inline Vec3					GetLocalSpacePoint1() const								{ return mLocalSpacePosition1; }
+
+	/// Get the attachment point for body 2 relative to body 2 COM (transform by Body::GetCenterOfMassTransform to take to world space)
+	inline Vec3					GetLocalSpacePoint2() const								{ return mLocalSpacePosition2; }
+
+	// Local space hinge directions (transform direction by Body::GetCenterOfMassTransform to take to world space)
+	Vec3						GetLocalSpaceHingeAxis1() const							{ return mLocalSpaceHingeAxis1; }
+	Vec3						GetLocalSpaceHingeAxis2() const							{ return mLocalSpaceHingeAxis2; }
+
+	// Local space normal directions (transform direction by Body::GetCenterOfMassTransform to take to world space)
+	Vec3						GetLocalSpaceNormalAxis1() const						{ return mLocalSpaceNormalAxis1; }
+	Vec3						GetLocalSpaceNormalAxis2() const						{ return mLocalSpaceNormalAxis2; }
+
+	/// Get the current rotation angle from the rest position
+	float						GetCurrentAngle() const;
+
+	// Friction control
+	void						SetMaxFrictionTorque(float inFrictionTorque)			{ mMaxFrictionTorque = inFrictionTorque; }
+	float						GetMaxFrictionTorque() const							{ return mMaxFrictionTorque; }
+
+	// Motor settings
+	MotorSettings &				GetMotorSettings()										{ return mMotorSettings; }
+	const MotorSettings &		GetMotorSettings() const								{ return mMotorSettings; }
+
+	// Motor controls
+	void						SetMotorState(EMotorState inState)						{ JPH_ASSERT(inState == EMotorState::Off || mMotorSettings.IsValid()); mMotorState = inState; }
+	EMotorState					GetMotorState() const									{ return mMotorState; }
+	void						SetTargetAngularVelocity(float inAngularVelocity)		{ mTargetAngularVelocity = inAngularVelocity; } ///< rad/s
+	float						GetTargetAngularVelocity() const						{ return mTargetAngularVelocity; }
+	void						SetTargetAngle(float inAngle)							{ mTargetAngle = mHasLimits? Clamp(inAngle, mLimitsMin, mLimitsMax) : inAngle; } ///< rad
+	float						GetTargetAngle() const									{ return mTargetAngle; }
+
+	/// Set the target orientation in body space (R2 = R1 * inOrientation, where R1 and R2 are the world space rotations for body 1 and 2).
+	/// Calculates the local space target angle and calls SetTargetAngle. Motor state must be EMotorState::Position for this to have any effect.
+	/// May set the wrong angle if inOrientation contains large rotations around other axis than the hinge axis.
+	void						SetTargetOrientationBS(QuatArg inOrientation);
+
+	/// Update the rotation limits of the hinge, value in radians (see HingeConstraintSettings)
+	void						SetLimits(float inLimitsMin, float inLimitsMax);
+	float						GetLimitsMin() const									{ return mLimitsMin; }
+	float						GetLimitsMax() const									{ return mLimitsMax; }
+	bool						HasLimits() const										{ return mHasLimits; }
+
+	/// Update the limits spring settings
+	const SpringSettings &		GetLimitsSpringSettings() const							{ return mLimitsSpringSettings; }
+	SpringSettings &			GetLimitsSpringSettings()								{ return mLimitsSpringSettings; }
+	void						SetLimitsSpringSettings(const SpringSettings &inLimitsSpringSettings) { mLimitsSpringSettings = inLimitsSpringSettings; }
+
+	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
+	inline Vec3					GetTotalLambdaPosition() const							{ return mPointConstraintPart.GetTotalLambda(); }
+	inline Vector<2>			GetTotalLambdaRotation() const							{ return mRotationConstraintPart.GetTotalLambda(); }
+	inline float				GetTotalLambdaRotationLimits() const					{ return mRotationLimitsConstraintPart.GetTotalLambda(); }
+	inline float				GetTotalLambdaMotor() const								{ return mMotorConstraintPart.GetTotalLambda(); }
+
+private:
+	// Internal helper function to calculate the values below
+	void						CalculateA1AndTheta();
+	void						CalculateRotationLimitsConstraintProperties(float inDeltaTime);
+	void						CalculateMotorConstraintProperties(float inDeltaTime);
+	inline float				GetSmallestAngleToLimit() const;
+	inline bool					IsMinLimitClosest() const;
+
+	// CONFIGURATION PROPERTIES FOLLOW
+
+	// Local space constraint positions
+	Vec3						mLocalSpacePosition1;
+	Vec3						mLocalSpacePosition2;
+
+	// Local space hinge directions
+	Vec3						mLocalSpaceHingeAxis1;
+	Vec3						mLocalSpaceHingeAxis2;
+
+	// Local space normal direction (direction relative to which to draw constraint limits)
+	Vec3						mLocalSpaceNormalAxis1;
+	Vec3						mLocalSpaceNormalAxis2;
+
+	// Inverse of initial relative orientation between bodies (which defines hinge angle = 0)
+	Quat						mInvInitialOrientation;
+
+	// Hinge limits
+	bool						mHasLimits;
+	float						mLimitsMin;
+	float						mLimitsMax;
+
+	// Soft constraint limits
+	SpringSettings				mLimitsSpringSettings;
+
+	// Friction
+	float						mMaxFrictionTorque;
+
+	// Motor controls
+	MotorSettings				mMotorSettings;
+	EMotorState					mMotorState = EMotorState::Off;
+	float						mTargetAngularVelocity = 0.0f;
+	float						mTargetAngle = 0.0f;
+
+	// RUN TIME PROPERTIES FOLLOW
+
+	// Current rotation around the hinge axis
+	float						mTheta = 0.0f;
+
+	// World space hinge axis for body 1
+	Vec3						mA1;
+
+	// The constraint parts
+	PointConstraintPart			mPointConstraintPart;
+	HingeRotationConstraintPart mRotationConstraintPart;
+	AngleConstraintPart			mRotationLimitsConstraintPart;
+	AngleConstraintPart			mMotorConstraintPart;
+};
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/MotorSettings.cpp

@@ -0,0 +1,43 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <Jolt/Jolt.h>
+
+#include <Jolt/Physics/Constraints/MotorSettings.h>
+#include <Jolt/ObjectStream/TypeDeclarations.h>
+#include <Jolt/Core/StreamIn.h>
+#include <Jolt/Core/StreamOut.h>
+
+JPH_NAMESPACE_BEGIN
+
+JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(MotorSettings)
+{
+	JPH_ADD_ENUM_ATTRIBUTE_WITH_ALIAS(MotorSettings, mSpringSettings.mMode, "mSpringMode")
+	JPH_ADD_ATTRIBUTE_WITH_ALIAS(MotorSettings, mSpringSettings.mFrequency, "mFrequency") // Renaming attributes to stay compatible with old versions of the library
+	JPH_ADD_ATTRIBUTE_WITH_ALIAS(MotorSettings, mSpringSettings.mDamping, "mDamping")
+	JPH_ADD_ATTRIBUTE(MotorSettings, mMinForceLimit)
+	JPH_ADD_ATTRIBUTE(MotorSettings, mMaxForceLimit)
+	JPH_ADD_ATTRIBUTE(MotorSettings, mMinTorqueLimit)
+	JPH_ADD_ATTRIBUTE(MotorSettings, mMaxTorqueLimit)
+}
+
+void MotorSettings::SaveBinaryState(StreamOut &inStream) const
+{
+	mSpringSettings.SaveBinaryState(inStream);
+	inStream.Write(mMinForceLimit);
+	inStream.Write(mMaxForceLimit);
+	inStream.Write(mMinTorqueLimit);
+	inStream.Write(mMaxTorqueLimit);
+}
+
+void MotorSettings::RestoreBinaryState(StreamIn &inStream)
+{
+	mSpringSettings.RestoreBinaryState(inStream);
+	inStream.Read(mMinForceLimit);
+	inStream.Read(mMaxForceLimit);
+	inStream.Read(mMinTorqueLimit);
+	inStream.Read(mMaxTorqueLimit);
+}
+
+JPH_NAMESPACE_END