@bloomengine/engine 0.3.3 → 0.4.1

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

@@ -1,169 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-JPH_NAMESPACE_BEGIN
-#ifndef JPH_PLATFORM_DOXYGEN // Somehow Doxygen gets confused and thinks the parameters to CalculateSpringProperties belong to this macro
-JPH_MSVC_SUPPRESS_WARNING(4723) // potential divide by 0 - caused by line: outEffectiveMass = 1.0f / inInvEffectiveMass, note that JPH_NAMESPACE_BEGIN already pushes the warning state
-#endif // !JPH_PLATFORM_DOXYGEN
-
-/// Class used in other constraint parts to calculate the required bias factor in the lagrange multiplier for creating springs
-class SpringPart
-{
-private:
-	JPH_INLINE void				CalculateSpringPropertiesHelper(float inDeltaTime, float inInvEffectiveMass, float inBias, float inC, float inStiffness, float inDamping, float &outEffectiveMass)
-	{
-		// Soft constraints as per: Soft Constraints: Reinventing The Spring - Erin Catto - GDC 2011
-
-		// Note that the calculation of beta and gamma below are based on the solution of an implicit Euler integration scheme
-		// This scheme is unconditionally stable but has built in damping, so even when you set the damping ratio to 0 there will still
-		// be damping. See page 16 and 32.
-
-		// Calculate softness (gamma in the slides)
-		// See page 34 and note that the gamma needs to be divided by delta time since we're working with impulses rather than forces:
-		// softness = 1 / (dt * (c + dt * k))
-		// Note that the spring stiffness is k and the spring damping is c
-		mSoftness = 1.0f / (inDeltaTime * (inDamping + inDeltaTime * inStiffness));
-
-		// Calculate bias factor (baumgarte stabilization):
-		// beta = dt * k / (c + dt * k) = dt * k^2 * softness
-		// b = beta / dt * C = dt * k * softness * C
-		mBias = inBias + inDeltaTime * inStiffness * mSoftness * inC;
-
-		// Update the effective mass, see post by Erin Catto: http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=1354
-		//
-		// Newton's Law:
-		// M * (v2 - v1) = J^T * lambda
-		//
-		// Velocity constraint with softness and Baumgarte:
-		// J * v2 + softness * lambda + b = 0
-		//
-		// where b = beta * C / dt
-		//
-		// We know everything except v2 and lambda.
-		//
-		// First solve Newton's law for v2 in terms of lambda:
-		//
-		// v2 = v1 + M^-1 * J^T * lambda
-		//
-		// Substitute this expression into the velocity constraint:
-		//
-		// J * (v1 + M^-1 * J^T * lambda) + softness * lambda + b = 0
-		//
-		// Now collect coefficients of lambda:
-		//
-		// (J * M^-1 * J^T + softness) * lambda = - J * v1 - b
-		//
-		// Now we define:
-		//
-		// K = J * M^-1 * J^T + softness
-		//
-		// So our new effective mass is K^-1
-		outEffectiveMass = 1.0f / (inInvEffectiveMass + mSoftness);
-	}
-
-public:
-	/// Turn off the spring and set a bias only
-	///
-	/// @param inBias Bias term (b) for the constraint impulse: lambda = J v + b
-	inline void					CalculateSpringPropertiesWithBias(float inBias)
-	{
-		mSoftness = 0.0f;
-		mBias = inBias;
-	}
-
-	/// Calculate spring properties based on frequency and damping ratio
-	///
-	/// @param inDeltaTime Time step
-	/// @param inInvEffectiveMass Inverse effective mass K
-	/// @param inBias Bias term (b) for the constraint impulse: lambda = J v + b
-	///	@param inC Value of the constraint equation (C). Set to zero if you don't want to drive the constraint to zero with a spring.
-	///	@param inFrequency Oscillation frequency (Hz). Set to zero if you don't want to drive the constraint to zero with a spring.
-	///	@param inDamping Damping factor (0 = no damping, 1 = critical damping). Set to zero if you don't want to drive the constraint to zero with a spring.
-	/// @param outEffectiveMass On return, this contains the new effective mass K^-1
-	inline void					CalculateSpringPropertiesWithFrequencyAndDamping(float inDeltaTime, float inInvEffectiveMass, float inBias, float inC, float inFrequency, float inDamping, float &outEffectiveMass)
-	{
-		outEffectiveMass = 1.0f / inInvEffectiveMass;
-
-		if (inFrequency > 0.0f)
-		{
-			// Calculate angular frequency
-			float omega = 2.0f * JPH_PI * inFrequency;
-
-			// Calculate spring stiffness k and damping constant c (page 45)
-			float k = outEffectiveMass * Square(omega);
-			float c = 2.0f * outEffectiveMass * inDamping * omega;
-
-			CalculateSpringPropertiesHelper(inDeltaTime, inInvEffectiveMass, inBias, inC, k, c, outEffectiveMass);
-		}
-		else
-		{
-			CalculateSpringPropertiesWithBias(inBias);
-		}
-	}
-
-	/// Calculate spring properties with spring Stiffness (k) and damping (c), this is based on the spring equation: F = -k * x - c * v
-	///
-	/// @param inDeltaTime Time step
-	/// @param inInvEffectiveMass Inverse effective mass K
-	/// @param inBias Bias term (b) for the constraint impulse: lambda = J v + b
-	///	@param inC Value of the constraint equation (C). Set to zero if you don't want to drive the constraint to zero with a spring.
-	///	@param inStiffness Spring stiffness k. Set to zero if you don't want to drive the constraint to zero with a spring.
-	///	@param inDamping Spring damping coefficient c. Set to zero if you don't want to drive the constraint to zero with a spring.
-	/// @param outEffectiveMass On return, this contains the new effective mass K^-1
-	inline void					CalculateSpringPropertiesWithStiffnessAndDamping(float inDeltaTime, float inInvEffectiveMass, float inBias, float inC, float inStiffness, float inDamping, float &outEffectiveMass)
-	{
-		if (inStiffness > 0.0f)
-		{
-			CalculateSpringPropertiesHelper(inDeltaTime, inInvEffectiveMass, inBias, inC, inStiffness, inDamping, outEffectiveMass);
-		}
-		else
-		{
-			outEffectiveMass = 1.0f / inInvEffectiveMass;
-
-			CalculateSpringPropertiesWithBias(inBias);
-		}
-	}
-
-	/// Returns if this spring is active
-	inline bool					IsActive() const
-	{
-		return mSoftness != 0.0f;
-	}
-
-	/// Get total bias b, including supplied bias and bias for spring: lambda = J v + b
-	inline float				GetBias(float inTotalLambda) const
-	{
-		// Remainder of post by Erin Catto: http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=1354
-		//
-		// Each iteration we are not computing the whole impulse, we are computing an increment to the impulse and we are updating the velocity.
-		// Also, as we solve each constraint we get a perfect v2, but then some other constraint will come along and mess it up.
-		// So we want to patch up the constraint while acknowledging the accumulated impulse and the damaged velocity.
-		// To help with that we use P for the accumulated impulse and lambda as the update. Mathematically we have:
-		//
-		// M * (v2new - v2damaged) = J^T * lambda
-		// J * v2new + softness * (total_lambda + lambda) + b = 0
-		//
-		// If we solve this we get:
-		//
-		// v2new = v2damaged + M^-1 * J^T * lambda
-		// J * (v2damaged + M^-1 * J^T * lambda) + softness * total_lambda + softness * lambda + b = 0
-		//
-		// (J * M^-1 * J^T + softness) * lambda = -(J * v2damaged + softness * total_lambda + b)
-		//
-		// So our lagrange multiplier becomes:
-		//
-		// lambda = -K^-1 (J v + softness * total_lambda + b)
-		//
-		// So we return the bias: softness * total_lambda + b
-		return mSoftness * inTotalLambda + mBias;
-	}
-
-private:
-	float						mBias  = 0.0f;
-	float						mSoftness  = 0.0f;
-};
-
-JPH_NAMESPACE_END