@bloomengine/engine 0.3.3 → 0.4.1

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

@@ -1,188 +0,0 @@
-// 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/GearConstraint.h>
-#include <Jolt/Physics/Constraints/HingeConstraint.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(GearConstraintSettings)
-{
-	JPH_ADD_BASE_CLASS(GearConstraintSettings, TwoBodyConstraintSettings)
-
-	JPH_ADD_ENUM_ATTRIBUTE(GearConstraintSettings, mSpace)
-	JPH_ADD_ATTRIBUTE(GearConstraintSettings, mHingeAxis1)
-	JPH_ADD_ATTRIBUTE(GearConstraintSettings, mHingeAxis2)
-	JPH_ADD_ATTRIBUTE(GearConstraintSettings, mRatio)
-}
-
-void GearConstraintSettings::SaveBinaryState(StreamOut &inStream) const
-{
-	ConstraintSettings::SaveBinaryState(inStream);
-
-	inStream.Write(mSpace);
-	inStream.Write(mHingeAxis1);
-	inStream.Write(mHingeAxis2);
-	inStream.Write(mRatio);
-}
-
-void GearConstraintSettings::RestoreBinaryState(StreamIn &inStream)
-{
-	ConstraintSettings::RestoreBinaryState(inStream);
-
-	inStream.Read(mSpace);
-	inStream.Read(mHingeAxis1);
-	inStream.Read(mHingeAxis2);
-	inStream.Read(mRatio);
-}
-
-TwoBodyConstraint *GearConstraintSettings::Create(Body &inBody1, Body &inBody2) const
-{
-	return new GearConstraint(inBody1, inBody2, *this);
-}
-
-GearConstraint::GearConstraint(Body &inBody1, Body &inBody2, const GearConstraintSettings &inSettings) :
-	TwoBodyConstraint(inBody1, inBody2, inSettings),
-	mLocalSpaceHingeAxis1(inSettings.mHingeAxis1),
-	mLocalSpaceHingeAxis2(inSettings.mHingeAxis2),
-	mRatio(inSettings.mRatio)
-{
-	if (inSettings.mSpace == EConstraintSpace::WorldSpace)
-	{
-		// If all properties were specified in world space, take them to local space now
-		mLocalSpaceHingeAxis1 = inBody1.GetInverseCenterOfMassTransform().Multiply3x3(mLocalSpaceHingeAxis1).Normalized();
-		mLocalSpaceHingeAxis2 = inBody2.GetInverseCenterOfMassTransform().Multiply3x3(mLocalSpaceHingeAxis2).Normalized();
-	}
-}
-
-void GearConstraint::CalculateConstraintProperties(Mat44Arg inRotation1, Mat44Arg inRotation2)
-{
-	// Calculate world space normals
-	mWorldSpaceHingeAxis1 = inRotation1 * mLocalSpaceHingeAxis1;
-	mWorldSpaceHingeAxis2 = inRotation2 * mLocalSpaceHingeAxis2;
-
-	mGearConstraintPart.CalculateConstraintProperties(*mBody1, mWorldSpaceHingeAxis1, *mBody2, mWorldSpaceHingeAxis2, mRatio);
-}
-
-void GearConstraint::SetupVelocityConstraint(float inDeltaTime)
-{
-	// Calculate constraint properties that are constant while bodies don't move
-	Mat44 rotation1 = Mat44::sRotation(mBody1->GetRotation());
-	Mat44 rotation2 = Mat44::sRotation(mBody2->GetRotation());
-	CalculateConstraintProperties(rotation1, rotation2);
-}
-
-void GearConstraint::ResetWarmStart()
-{
-	mGearConstraintPart.Deactivate();
-}
-
-void GearConstraint::WarmStartVelocityConstraint(float inWarmStartImpulseRatio)
-{
-	// Warm starting: Apply previous frame impulse
-	mGearConstraintPart.WarmStart(*mBody1, *mBody2, inWarmStartImpulseRatio);
-}
-
-bool GearConstraint::SolveVelocityConstraint(float inDeltaTime)
-{
-	return mGearConstraintPart.SolveVelocityConstraint(*mBody1, mWorldSpaceHingeAxis1, *mBody2, mWorldSpaceHingeAxis2, mRatio);
-}
-
-bool GearConstraint::SolvePositionConstraint(float inDeltaTime, float inBaumgarte)
-{
-	if (mGear1Constraint == nullptr || mGear2Constraint == nullptr)
-		return false;
-
-	float gear1rot;
-	if (mGear1Constraint->GetSubType() == EConstraintSubType::Hinge)
-	{
-		gear1rot = StaticCast<HingeConstraint>(mGear1Constraint)->GetCurrentAngle();
-	}
-	else
-	{
-		JPH_ASSERT(false, "Unsupported");
-		return false;
-	}
-
-	float gear2rot;
-	if (mGear2Constraint->GetSubType() == EConstraintSubType::Hinge)
-	{
-		gear2rot = StaticCast<HingeConstraint>(mGear2Constraint)->GetCurrentAngle();
-	}
-	else
-	{
-		JPH_ASSERT(false, "Unsupported");
-		return false;
-	}
-
-	float error = CenterAngleAroundZero(fmod(gear1rot + mRatio * gear2rot, 2.0f * JPH_PI));
-	if (error == 0.0f)
-		return false;
-
-	Mat44 rotation1 = Mat44::sRotation(mBody1->GetRotation());
-	Mat44 rotation2 = Mat44::sRotation(mBody2->GetRotation());
-	CalculateConstraintProperties(rotation1, rotation2);
-	return mGearConstraintPart.SolvePositionConstraint(*mBody1, *mBody2, error, inBaumgarte);
-}
-
-#ifdef JPH_DEBUG_RENDERER
-void GearConstraint::DrawConstraint(DebugRenderer *inRenderer) const
-{
-	RMat44 transform1 = mBody1->GetCenterOfMassTransform();
-	RMat44 transform2 = mBody2->GetCenterOfMassTransform();
-
-	// Draw constraint axis
-	inRenderer->DrawArrow(transform1.GetTranslation(), transform1 * mLocalSpaceHingeAxis1, Color::sGreen, 0.01f);
-	inRenderer->DrawArrow(transform2.GetTranslation(), transform2 * mLocalSpaceHingeAxis2, Color::sBlue, 0.01f);
-}
-
-#endif // JPH_DEBUG_RENDERER
-
-void GearConstraint::SaveState(StateRecorder &inStream) const
-{
-	TwoBodyConstraint::SaveState(inStream);
-
-	mGearConstraintPart.SaveState(inStream);
-}
-
-void GearConstraint::RestoreState(StateRecorder &inStream)
-{
-	TwoBodyConstraint::RestoreState(inStream);
-
-	mGearConstraintPart.RestoreState(inStream);
-}
-
-Ref<ConstraintSettings> GearConstraint::GetConstraintSettings() const
-{
-	GearConstraintSettings *settings = new GearConstraintSettings;
-	ToConstraintSettings(*settings);
-	settings->mSpace = EConstraintSpace::LocalToBodyCOM;
-	settings->mHingeAxis1 = mLocalSpaceHingeAxis1;
-	settings->mHingeAxis2 = mLocalSpaceHingeAxis2;
-	settings->mRatio = mRatio;
-	return settings;
-}
-
-Mat44 GearConstraint::GetConstraintToBody1Matrix() const
-{
-	Vec3 perp = mLocalSpaceHingeAxis1.GetNormalizedPerpendicular();
-	return Mat44(Vec4(mLocalSpaceHingeAxis1, 0), Vec4(perp, 0), Vec4(mLocalSpaceHingeAxis1.Cross(perp), 0), Vec4(0, 0, 0, 1));
-}
-
-Mat44 GearConstraint::GetConstraintToBody2Matrix() const
-{
-	Vec3 perp = mLocalSpaceHingeAxis2.GetNormalizedPerpendicular();
-	return Mat44(Vec4(mLocalSpaceHingeAxis2, 0), Vec4(perp, 0), Vec4(mLocalSpaceHingeAxis2.Cross(perp), 0), Vec4(0, 0, 0, 1));
-}
-
-JPH_NAMESPACE_END

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

@@ -1,116 +0,0 @@
-// 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/ConstraintPart/GearConstraintPart.h>
-
-JPH_NAMESPACE_BEGIN
-
-/// Gear constraint settings
-class JPH_EXPORT GearConstraintSettings final : public TwoBodyConstraintSettings
-{
-	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, GearConstraintSettings)
-
-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;
-
-	/// Defines the ratio between the rotation of both gears
-	/// The ratio is defined as: Gear1Rotation(t) = -ratio * Gear2Rotation(t)
-	/// @param inNumTeethGear1 Number of teeth that body 1 has
-	/// @param inNumTeethGear2 Number of teeth that body 2 has
-	void						SetRatio(int inNumTeethGear1, int inNumTeethGear2)
-	{
-		mRatio = float(inNumTeethGear2) / float(inNumTeethGear1);
-	}
-
-	/// 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).
-	Vec3						mHingeAxis1 = Vec3::sAxisX();
-
-	/// Body 2 constraint reference frame (space determined by mSpace)
-	Vec3						mHingeAxis2 = Vec3::sAxisX();
-
-	/// Ratio between both gears, see SetRatio.
-	float						mRatio = 1.0f;
-
-protected:
-	// See: ConstraintSettings::RestoreBinaryState
-	virtual void				RestoreBinaryState(StreamIn &inStream) override;
-};
-
-/// A gear constraint constrains the rotation of body1 to the rotation of body 2 using a gear.
-/// Note that this constraint needs to be used in conjunction with a two hinge constraints.
-class JPH_EXPORT GearConstraint final : public TwoBodyConstraint
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Construct gear constraint
-								GearConstraint(Body &inBody1, Body &inBody2, const GearConstraintSettings &inSettings);
-
-	// Generic interface of a constraint
-	virtual EConstraintSubType	GetSubType() const override								{ return EConstraintSubType::Gear; }
-	virtual void				NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM) override { /* Do nothing */ }
-	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;
-#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;
-
-	/// The constraints that constrain both gears (2 hinges), optional and used to calculate the rotation error and fix numerical drift.
-	void						SetConstraints(const Constraint *inGear1, const Constraint *inGear2)	{ mGear1Constraint = inGear1; mGear2Constraint = inGear2; }
-
-	///@name Get Lagrange multiplier from last physics update (the angular impulse applied to satisfy the constraint)
-	inline float				GetTotalLambda() const									{ return mGearConstraintPart.GetTotalLambda(); }
-
-private:
-	// Internal helper function to calculate the values below
-	void						CalculateConstraintProperties(Mat44Arg inRotation1, Mat44Arg inRotation2);
-
-	// CONFIGURATION PROPERTIES FOLLOW
-
-	// Local space hinge axis for body 1
-	Vec3						mLocalSpaceHingeAxis1;
-
-	// Local space hinge axis for body 2
-	Vec3						mLocalSpaceHingeAxis2;
-
-	// Ratio between gear 1 and 2
-	float						mRatio;
-
-	// The constraints that constrain both gears (2 hinges), optional and used to calculate the rotation error and fix numerical drift.
-	RefConst<Constraint>		mGear1Constraint;
-	RefConst<Constraint>		mGear2Constraint;
-
-	// RUN TIME PROPERTIES FOLLOW
-
-	// World space hinge axis for body 1
-	Vec3						mWorldSpaceHingeAxis1;
-
-	// World space hinge axis for body 2
-	Vec3						mWorldSpaceHingeAxis2;
-
-	// The constraint parts
-	GearConstraintPart			mGearConstraintPart;
-};
-
-JPH_NAMESPACE_END