@bloomengine/engine 0.4.0 → 0.4.2

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

@@ -1,189 +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/RackAndPinionConstraint.h>
-#include <Jolt/Physics/Constraints/HingeConstraint.h>
-#include <Jolt/Physics/Constraints/SliderConstraint.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(RackAndPinionConstraintSettings)
-{
-	JPH_ADD_BASE_CLASS(RackAndPinionConstraintSettings, TwoBodyConstraintSettings)
-
-	JPH_ADD_ENUM_ATTRIBUTE(RackAndPinionConstraintSettings, mSpace)
-	JPH_ADD_ATTRIBUTE(RackAndPinionConstraintSettings, mHingeAxis)
-	JPH_ADD_ATTRIBUTE(RackAndPinionConstraintSettings, mSliderAxis)
-	JPH_ADD_ATTRIBUTE(RackAndPinionConstraintSettings, mRatio)
-}
-
-void RackAndPinionConstraintSettings::SaveBinaryState(StreamOut &inStream) const
-{
-	ConstraintSettings::SaveBinaryState(inStream);
-
-	inStream.Write(mSpace);
-	inStream.Write(mHingeAxis);
-	inStream.Write(mSliderAxis);
-	inStream.Write(mRatio);
-}
-
-void RackAndPinionConstraintSettings::RestoreBinaryState(StreamIn &inStream)
-{
-	ConstraintSettings::RestoreBinaryState(inStream);
-
-	inStream.Read(mSpace);
-	inStream.Read(mHingeAxis);
-	inStream.Read(mSliderAxis);
-	inStream.Read(mRatio);
-}
-
-TwoBodyConstraint *RackAndPinionConstraintSettings::Create(Body &inBody1, Body &inBody2) const
-{
-	return new RackAndPinionConstraint(inBody1, inBody2, *this);
-}
-
-RackAndPinionConstraint::RackAndPinionConstraint(Body &inBody1, Body &inBody2, const RackAndPinionConstraintSettings &inSettings) :
-	TwoBodyConstraint(inBody1, inBody2, inSettings),
-	mLocalSpaceHingeAxis(inSettings.mHingeAxis),
-	mLocalSpaceSliderAxis(inSettings.mSliderAxis),
-	mRatio(inSettings.mRatio)
-{
-	if (inSettings.mSpace == EConstraintSpace::WorldSpace)
-	{
-		// If all properties were specified in world space, take them to local space now
-		mLocalSpaceHingeAxis = inBody1.GetInverseCenterOfMassTransform().Multiply3x3(mLocalSpaceHingeAxis).Normalized();
-		mLocalSpaceSliderAxis = inBody2.GetInverseCenterOfMassTransform().Multiply3x3(mLocalSpaceSliderAxis).Normalized();
-	}
-}
-
-void RackAndPinionConstraint::CalculateConstraintProperties(Mat44Arg inRotation1, Mat44Arg inRotation2)
-{
-	// Calculate world space normals
-	mWorldSpaceHingeAxis = inRotation1 * mLocalSpaceHingeAxis;
-	mWorldSpaceSliderAxis = inRotation2 * mLocalSpaceSliderAxis;
-
-	mRackAndPinionConstraintPart.CalculateConstraintProperties(*mBody1, mWorldSpaceHingeAxis, *mBody2, mWorldSpaceSliderAxis, mRatio);
-}
-
-void RackAndPinionConstraint::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 RackAndPinionConstraint::ResetWarmStart()
-{
-	mRackAndPinionConstraintPart.Deactivate();
-}
-
-void RackAndPinionConstraint::WarmStartVelocityConstraint(float inWarmStartImpulseRatio)
-{
-	// Warm starting: Apply previous frame impulse
-	mRackAndPinionConstraintPart.WarmStart(*mBody1, *mBody2, inWarmStartImpulseRatio);
-}
-
-bool RackAndPinionConstraint::SolveVelocityConstraint(float inDeltaTime)
-{
-	return mRackAndPinionConstraintPart.SolveVelocityConstraint(*mBody1, mWorldSpaceHingeAxis, *mBody2, mWorldSpaceSliderAxis, mRatio);
-}
-
-bool RackAndPinionConstraint::SolvePositionConstraint(float inDeltaTime, float inBaumgarte)
-{
-	if (mRackConstraint == nullptr || mPinionConstraint == nullptr)
-		return false;
-
-	float rotation;
-	if (mPinionConstraint->GetSubType() == EConstraintSubType::Hinge)
-	{
-		rotation = StaticCast<HingeConstraint>(mPinionConstraint)->GetCurrentAngle();
-	}
-	else
-	{
-		JPH_ASSERT(false, "Unsupported");
-		return false;
-	}
-
-	float translation;
-	if (mRackConstraint->GetSubType() == EConstraintSubType::Slider)
-	{
-		translation = StaticCast<SliderConstraint>(mRackConstraint)->GetCurrentPosition();
-	}
-	else
-	{
-		JPH_ASSERT(false, "Unsupported");
-		return false;
-	}
-
-	float error = CenterAngleAroundZero(fmod(rotation - mRatio * translation, 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 mRackAndPinionConstraintPart.SolvePositionConstraint(*mBody1, *mBody2, error, inBaumgarte);
-}
-
-#ifdef JPH_DEBUG_RENDERER
-void RackAndPinionConstraint::DrawConstraint(DebugRenderer *inRenderer) const
-{
-	RMat44 transform1 = mBody1->GetCenterOfMassTransform();
-	RMat44 transform2 = mBody2->GetCenterOfMassTransform();
-
-	// Draw constraint axis
-	inRenderer->DrawArrow(transform1.GetTranslation(), transform1 * mLocalSpaceHingeAxis, Color::sGreen, 0.01f);
-	inRenderer->DrawArrow(transform2.GetTranslation(), transform2 * mLocalSpaceSliderAxis, Color::sBlue, 0.01f);
-}
-
-#endif // JPH_DEBUG_RENDERER
-
-void RackAndPinionConstraint::SaveState(StateRecorder &inStream) const
-{
-	TwoBodyConstraint::SaveState(inStream);
-
-	mRackAndPinionConstraintPart.SaveState(inStream);
-}
-
-void RackAndPinionConstraint::RestoreState(StateRecorder &inStream)
-{
-	TwoBodyConstraint::RestoreState(inStream);
-
-	mRackAndPinionConstraintPart.RestoreState(inStream);
-}
-
-Ref<ConstraintSettings> RackAndPinionConstraint::GetConstraintSettings() const
-{
-	RackAndPinionConstraintSettings *settings = new RackAndPinionConstraintSettings;
-	ToConstraintSettings(*settings);
-	settings->mSpace = EConstraintSpace::LocalToBodyCOM;
-	settings->mHingeAxis = mLocalSpaceHingeAxis;
-	settings->mSliderAxis = mLocalSpaceSliderAxis;
-	settings->mRatio = mRatio;
-	return settings;
-}
-
-Mat44 RackAndPinionConstraint::GetConstraintToBody1Matrix() const
-{
-	Vec3 perp = mLocalSpaceHingeAxis.GetNormalizedPerpendicular();
-	return Mat44(Vec4(mLocalSpaceHingeAxis, 0), Vec4(perp, 0), Vec4(mLocalSpaceHingeAxis.Cross(perp), 0), Vec4(0, 0, 0, 1));
-}
-
-Mat44 RackAndPinionConstraint::GetConstraintToBody2Matrix() const
-{
-	Vec3 perp = mLocalSpaceSliderAxis.GetNormalizedPerpendicular();
-	return Mat44(Vec4(mLocalSpaceSliderAxis, 0), Vec4(perp, 0), Vec4(mLocalSpaceSliderAxis.Cross(perp), 0), Vec4(0, 0, 0, 1));
-}
-
-JPH_NAMESPACE_END

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

@@ -1,118 +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/RackAndPinionConstraintPart.h>
-
-JPH_NAMESPACE_BEGIN
-
-/// Rack and pinion constraint (slider & gear) settings
-class JPH_EXPORT RackAndPinionConstraintSettings final : public TwoBodyConstraintSettings
-{
-	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, RackAndPinionConstraintSettings)
-
-public:
-	// See: ConstraintSettings::SaveBinaryState
-	virtual void				SaveBinaryState(StreamOut &inStream) const override;
-
-	/// Create an instance of this constraint.
-	/// Body1 should be the pinion (gear) and body 2 the rack (slider).
-	virtual TwoBodyConstraint *	Create(Body &inBody1, Body &inBody2) const override;
-
-	/// Defines the ratio between the rotation of the pinion and the translation of the rack.
-	/// The ratio is defined as: PinionRotation(t) = ratio * RackTranslation(t)
-	/// @param inNumTeethRack Number of teeth that the rack has
-	/// @param inRackLength Length of the rack
-	/// @param inNumTeethPinion Number of teeth the pinion has
-	void						SetRatio(int inNumTeethRack, float inRackLength, int inNumTeethPinion)
-	{
-		mRatio = 2.0f * JPH_PI * inNumTeethRack / (inRackLength * inNumTeethPinion);
-	}
-
-	/// This determines in which space the constraint is setup, all properties below should be in the specified space
-	EConstraintSpace			mSpace = EConstraintSpace::WorldSpace;
-
-	/// Body 1 (pinion) constraint reference frame (space determined by mSpace).
-	Vec3						mHingeAxis = Vec3::sAxisX();
-
-	/// Body 2 (rack) constraint reference frame (space determined by mSpace)
-	Vec3						mSliderAxis = Vec3::sAxisX();
-
-	/// Ratio between the rack and pinion, see SetRatio.
-	float						mRatio = 1.0f;
-
-protected:
-	// See: ConstraintSettings::RestoreBinaryState
-	virtual void				RestoreBinaryState(StreamIn &inStream) override;
-};
-
-/// A rack and pinion constraint constrains the rotation of body1 to the translation of body 2.
-/// Note that this constraint needs to be used in conjunction with a hinge constraint for body 1 and a slider constraint for body 2.
-class JPH_EXPORT RackAndPinionConstraint final : public TwoBodyConstraint
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Construct gear constraint
-								RackAndPinionConstraint(Body &inBody1, Body &inBody2, const RackAndPinionConstraintSettings &inSettings);
-
-	// Generic interface of a constraint
-	virtual EConstraintSubType	GetSubType() const override												{ return EConstraintSubType::RackAndPinion; }
-	virtual void				NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM) override { /* 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 the rack and pinion (a slider and a hinge), optional and used to calculate the position error and fix numerical drift.
-	void						SetConstraints(const Constraint *inPinion, const Constraint *inRack)	{ mPinionConstraint = inPinion; mRackConstraint = inRack; }
-
-	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
-	inline float				GetTotalLambda() const													{ return mRackAndPinionConstraintPart.GetTotalLambda(); }
-
-private:
-	// Internal helper function to calculate the values below
-	void						CalculateConstraintProperties(Mat44Arg inRotation1, Mat44Arg inRotation2);
-
-	// CONFIGURATION PROPERTIES FOLLOW
-
-	// Local space hinge axis
-	Vec3						mLocalSpaceHingeAxis;
-
-	// Local space sliding direction
-	Vec3						mLocalSpaceSliderAxis;
-
-	// Ratio between rack and pinion
-	float						mRatio;
-
-	// The constraints that constrain the rack and pinion (a slider and a hinge), optional and used to calculate the position error and fix numerical drift.
-	RefConst<Constraint>		mPinionConstraint;
-	RefConst<Constraint>		mRackConstraint;
-
-	// RUN TIME PROPERTIES FOLLOW
-
-	// World space hinge axis
-	Vec3						mWorldSpaceHingeAxis;
-
-	// World space sliding direction
-	Vec3						mWorldSpaceSliderAxis;
-
-	// The constraint parts
-	RackAndPinionConstraintPart	mRackAndPinionConstraintPart;
-};
-
-JPH_NAMESPACE_END