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diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
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-/*************************************************************************/
-/* hinge_joint_sw.cpp */
-/*************************************************************************/
-/* This file is part of: */
-/* GODOT ENGINE */
-/* https://godotengine.org */
-/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
-/* */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the */
-/* "Software"), to deal in the Software without restriction, including */
-/* without limitation the rights to use, copy, modify, merge, publish, */
-/* distribute, sublicense, and/or sell copies of the Software, and to */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions: */
-/* */
-/* The above copyright notice and this permission notice shall be */
-/* included in all copies or substantial portions of the Software. */
-/* */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
-/*************************************************************************/
-
-/*
-Adapted to Godot from the Bullet library.
-*/
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "hinge_joint_sw.h"
-
-static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
-
- if (Math::abs(n.z) > Math_SQRT12) {
- // choose p in y-z plane
- real_t a = n[1] * n[1] + n[2] * n[2];
- real_t k = 1.0 / Math::sqrt(a);
- p = Vector3(0, -n[2] * k, n[1] * k);
- // set q = n x p
- q = Vector3(a * k, -n[0] * p[2], n[0] * p[1]);
- } else {
- // choose p in x-y plane
- real_t a = n.x * n.x + n.y * n.y;
- real_t k = 1.0 / Math::sqrt(a);
- p = Vector3(-n.y * k, n.x * k, 0);
- // set q = n x p
- q = Vector3(-n.z * p.y, n.z * p.x, a * k);
- }
-}
-
-HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameA, const Transform &frameB) :
- JointSW(_arr, 2) {
-
- A = rbA;
- B = rbB;
-
- m_rbAFrame = frameA;
- m_rbBFrame = frameB;
- // flip axis
- m_rbBFrame.basis[0][2] *= real_t(-1.);
- m_rbBFrame.basis[1][2] *= real_t(-1.);
- m_rbBFrame.basis[2][2] *= real_t(-1.);
-
- //start with free
- m_lowerLimit = Math_PI;
- m_upperLimit = -Math_PI;
-
- m_useLimit = false;
- m_biasFactor = 0.3f;
- m_relaxationFactor = 1.0f;
- m_limitSoftness = 0.9f;
- m_solveLimit = false;
-
- tau = 0.3;
-
- m_angularOnly = false;
- m_enableAngularMotor = false;
-
- A->add_constraint(this, 0);
- B->add_constraint(this, 1);
-}
-
-HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB,
- const Vector3 &axisInA, const Vector3 &axisInB) :
- JointSW(_arr, 2) {
-
- A = rbA;
- B = rbB;
-
- m_rbAFrame.origin = pivotInA;
-
- // since no frame is given, assume this to be zero angle and just pick rb transform axis
- Vector3 rbAxisA1 = rbA->get_transform().basis.get_axis(0);
-
- Vector3 rbAxisA2;
- real_t projection = axisInA.dot(rbAxisA1);
- if (projection >= 1.0f - CMP_EPSILON) {
- rbAxisA1 = -rbA->get_transform().basis.get_axis(2);
- rbAxisA2 = rbA->get_transform().basis.get_axis(1);
- } else if (projection <= -1.0f + CMP_EPSILON) {
- rbAxisA1 = rbA->get_transform().basis.get_axis(2);
- rbAxisA2 = rbA->get_transform().basis.get_axis(1);
- } else {
- rbAxisA2 = axisInA.cross(rbAxisA1);
- rbAxisA1 = rbAxisA2.cross(axisInA);
- }
-
- m_rbAFrame.basis = Basis(rbAxisA1.x, rbAxisA2.x, axisInA.x,
- rbAxisA1.y, rbAxisA2.y, axisInA.y,
- rbAxisA1.z, rbAxisA2.z, axisInA.z);
-
- Quat rotationArc = Quat(axisInA, axisInB);
- Vector3 rbAxisB1 = rotationArc.xform(rbAxisA1);
- Vector3 rbAxisB2 = axisInB.cross(rbAxisB1);
-
- m_rbBFrame.origin = pivotInB;
- m_rbBFrame.basis = Basis(rbAxisB1.x, rbAxisB2.x, -axisInB.x,
- rbAxisB1.y, rbAxisB2.y, -axisInB.y,
- rbAxisB1.z, rbAxisB2.z, -axisInB.z);
-
- //start with free
- m_lowerLimit = Math_PI;
- m_upperLimit = -Math_PI;
-
- m_useLimit = false;
- m_biasFactor = 0.3f;
- m_relaxationFactor = 1.0f;
- m_limitSoftness = 0.9f;
- m_solveLimit = false;
-
- tau = 0.3;
-
- m_angularOnly = false;
- m_enableAngularMotor = false;
-
- A->add_constraint(this, 0);
- B->add_constraint(this, 1);
-}
-
-bool HingeJointSW::setup(real_t p_step) {
-
- m_appliedImpulse = real_t(0.);
-
- if (!m_angularOnly) {
- Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
- Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
- Vector3 relPos = pivotBInW - pivotAInW;
-
- Vector3 normal[3];
- if (Math::is_zero_approx(relPos.length_squared())) {
- normal[0] = Vector3(real_t(1.0), 0, 0);
- } else {
- normal[0] = relPos.normalized();
- }
-
- plane_space(normal[0], normal[1], normal[2]);
-
- for (int i = 0; i < 3; i++) {
- memnew_placement(&m_jac[i], JacobianEntrySW(
- A->get_principal_inertia_axes().transposed(),
- B->get_principal_inertia_axes().transposed(),
- pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
- pivotBInW - B->get_transform().origin - B->get_center_of_mass(),
- normal[i],
- A->get_inv_inertia(),
- A->get_inv_mass(),
- B->get_inv_inertia(),
- B->get_inv_mass()));
- }
- }
-
- //calculate two perpendicular jointAxis, orthogonal to hingeAxis
- //these two jointAxis require equal angular velocities for both bodies
-
- //this is unused for now, it's a todo
- Vector3 jointAxis0local;
- Vector3 jointAxis1local;
-
- plane_space(m_rbAFrame.basis.get_axis(2), jointAxis0local, jointAxis1local);
-
- Vector3 jointAxis0 = A->get_transform().basis.xform(jointAxis0local);
- Vector3 jointAxis1 = A->get_transform().basis.xform(jointAxis1local);
- Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
-
- memnew_placement(&m_jacAng[0], JacobianEntrySW(jointAxis0,
- A->get_principal_inertia_axes().transposed(),
- B->get_principal_inertia_axes().transposed(),
- A->get_inv_inertia(),
- B->get_inv_inertia()));
-
- memnew_placement(&m_jacAng[1], JacobianEntrySW(jointAxis1,
- A->get_principal_inertia_axes().transposed(),
- B->get_principal_inertia_axes().transposed(),
- A->get_inv_inertia(),
- B->get_inv_inertia()));
-
- memnew_placement(&m_jacAng[2], JacobianEntrySW(hingeAxisWorld,
- A->get_principal_inertia_axes().transposed(),
- B->get_principal_inertia_axes().transposed(),
- A->get_inv_inertia(),
- B->get_inv_inertia()));
-
- // Compute limit information
- real_t hingeAngle = get_hinge_angle();
-
- //set bias, sign, clear accumulator
- m_correction = real_t(0.);
- m_limitSign = real_t(0.);
- m_solveLimit = false;
- m_accLimitImpulse = real_t(0.);
-
- //if (m_lowerLimit < m_upperLimit)
- if (m_useLimit && m_lowerLimit <= m_upperLimit) {
- //if (hingeAngle <= m_lowerLimit*m_limitSoftness)
- if (hingeAngle <= m_lowerLimit) {
- m_correction = (m_lowerLimit - hingeAngle);
- m_limitSign = 1.0f;
- m_solveLimit = true;
- }
- //else if (hingeAngle >= m_upperLimit*m_limitSoftness)
- else if (hingeAngle >= m_upperLimit) {
- m_correction = m_upperLimit - hingeAngle;
- m_limitSign = -1.0f;
- m_solveLimit = true;
- }
- }
-
- //Compute K = J*W*J' for hinge axis
- Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
- m_kHinge = 1.0f / (A->compute_angular_impulse_denominator(axisA) +
- B->compute_angular_impulse_denominator(axisA));
-
- return true;
-}
-
-void HingeJointSW::solve(real_t p_step) {
-
- Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
- Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
-
- //real_t tau = real_t(0.3);
-
- //linear part
- if (!m_angularOnly) {
- Vector3 rel_pos1 = pivotAInW - A->get_transform().origin;
- Vector3 rel_pos2 = pivotBInW - B->get_transform().origin;
-
- Vector3 vel1 = A->get_velocity_in_local_point(rel_pos1);
- Vector3 vel2 = B->get_velocity_in_local_point(rel_pos2);
- Vector3 vel = vel1 - vel2;
-
- for (int i = 0; i < 3; i++) {
- const Vector3 &normal = m_jac[i].m_linearJointAxis;
- real_t jacDiagABInv = real_t(1.) / m_jac[i].getDiagonal();
-
- real_t rel_vel;
- rel_vel = normal.dot(vel);
- //positional error (zeroth order error)
- real_t depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
- real_t impulse = depth * tau / p_step * jacDiagABInv - rel_vel * jacDiagABInv;
- m_appliedImpulse += impulse;
- Vector3 impulse_vector = normal * impulse;
- A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
- B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
- }
- }
-
- {
- ///solve angular part
-
- // get axes in world space
- Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
- Vector3 axisB = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(2));
-
- const Vector3 &angVelA = A->get_angular_velocity();
- const Vector3 &angVelB = B->get_angular_velocity();
-
- Vector3 angVelAroundHingeAxisA = axisA * axisA.dot(angVelA);
- Vector3 angVelAroundHingeAxisB = axisB * axisB.dot(angVelB);
-
- Vector3 angAorthog = angVelA - angVelAroundHingeAxisA;
- Vector3 angBorthog = angVelB - angVelAroundHingeAxisB;
- Vector3 velrelOrthog = angAorthog - angBorthog;
- {
- //solve orthogonal angular velocity correction
- real_t relaxation = real_t(1.);
- real_t len = velrelOrthog.length();
- if (len > real_t(0.00001)) {
- Vector3 normal = velrelOrthog.normalized();
- real_t denom = A->compute_angular_impulse_denominator(normal) +
- B->compute_angular_impulse_denominator(normal);
- // scale for mass and relaxation
- velrelOrthog *= (real_t(1.) / denom) * m_relaxationFactor;
- }
-
- //solve angular positional correction
- Vector3 angularError = -axisA.cross(axisB) * (real_t(1.) / p_step);
- real_t len2 = angularError.length();
- if (len2 > real_t(0.00001)) {
- Vector3 normal2 = angularError.normalized();
- real_t denom2 = A->compute_angular_impulse_denominator(normal2) +
- B->compute_angular_impulse_denominator(normal2);
- angularError *= (real_t(1.) / denom2) * relaxation;
- }
-
- A->apply_torque_impulse(-velrelOrthog + angularError);
- B->apply_torque_impulse(velrelOrthog - angularError);
-
- // solve limit
- if (m_solveLimit) {
- real_t amplitude = ((angVelB - angVelA).dot(axisA) * m_relaxationFactor + m_correction * (real_t(1.) / p_step) * m_biasFactor) * m_limitSign;
-
- real_t impulseMag = amplitude * m_kHinge;
-
- // Clamp the accumulated impulse
- real_t temp = m_accLimitImpulse;
- m_accLimitImpulse = MAX(m_accLimitImpulse + impulseMag, real_t(0));
- impulseMag = m_accLimitImpulse - temp;
-
- Vector3 impulse = axisA * impulseMag * m_limitSign;
- A->apply_torque_impulse(impulse);
- B->apply_torque_impulse(-impulse);
- }
- }
-
- //apply motor
- if (m_enableAngularMotor) {
- //todo: add limits too
- Vector3 angularLimit(0, 0, 0);
-
- Vector3 velrel = angVelAroundHingeAxisA - angVelAroundHingeAxisB;
- real_t projRelVel = velrel.dot(axisA);
-
- real_t desiredMotorVel = m_motorTargetVelocity;
- real_t motor_relvel = desiredMotorVel - projRelVel;
-
- real_t unclippedMotorImpulse = m_kHinge * motor_relvel;
- //todo: should clip against accumulated impulse
- real_t clippedMotorImpulse = unclippedMotorImpulse > m_maxMotorImpulse ? m_maxMotorImpulse : unclippedMotorImpulse;
- clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse;
- Vector3 motorImp = clippedMotorImpulse * axisA;
-
- A->apply_torque_impulse(motorImp + angularLimit);
- B->apply_torque_impulse(-motorImp - angularLimit);
- }
- }
-}
-/*
-void HingeJointSW::updateRHS(real_t timeStep)
-{
- (void)timeStep;
-
-}
-*/
-
-static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
- real_t coeff_1 = Math_PI / 4.0f;
- real_t coeff_2 = 3.0f * coeff_1;
- real_t abs_y = Math::abs(y);
- real_t angle;
- if (x >= 0.0f) {
- real_t r = (x - abs_y) / (x + abs_y);
- angle = coeff_1 - coeff_1 * r;
- } else {
- real_t r = (x + abs_y) / (abs_y - x);
- angle = coeff_2 - coeff_1 * r;
- }
- return (y < 0.0f) ? -angle : angle;
-}
-
-real_t HingeJointSW::get_hinge_angle() {
- const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(0));
- const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(1));
- const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(1));
-
- return atan2fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
-}
-
-void HingeJointSW::set_param(PhysicsServer::HingeJointParam p_param, real_t p_value) {
-
- switch (p_param) {
-
- case PhysicsServer::HINGE_JOINT_BIAS: tau = p_value; break;
- case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: m_upperLimit = p_value; break;
- case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: m_lowerLimit = p_value; break;
- case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: m_biasFactor = p_value; break;
- case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: m_limitSoftness = p_value; break;
- case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: m_relaxationFactor = p_value; break;
- case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: m_motorTargetVelocity = p_value; break;
- case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: m_maxMotorImpulse = p_value; break;
- case PhysicsServer::HINGE_JOINT_MAX: break; // Can't happen, but silences warning
- }
-}
-
-real_t HingeJointSW::get_param(PhysicsServer::HingeJointParam p_param) const {
-
- switch (p_param) {
-
- case PhysicsServer::HINGE_JOINT_BIAS: return tau;
- case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: return m_upperLimit;
- case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: return m_lowerLimit;
- case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: return m_biasFactor;
- case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: return m_limitSoftness;
- case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: return m_relaxationFactor;
- case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: return m_motorTargetVelocity;
- case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: return m_maxMotorImpulse;
- case PhysicsServer::HINGE_JOINT_MAX: break; // Can't happen, but silences warning
- }
-
- return 0;
-}
-
-void HingeJointSW::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value) {
-
- switch (p_flag) {
- case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: m_useLimit = p_value; break;
- case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: m_enableAngularMotor = p_value; break;
- case PhysicsServer::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
- }
-}
-bool HingeJointSW::get_flag(PhysicsServer::HingeJointFlag p_flag) const {
-
- switch (p_flag) {
- case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: return m_useLimit;
- case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: return m_enableAngularMotor;
- case PhysicsServer::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
- }
-
- return false;
-}
generated by cgit v1.2.3 (git 2.25.1) at 2025-07-19 17:35:51 +0000