godot/servers/physics_2d/joints_2d_sw.cpp
2014-02-09 22:10:30 -03:00

575 lines
15 KiB
C++

/*************************************************************************/
/* joints_2d_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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. */
/*************************************************************************/
#include "joints_2d_sw.h"
#include "space_2d_sw.h"
//based on chipmunk joint constraints
/* Copyright (c) 2007 Scott Lembcke
*
* 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.
*/
static inline real_t k_scalar(Body2DSW *a,Body2DSW *b,const Vector2& rA, const Vector2& rB, const Vector2& n) {
real_t value=0;
{
value+=a->get_inv_mass();
real_t rcn = rA.cross(n);
value+=a->get_inv_inertia() * rcn * rcn;
}
if (b) {
value+=b->get_inv_mass();
real_t rcn = rB.cross(n);
value+=b->get_inv_inertia() * rcn * rcn;
}
return value;
}
static inline Vector2
relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB){
Vector2 sum = a->get_linear_velocity() -rA.tangent() * a->get_angular_velocity();
if (b)
return (b->get_linear_velocity() -rB.tangent() * b->get_angular_velocity()) - sum;
else
return -sum;
}
static inline real_t
normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vector2 n){
return relative_velocity(a, b, rA, rB).dot(n);
}
#if 0
bool PinJoint2DSW::setup(float p_step) {
Space2DSW *space = A->get_space();
ERR_FAIL_COND_V(!space,false;)
rA = A->get_transform().basis_xform(anchor_A);
rB = B?B->get_transform().basis_xform(anchor_B):anchor_B;
Vector2 gA = A->get_transform().get_origin();
Vector2 gB = B?B->get_transform().get_origin():Vector2();
Vector2 delta = gB - gA;
delta = (delta+rB) -rA;
real_t jdist = delta.length();
correct=false;
if (jdist==0)
return false; // do not correct
correct=true;
n = delta / jdist;
// calculate mass normal
mass_normal = 1.0f/k_scalar(A, B, rA, rB, n);
// calculate bias velocity
//real_t maxBias = joint->constraint.maxBias;
bias = -(get_bias()==0?space->get_constraint_bias():get_bias())*(1.0/p_step)*(jdist-dist);
bias = CLAMP(bias, -get_max_bias(), +get_max_bias());
// compute max impulse
jn_max = get_max_force() * p_step;
// apply accumulated impulse
Vector2 j = n * jn_acc;
A->apply_impulse(rA,-j);
if (B)
B->apply_impulse(rB,j);
print_line("setup");
return true;
}
void PinJoint2DSW::solve(float p_step){
if (!correct)
return;
Vector2 ln = n;
// compute relative velocity
real_t vrn = normal_relative_velocity(A,B, rA, rB, ln);
// compute normal impulse
real_t jn = (bias - vrn)*mass_normal;
real_t jnOld = jn_acc;
jn_acc = CLAMP(jnOld + jn,-jn_max,jn_max); //cpfclamp(jnOld + jn, -joint->jnMax, joint->jnMax);
jn = jn_acc - jnOld;
print_line("jn_acc: "+rtos(jn_acc));
Vector2 j = jn*ln;
A->apply_impulse(rA,-j);
if (B)
B->apply_impulse(rB,j);
}
PinJoint2DSW::PinJoint2DSW(const Vector2& p_pos,Body2DSW* p_body_a,Body2DSW* p_body_b) : Joint2DSW(_arr,p_body_b?2:1) {
A=p_body_a;
B=p_body_b;
anchor_A = p_body_a->get_inv_transform().xform(p_pos);
anchor_B = p_body_b?p_body_b->get_inv_transform().xform(p_pos):p_pos;
jn_acc=0;
dist=0;
p_body_a->add_constraint(this,0);
if (p_body_b)
p_body_b->add_constraint(this,1);
}
PinJoint2DSW::~PinJoint2DSW() {
if (A)
A->remove_constraint(this);
if (B)
B->remove_constraint(this);
}
#else
bool PinJoint2DSW::setup(float p_step) {
Space2DSW *space = A->get_space();
ERR_FAIL_COND_V(!space,false;)
rA = A->get_transform().basis_xform(anchor_A);
rB = B?B->get_transform().basis_xform(anchor_B):anchor_B;
#if 0
Vector2 gA = rA+A->get_transform().get_origin();
Vector2 gB = B?rB+B->get_transform().get_origin():rB;
VectorB delta = gB - gA;
real_t jdist = delta.length();
correct=false;
if (jdist==0)
return false; // do not correct
#endif
// deltaV = deltaV0 + K * impulse
// invM = [(1/m1 + 1/m2) * eye(2) - skew(rA) * invI1 * skew(rA) - skew(rB) * invI2 * skew(rB)]
// = [1/m1+1/m2 0 ] + invI1 * [rA.y*rA.y -rA.x*rA.y] + invI2 * [rA.y*rA.y -rA.x*rA.y]
// [ 0 1/m1+1/m2] [-rA.x*rA.y rA.x*rA.x] [-rA.x*rA.y rA.x*rA.x]
real_t B_inv_mass = B?B->get_inv_mass():0.0;
Matrix32 K1;
K1[0].x = A->get_inv_mass() + B_inv_mass; K1[1].x = 0.0f;
K1[0].y = 0.0f; K1[1].y = A->get_inv_mass() + B_inv_mass;
Matrix32 K2;
K2[0].x = A->get_inv_inertia() * rA.y * rA.y; K2[1].x = -A->get_inv_inertia() * rA.x * rA.y;
K2[0].y = -A->get_inv_inertia() * rA.x * rA.y; K2[1].y = A->get_inv_inertia() * rA.x * rA.x;
Matrix32 K;
K[0]= K1[0] + K2[0];
K[1]= K1[1] + K2[1];
if (B) {
Matrix32 K3;
K3[0].x = B->get_inv_inertia() * rB.y * rB.y; K3[1].x = -B->get_inv_inertia() * rB.x * rB.y;
K3[0].y = -B->get_inv_inertia() * rB.x * rB.y; K3[1].y = B->get_inv_inertia() * rB.x * rB.x;
K[0]+=K3[0];
K[1]+=K3[1];
}
K[0].x += softness;
K[1].y += softness;
M = K.affine_inverse();
Vector2 gA = rA+A->get_transform().get_origin();
Vector2 gB = B?rB+B->get_transform().get_origin():rB;
Vector2 delta = gB - gA;
bias = delta*-(get_bias()==0?space->get_constraint_bias():get_bias())*(1.0/p_step);
// apply accumulated impulse
A->apply_impulse(rA,-P);
if (B)
B->apply_impulse(rB,P);
return true;
}
void PinJoint2DSW::solve(float p_step){
// compute relative velocity
Vector2 vA = A->get_linear_velocity() - rA.cross(A->get_angular_velocity());
Vector2 rel_vel;
if (B)
rel_vel = B->get_linear_velocity() - rB.cross(B->get_angular_velocity()) - vA;
else
rel_vel = -vA;
Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness,softness) * P);
A->apply_impulse(rA,-impulse);
if (B)
B->apply_impulse(rB,impulse);
P += impulse;
}
PinJoint2DSW::PinJoint2DSW(const Vector2& p_pos,Body2DSW* p_body_a,Body2DSW* p_body_b) : Joint2DSW(_arr,p_body_b?2:1) {
A=p_body_a;
B=p_body_b;
anchor_A = p_body_a->get_inv_transform().xform(p_pos);
anchor_B = p_body_b?p_body_b->get_inv_transform().xform(p_pos):p_pos;
softness=0;
p_body_a->add_constraint(this,0);
if (p_body_b)
p_body_b->add_constraint(this,1);
}
PinJoint2DSW::~PinJoint2DSW() {
if (A)
A->remove_constraint(this);
if (B)
B->remove_constraint(this);
}
#endif
//////////////////////////////////////////////
//////////////////////////////////////////////
//////////////////////////////////////////////
static inline void
k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2)
{
// calculate mass matrix
// If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
real_t k11, k12, k21, k22;
real_t m_sum = a->get_inv_mass() + b->get_inv_mass();
// start with I*m_sum
k11 = m_sum; k12 = 0.0f;
k21 = 0.0f; k22 = m_sum;
// add the influence from r1
real_t a_i_inv = a->get_inv_inertia();
real_t r1xsq = r1.x * r1.x * a_i_inv;
real_t r1ysq = r1.y * r1.y * a_i_inv;
real_t r1nxy = -r1.x * r1.y * a_i_inv;
k11 += r1ysq; k12 += r1nxy;
k21 += r1nxy; k22 += r1xsq;
// add the influnce from r2
real_t b_i_inv = b->get_inv_inertia();
real_t r2xsq = r2.x * r2.x * b_i_inv;
real_t r2ysq = r2.y * r2.y * b_i_inv;
real_t r2nxy = -r2.x * r2.y * b_i_inv;
k11 += r2ysq; k12 += r2nxy;
k21 += r2nxy; k22 += r2xsq;
// invert
real_t determinant = k11*k22 - k12*k21;
ERR_FAIL_COND(determinant== 0.0);
real_t det_inv = 1.0f/determinant;
*k1 = Vector2( k22*det_inv, -k12*det_inv);
*k2 = Vector2(-k21*det_inv, k11*det_inv);
}
static _FORCE_INLINE_ Vector2
mult_k(const Vector2& vr, const Vector2 &k1, const Vector2 &k2)
{
return Vector2(vr.dot(k1), vr.dot(k2));
}
bool GrooveJoint2DSW::setup(float p_step) {
// calculate endpoints in worldspace
Vector2 ta = A->get_transform().xform(A_groove_1);
Vector2 tb = A->get_transform().xform(A_groove_2);
Space2DSW *space=A->get_space();
// calculate axis
Vector2 n = -(tb - ta).tangent().normalized();
real_t d = ta.dot(n);
xf_normal = n;
rB = B->get_transform().basis_xform(B_anchor);
// calculate tangential distance along the axis of rB
real_t td = (B->get_transform().get_origin() + rB).cross(n);
// calculate clamping factor and rB
if(td <= ta.cross(n)){
clamp = 1.0f;
rA = ta - A->get_transform().get_origin();
} else if(td >= tb.cross(n)){
clamp = -1.0f;
rA = tb - A->get_transform().get_origin();
} else {
clamp = 0.0f;
//joint->r1 = cpvsub(cpvadd(cpvmult(cpvperp(n), -td), cpvmult(n, d)), a->p);
rA = ((-n.tangent() * -td) + n*d) - A->get_transform().get_origin();
}
// Calculate mass tensor
k_tensor(A, B, rA, rB, &k1, &k2);
// compute max impulse
jn_max = get_max_force() * p_step;
// calculate bias velocity
// cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
// joint->bias = cpvclamp(cpvmult(delta, -joint->constraint.biasCoef*dt_inv), joint->constraint.maxBias);
Vector2 delta = (B->get_transform().get_origin() +rB) - (A->get_transform().get_origin() + rA);
float _b = get_bias();
_b=0.001;
gbias=(delta*-(_b==0?space->get_constraint_bias():_b)*(1.0/p_step)).clamped(get_max_bias());
// apply accumulated impulse
A->apply_impulse(rA,-jn_acc);
B->apply_impulse(rB,jn_acc);
correct=true;
return true;
}
void GrooveJoint2DSW::solve(float p_step){
// compute impulse
Vector2 vr = relative_velocity(A, B, rA,rB);
Vector2 j = mult_k(gbias-vr, k1, k2);
Vector2 jOld = jn_acc;
j+=jOld;
jn_acc = (((clamp * j.cross(xf_normal)) > 0) ? j : xf_normal.project(j)).clamped(jn_max);
j = jn_acc - jOld;
A->apply_impulse(rA,-j);
B->apply_impulse(rB,j);
}
GrooveJoint2DSW::GrooveJoint2DSW(const Vector2& p_a_groove1,const Vector2& p_a_groove2, const Vector2& p_b_anchor, Body2DSW* p_body_a,Body2DSW* p_body_b) : Joint2DSW(_arr,2) {
A=p_body_a;
B=p_body_b;
A_groove_1 = A->get_inv_transform().xform(p_a_groove1);
A_groove_2 = A->get_inv_transform().xform(p_a_groove2);
B_anchor=B->get_inv_transform().xform(p_b_anchor);
A_groove_normal = -(A_groove_2 - A_groove_1).normalized().tangent();
A->add_constraint(this,0);
B->add_constraint(this,1);
}
GrooveJoint2DSW::~GrooveJoint2DSW() {
A->remove_constraint(this);
B->remove_constraint(this);
}
//////////////////////////////////////////////
//////////////////////////////////////////////
//////////////////////////////////////////////
bool DampedSpringJoint2DSW::setup(float p_step) {
rA = A->get_transform().basis_xform(anchor_A);
rB = B->get_transform().basis_xform(anchor_B);
Vector2 delta = (B->get_transform().get_origin() + rB) - (A->get_transform().get_origin() + rA) ;
real_t dist = delta.length();
if (dist)
n=delta/dist;
else
n=Vector2();
real_t k = k_scalar(A, B, rA, rB, n);
n_mass = 1.0f/k;
target_vrn = 0.0f;
v_coef = 1.0f - Math::exp(-damping*(p_step)*k);
// apply spring force
real_t f_spring = (rest_length - dist) * stiffness;
Vector2 j = n * f_spring*(p_step);
A->apply_impulse(rA,-j);
B->apply_impulse(rB,j);
return true;
}
void DampedSpringJoint2DSW::solve(float p_step) {
// compute relative velocity
real_t vrn = normal_relative_velocity(A, B, rA, rB, n) - target_vrn;
// compute velocity loss from drag
// not 100% certain this is derived correctly, though it makes sense
real_t v_damp = -vrn*v_coef;
target_vrn = vrn + v_damp;
Vector2 j=n*v_damp*n_mass;
A->apply_impulse(rA,-j);
B->apply_impulse(rB,j);
}
void DampedSpringJoint2DSW::set_param(Physics2DServer::DampedStringParam p_param, real_t p_value) {
switch(p_param) {
case Physics2DServer::DAMPED_STRING_REST_LENGTH: {
rest_length=p_value;
} break;
case Physics2DServer::DAMPED_STRING_DAMPING: {
damping=p_value;
} break;
case Physics2DServer::DAMPED_STRING_STIFFNESS: {
stiffness=p_value;
} break;
}
}
real_t DampedSpringJoint2DSW::get_param(Physics2DServer::DampedStringParam p_param) const{
switch(p_param) {
case Physics2DServer::DAMPED_STRING_REST_LENGTH: {
return rest_length;
} break;
case Physics2DServer::DAMPED_STRING_DAMPING: {
return damping;
} break;
case Physics2DServer::DAMPED_STRING_STIFFNESS: {
return stiffness;
} break;
}
ERR_FAIL_V(0);
}
DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2& p_anchor_a,const Vector2& p_anchor_b, Body2DSW* p_body_a,Body2DSW* p_body_b) : Joint2DSW(_arr,2) {
A=p_body_a;
B=p_body_b;
anchor_A = A->get_inv_transform().xform(p_anchor_a);
anchor_B = B->get_inv_transform().xform(p_anchor_b);
rest_length=p_anchor_a.distance_to(p_anchor_b);
stiffness=20;
damping=1.5;
A->add_constraint(this,0);
B->add_constraint(this,1);
}
DampedSpringJoint2DSW::~DampedSpringJoint2DSW() {
A->remove_constraint(this);
B->remove_constraint(this);
}