feat(physics): hinge joints

core/src/objects/joint/rotate.cpp

@@ -20,7 +20,7 @@ void Rotate::buildJoint() {
     part1.lock()->cframe = newFrame;
 
     // Do NOT use Abs() in this scenario. For some reason that breaks it
-    PhysJointHingeInfo jointInfo((part0.lock()->cframe * c0).Position(), -(part0.lock()->cframe * c0).LookVector().Unit());
+    PhysHingeJointInfo jointInfo(c0, c1);
     this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
     jointWorkspace = workspace;
 }

core/src/objects/joint/rotatev.cpp

@@ -21,7 +21,7 @@ void RotateV::buildJoint() {
     CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
     part1.lock()->cframe = newFrame;
     // Do NOT use Abs() in this scenario. For some reason that breaks it
-    PhysJointMotorInfo jointInfo((part0.lock()->cframe * c0).Position(), -(part0.lock()->cframe * c0).LookVector().Unit());
+    PhysMotorJointInfo jointInfo((part0.lock()->cframe * c0).Position(), -(part0.lock()->cframe * c0).LookVector().Unit());
     
     this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
     jointWorkspace = workspace;

core/src/objects/joint/snap.cpp

@@ -23,7 +23,7 @@ void Snap::buildJoint() {
     CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
     part1.lock()->cframe = newFrame;
 
-    PhysJointSnapInfo jointInfo((c0.Inverse() * c1).Position());
+    PhysFixedJointInfo jointInfo(c0, c1);
     this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
     jointWorkspace = workspace;
 }

core/src/objects/joint/weld.cpp

@@ -23,7 +23,7 @@ void Weld::buildJoint() {
     CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
     part1.lock()->cframe = newFrame;
 
-    PhysJointWeldInfo jointInfo((c0.Inverse() * c1).Position());
+    PhysFixedJointInfo jointInfo(c0, c1);
     this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
     jointWorkspace = workspace;
 }

core/src/objects/part/basepart.cpp

@@ -285,6 +285,10 @@ void BasePart::MakeJoints() {
                 joint->part1 = otherPart->shared<BasePart>();
                 joint->c0 = contact0;
                 joint->c1 = contact1;
+                // If both parts touch directly, this can cause friction in Rotate and RotateV joints, so we leave a little extra space
+                if (joint->IsA("Rotate") || joint->IsA("RotateV"))
+                    joint->c1 = joint->c1 + joint->c1.LookVector() * 0.02f,
+                    joint->c0 = joint->c0 - joint->c0.LookVector() * 0.02f;
                 dataModel()->GetService<JointsService>()->AddChild(joint);
                 joint->UpdateProperty("Part0");
             }

core/src/physics/world.cpp

@@ -1,5 +1,4 @@
 #include "world.h"
-#include "Jolt/Geometry/AABox.h"
 #include "datatypes/vector.h"
 #include "enum/part.h"
 #include "logger.h"
@@ -27,6 +26,7 @@
 #include <Jolt/Physics/Collision/Shape/ScaledShape.h>
 #include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
 #include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
+#include <Jolt/Physics/Constraints/ConeConstraint.h>
 #include <Jolt/Physics/EActivation.h>
 #include <Jolt/Physics/PhysicsSettings.h>
 #include <Jolt/RegisterTypes.h>
@@ -37,7 +37,6 @@
 #include <Jolt/Physics/Body/BodyLockInterface.h>
 #include <Jolt/Physics/Collision/NarrowPhaseQuery.h>
 #include <Jolt/Physics/Constraints/FixedConstraint.h>
-#include <cstdio>
 #include <memory>
 
 static JPH::TempAllocator* allocator;
@@ -208,17 +207,24 @@ PhysJoint PhysWorld::createJoint(PhysJointInfo& type, std::shared_ptr<BasePart>
     ) { Logger::fatalError("Failed to create joint between two parts due to the call being invalid"); panic(); };
 
     JPH::TwoBodyConstraint* constraint;
-    if (PhysJointGlueInfo* _ = dynamic_cast<PhysJointGlueInfo*>(&type)) {
+    if (PhysFixedJointInfo* info = dynamic_cast<PhysFixedJointInfo*>(&type)) {
         JPH::FixedConstraintSettings settings;
-        settings.mAutoDetectPoint = true; // TODO: Replace this with anchor point
+        settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
+        settings.mPoint1 = convert<JPH::Vec3>(info->c0.Position());
+        settings.mAxisX1 = convert<JPH::Vec3>(info->c0.RightVector());
+        settings.mAxisY1 = convert<JPH::Vec3>(info->c0.UpVector());
+        settings.mPoint2 = convert<JPH::Vec3>(info->c1.Position());
+        settings.mAxisX2 = convert<JPH::Vec3>(info->c1.RightVector());
+        settings.mAxisY2 = convert<JPH::Vec3>(info->c1.UpVector());
         constraint = settings.Create(*part0->rigidBody.bodyImpl, *part1->rigidBody.bodyImpl);
-    } else if (PhysJointWeldInfo* _ = dynamic_cast<PhysJointWeldInfo*>(&type)) {
+    } else if (PhysHingeJointInfo* info = dynamic_cast<PhysHingeJointInfo*>(&type)) {
-        JPH::FixedConstraintSettings settings;
+        JPH::ConeConstraintSettings settings;
-        settings.mAutoDetectPoint = true; // TODO: Replace this with anchor point
+        settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
-        constraint = settings.Create(*part0->rigidBody.bodyImpl, *part1->rigidBody.bodyImpl);
+        settings.mPoint1 = convert<JPH::Vec3>(info->c0.Position());
-    } else if (PhysJointSnapInfo* _ = dynamic_cast<PhysJointSnapInfo*>(&type)) {
+        settings.mTwistAxis1 = convert<JPH::Vec3>(info->c0.LookVector());
-        JPH::FixedConstraintSettings settings;
+        settings.mPoint2 = convert<JPH::Vec3>(info->c1.Position());
-        settings.mAutoDetectPoint = true; // TODO: Replace this with anchor point
+        settings.mTwistAxis2 = convert<JPH::Vec3>(info->c1.LookVector());
+        settings.mHalfConeAngle = 0.0f;
         constraint = settings.Create(*part0->rigidBody.bodyImpl, *part1->rigidBody.bodyImpl);
     } else {
         panic();

core/src/physics/world.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include "datatypes/cframe.h"
 #include "datatypes/vector.h"
 #include "enum/part.h"
 #include "utils.h"
@@ -16,11 +17,9 @@ class BasePart;
 class PhysWorld;
 
 struct PhysJointInfo { virtual ~PhysJointInfo() = default; protected: PhysJointInfo() = default; };
-struct PhysJointGlueInfo : PhysJointInfo { Vector3 anchorPoint; inline PhysJointGlueInfo(Vector3 anchorPoint) : anchorPoint(anchorPoint) {} };
+struct PhysFixedJointInfo : PhysJointInfo { CFrame c0; CFrame c1; inline PhysFixedJointInfo(CFrame c0, CFrame c1) : c0(c0), c1(c1) {} };
-struct PhysJointWeldInfo : PhysJointInfo { Vector3 anchorPoint; inline PhysJointWeldInfo(Vector3 anchorPoint) : anchorPoint(anchorPoint) {} };
+struct PhysHingeJointInfo : PhysJointInfo { CFrame c0; CFrame c1; inline PhysHingeJointInfo(CFrame c0, CFrame c1) : c0(c0), c1(c1) {} };
-struct PhysJointSnapInfo : PhysJointInfo { Vector3 anchorPoint; inline PhysJointSnapInfo(Vector3 anchorPoint) : anchorPoint(anchorPoint) {} };
+struct PhysMotorJointInfo : PhysJointInfo { Vector3 anchorPoint; Vector3 rotationAxis; inline PhysMotorJointInfo(Vector3 anchorPoint, Vector3 rotationAxis) : anchorPoint(anchorPoint), rotationAxis(rotationAxis) {} };
-struct PhysJointHingeInfo : PhysJointInfo { Vector3 anchorPoint; Vector3 rotationAxis; inline PhysJointHingeInfo(Vector3 anchorPoint, Vector3 rotationAxis) : anchorPoint(anchorPoint), rotationAxis(rotationAxis) {} };
-struct PhysJointMotorInfo : PhysJointInfo { Vector3 anchorPoint; Vector3 rotationAxis; inline PhysJointMotorInfo(Vector3 anchorPoint, Vector3 rotationAxis) : anchorPoint(anchorPoint), rotationAxis(rotationAxis) {} };
 
 class PhysWorld;
 struct PhysJoint {