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feat(physics): some semblence of motor6d

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maelstrom 2025-09-04 00:12:33 +02:00
parent 20420e28ef
commit a6e2c3ca44
7 changed files with 121 additions and 26 deletions
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3
core/CMakeLists.txt
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@ -89,6 +89,8 @@ set(SOURCES
src/objects/joint/weld.h
src/objects/joint/snap.cpp
src/objects/joint/rotatev.cpp
src/objects/joint/motor6d.h
src/objects/joint/motor6d.cpp
src/objects/base/service.h
src/objects/base/member.h
src/objects/base/instance.h
@ -142,6 +144,7 @@ set(AUTOGEN_SOURCES
src/objects/script.h
src/objects/joint/snap.h
src/objects/joint/jointinstance.h
src/objects/joint/motor6d.h
src/objects/joint/rotatev.h
src/objects/joint/rotate.h
src/objects/joint/weld.h

34
core/src/objects/joint/motor6d.cpp Normal file
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@ -0,0 +1,34 @@
#include "motor6d.h"
#include "objects/part/part.h"
#include "objects/service/workspace.h"
#include "rendering/renderer.h"
#define PI 3.14159
Motor6D::Motor6D(): JointInstance(&TYPE) {
}
Motor6D::~Motor6D() {
}
static CFrame XYZToZXY(glm::vec3(0, 0, 0), -glm::vec3(1, 0, 0), glm::vec3(0, 0, 1));
void Motor6D::buildJoint() {
std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock());
// Update Part1's rotation and cframe prior to creating the joint as reactphysics3d locks rotation based on how it
// used to be rather than specifying an anchor rotation, so whatever.
CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
part1.lock()->cframe = newFrame;
PhysStepperJointInfo jointInfo(c0, c1, desiredAngle, maxVelocity);
this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
jointWorkspace = workspace;
}
void Motor6D::onUpdated(std::string property) {
if (property == "DesiredAngle") {
joint.setTargetAngle(desiredAngle);
} else if (property == "MaxVelocity") {
joint.setAngularVelocity(maxVelocity);
}
}

26
core/src/objects/joint/motor6d.h Normal file
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@ -0,0 +1,26 @@
#pragma once
#include "objects/annotation.h"
#include "objects/base/instance.h"
#include "objects/joint/jointinstance.h"
#include <memory>
#define DEF_PROP_PHYS DEF_PROP_(on_update=onUpdated)
class DEF_INST Motor6D : public JointInstance {
AUTOGEN_PREAMBLE
virtual void buildJoint() override;
void onUpdated(std::string);
public:
Motor6D();
~Motor6D();
DEF_PROP_PHYS float desiredAngle;
DEF_PROP_PHYS float maxVelocity;
static inline std::shared_ptr<Motor6D> New() { return std::make_shared<Motor6D>(); };
static inline std::shared_ptr<Instance> Create() { return std::make_shared<Motor6D>(); };
};
#undef DEF_PROP_PHYS

2
core/src/objects/joint/rotatev.cpp
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@ -22,7 +22,7 @@ void RotateV::buildJoint() {
part1.lock()->cframe = newFrame;
// Do NOT use Abs() in this scenario. For some reason that breaks it
float vel = part0.lock()->GetSurfaceParamB(-c0.LookVector().Unit()) * 6.28;
PhysRotatingJointInfo jointInfo(c0, c1, vel);
PhysMotorizedJointInfo jointInfo(c0, c1, vel);
this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
jointWorkspace = workspace;

42
core/src/objects/meta.cpp
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@ -1,22 +1,27 @@
#include "meta.h"
#include "objects/folder.h"
#include "objects/hint.h"
#include "objects/joint/jointinstance.h"
#include "objects/joint/rotate.h"
#include "objects/joint/rotatev.h"
#include "objects/joint/weld.h"
#include "objects/message.h"
#include "objects/part/wedgepart.h"
#include "objects/service/jointsservice.h"
#include "objects/model.h"
#include "objects/part/part.h"
#include "objects/joint/snap.h"
#include "objects/script.h"
#include "objects/service/script/scriptcontext.h"
#include "objects/service/script/serverscriptservice.h"
#include "objects/service/selection.h"
#include "objects/service/workspace.h"
#include "objects/datamodel.h"
#define DECLTYPE(className) class className { public: const static InstanceType TYPE; };
DECLTYPE(DataModel);
DECLTYPE(BasePart);
DECLTYPE(Part);
DECLTYPE(WedgePart);
DECLTYPE(Snap);
DECLTYPE(Weld);
DECLTYPE(Rotate);
DECLTYPE(RotateV);
DECLTYPE(Motor6D);
DECLTYPE(JointInstance);
DECLTYPE(Script);
DECLTYPE(Model);
DECLTYPE(Message);
DECLTYPE(Hint);
// DECLTYPE(Folder);
DECLTYPE(Workspace);
DECLTYPE(JointsService);
DECLTYPE(ScriptContext);
DECLTYPE(ServerScriptService);
DECLTYPE(Selection);
std::map<std::string, const InstanceType*> INSTANCE_MAP = {
{ "Instance", &Instance::TYPE },
@ -29,6 +34,7 @@ std::map<std::string, const InstanceType*> INSTANCE_MAP = {
{ "Weld", &Weld::TYPE },
{ "Rotate", &Rotate::TYPE },
{ "RotateV", &RotateV::TYPE },
{ "Motor6D", &Motor6D::TYPE },
{ "JointInstance", &JointInstance::TYPE },
{ "Script", &Script::TYPE },
{ "Model", &Model::TYPE },

21
core/src/physics/world.cpp
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@ -226,28 +226,41 @@ PhysJoint PhysWorld::createJoint(PhysJointInfo& type, std::shared_ptr<BasePart>
settings.mPoint2 = convert<JPH::Vec3>(info->c1.Position());
settings.mNormalAxis2 = convert<JPH::Vec3>(info->c1.RightVector());
settings.mHingeAxis2 = convert<JPH::Vec3>(info->c1.LookVector());
// settings.mMotorSettings = JPH::MotorSettings(1.0f, 1.0f);
constraint = settings.Create(*part0->rigidBody.bodyImpl, *part1->rigidBody.bodyImpl);
if (info->motorized) {
if (PhysMotorizedJointInfo* info = dynamic_cast<PhysMotorizedJointInfo*>(&type)) {
static_cast<JPH::HingeConstraint*>(constraint)->SetMotorState(JPH::EMotorState::Velocity);
static_cast<JPH::HingeConstraint*>(constraint)->SetTargetAngularVelocity(-info->initialVelocity);
} else if (PhysStepperJointInfo* info = dynamic_cast<PhysStepperJointInfo*>(&type)) {
static_cast<JPH::HingeConstraint*>(constraint)->SetMotorState(JPH::EMotorState::Position);
static_cast<JPH::HingeConstraint*>(constraint)->SetTargetAngularVelocity(-info->initialVelocity);
static_cast<JPH::HingeConstraint*>(constraint)->SetTargetAngle(info->initialAngle);
}
} else {
panic();
}
worldImpl.AddConstraint(constraint);
return { constraint };
return { constraint, this };
}
// WATCH OUT! This should only be called for HingeConstraints.
// Can't use dynamic_cast because TwoBodyConstraint is not virtual
void PhysJoint::setAngularVelocity(float velocity) {
JPH::HingeConstraint* constraint = static_cast<JPH::HingeConstraint*>(jointImpl);
if (!constraint) return;
constraint->SetTargetAngularVelocity(-velocity);
}
void PhysJoint::setTargetAngle(float angle) {
JPH::HingeConstraint* constraint = static_cast<JPH::HingeConstraint*>(jointImpl);
constraint->SetTargetAngle(angle);
// Wake up the part as it could be sleeping
JPH::BodyInterface& interface = parentWorld->worldImpl.GetBodyInterface();
JPH::BodyID bodies[] = {constraint->GetBody1()->GetID(), constraint->GetBody2()->GetID()};
interface.ActivateBodies(bodies, 2);
}
void PhysWorld::destroyJoint(PhysJoint joint) {
worldImpl.RemoveConstraint(joint.jointImpl);
}

19
core/src/physics/world.h
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@ -28,19 +28,31 @@ struct PhysFixedJointInfo : PhysJointInfo {
struct PhysRotatingJointInfo : PhysJointInfo {
CFrame c0;
CFrame c1;
bool motorized;
inline PhysRotatingJointInfo(CFrame c0, CFrame c1) : c0(c0), c1(c1) {}
};
struct PhysMotorizedJointInfo : PhysRotatingJointInfo {
float initialVelocity;
inline PhysRotatingJointInfo(CFrame c0, CFrame c1) : c0(c0), c1(c1), motorized(false), initialVelocity(0.f){}
inline PhysRotatingJointInfo(CFrame c0, CFrame c1, float initialVelocity) : c0(c0), c1(c1), motorized(true), initialVelocity(initialVelocity) {}
inline PhysMotorizedJointInfo(CFrame c0, CFrame c1, float initialVelocity) : PhysRotatingJointInfo(c0, c1), initialVelocity(initialVelocity) {}
};
struct PhysStepperJointInfo : PhysRotatingJointInfo {
float initialAngle;
float initialVelocity;
inline PhysStepperJointInfo(CFrame c0, CFrame c1, float initialAngle, float initialVelocity) : PhysRotatingJointInfo(c0, c1), initialAngle(initialAngle), initialVelocity(initialVelocity) {}
};
class PhysWorld;
struct PhysJoint {
public:
JPH::TwoBodyConstraint* jointImpl;
PhysWorld* parentWorld;
void setAngularVelocity(float velocity);
void setTargetAngle(float angle);
};
struct RaycastResult;
@ -105,6 +117,7 @@ class PhysWorld : public std::enable_shared_from_this<PhysWorld> {
JPH::PhysicsSystem worldImpl;
std::list<std::shared_ptr<BasePart>> simulatedBodies;
friend PhysJoint;
public:
PhysWorld();
~PhysWorld();