core/CMakeLists.txt

@@ -89,8 +89,6 @@ 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
@@ -144,7 +142,6 @@ 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

core/src/error/instance.h

@@ -9,7 +9,7 @@ class NoSuchInstance : public Error {
 
 class NoSuchService : public Error {
     public:
-    inline NoSuchService(std::string className) : Error("NoSuchService", "Unknown service type " + className) {}
+    inline NoSuchService(std::string className) : Error("NoSuchService", "Cannot insert service of unknown type " + className) {}
 };
 
 class ServiceAlreadyExists : public Error {

core/src/objects/datamodel.cpp

@@ -34,13 +34,8 @@ void DataModel::Init(bool runMode) {
     // Init all services
     for (auto [_, service] : this->services) {
         service->InitService();
+        if (runMode) service->OnRun();
     }
-
-    // Deterministic run order
-    if (!runMode) return;
-    
-    if (auto service = FindService<Workspace>()) service->OnRun();
-    if (auto service = FindService<ServerScriptService>()) service->OnRun();
 }
 
 void DataModel::SaveToFile(std::optional<std::string> path) {
@@ -119,13 +114,12 @@ result<std::shared_ptr<Service>, NoSuchService> DataModel::GetService(std::strin
 }
 
 result<nullable std::shared_ptr<Service>, NoSuchService> DataModel::FindService(std::string className) {
-    if (services.count(className) != 0)
+    if (!INSTANCE_MAP[className] || (INSTANCE_MAP[className]->flags ^ (INSTANCE_NOTCREATABLE | INSTANCE_SERVICE)) != 0) {
-        return std::dynamic_pointer_cast<Service>(services[className]);
-    
-    if (!INSTANCE_MAP[className] || ~(INSTANCE_MAP[className]->flags & (INSTANCE_NOTCREATABLE | INSTANCE_SERVICE)) == 0) {
         return NoSuchService(className);
     }
-    
+
+    if (services.count(className) != 0)
+        return std::dynamic_pointer_cast<Service>(services[className]);
     return nullptr;
 }
 

core/src/objects/joint/jointinstance.cpp

@@ -20,20 +20,12 @@ void JointInstance::OnAncestryChanged(nullable std::shared_ptr<Instance>, nullab
 void JointInstance::OnPartParamsUpdated() {
 }
 
-void JointInstance::OnPhysicsStep(float deltaTime) {
-}
-
-bool JointInstance::isDrivenJoint() {
-    return false;
-}
-
 void JointInstance::Update() {
     // To keep it simple compared to our previous algorithm, this one is pretty barebones:
     // 1. Every time we update, (whether our parent changed, or a property), destroy the current joints
     // 2. If the new configuration is valid, rebuild our joints
 
     if (!jointWorkspace.expired()) {
-        if (isDrivenJoint()) jointWorkspace.lock()->UntrackDrivenJoint(shared<JointInstance>());
         jointWorkspace.lock()->DestroyJoint(joint);
         if (!oldPart0.expired())
             oldPart0.lock()->untrackJoint(shared<JointInstance>());
@@ -62,7 +54,6 @@ void JointInstance::Update() {
 
     part0.lock()->trackJoint(shared<JointInstance>());
     part1.lock()->trackJoint(shared<JointInstance>());
-    jointWorkspace.lock()->TrackDrivenJoint(shared<JointInstance>());
 }
 
 nullable std::shared_ptr<Workspace> JointInstance::workspaceOfPart(std::shared_ptr<BasePart> part) {

core/src/objects/joint/jointinstance.h

@@ -32,7 +32,6 @@ protected:
     inline void onUpdated(std::string property) { Update(); };
 
     virtual void buildJoint() = 0;
-    virtual bool isDrivenJoint();
 public:
     void Update();
     virtual void OnPartParamsUpdated();
@@ -42,8 +41,6 @@ public:
     DEF_PROP_PHYS CFrame c0;
     DEF_PROP_PHYS CFrame c1;
 
-    virtual void OnPhysicsStep(float deltaTime);
-
     JointInstance(const InstanceType*);
     ~JointInstance();
 };

core/src/objects/joint/motor6d.cpp

@@ -1,49 +0,0 @@
-#include "motor6d.h"
-#include "datatypes/vector.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;
-}
-
-bool Motor6D::isDrivenJoint() {
-    return true;
-}
-
-void Motor6D::OnPhysicsStep(float deltaTime) {
-    // Tween currentAngle
-    float diffAngle = abs(currentAngle - desiredAngle);
-    if (diffAngle > abs(maxVelocity)) { // Don't tween if we're already close enough to being there
-        if (currentAngle < desiredAngle)
-            currentAngle += maxVelocity;
-        else
-            currentAngle -= maxVelocity;
-    }
-
-    // Shouldn't in theory be necessary, but just in case.
-    if (part0.expired() || part1.expired()) return;
-
-    // TODO: Re-add rotating only one part when both are unanchored, maybe?
-    joint.setTargetAngle(currentAngle);
-}

core/src/objects/joint/motor6d.h

@@ -1,26 +0,0 @@
-#pragma once
-
-#include "objects/annotation.h"
-#include "objects/base/instance.h"
-#include "objects/joint/jointinstance.h"
-#include <memory>
-
-class DEF_INST Motor6D : public JointInstance {
-    AUTOGEN_PREAMBLE
-
-    virtual void buildJoint() override;
-    void onUpdated(std::string);
-
-    void OnPhysicsStep(float deltaTime) override;
-    bool isDrivenJoint() override;
-public:
-    Motor6D();
-    ~Motor6D();
-
-    DEF_PROP float currentAngle = 0;
-    DEF_PROP float desiredAngle = 0;
-    DEF_PROP float maxVelocity = 0.1;
-
-    static inline std::shared_ptr<Motor6D> New() { return std::make_shared<Motor6D>(); };
-    static inline std::shared_ptr<Instance> Create() { return std::make_shared<Motor6D>(); };
-};

core/src/objects/joint/rotatev.cpp

@@ -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;
-    PhysMotorizedJointInfo jointInfo(c0, c1, vel);
+    PhysRotatingJointInfo jointInfo(c0, c1, vel);
     
     this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
     jointWorkspace = workspace;

core/src/objects/meta.cpp

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

core/src/objects/part/basepart.cpp

@@ -305,11 +305,6 @@ void BasePart::MakeJoints() {
     }
 }
 
-void BasePart::UpdateNoBreakJoints() {    
-    if (workspace() != nullptr)
-        workspace()->SyncPartPhysics(std::dynamic_pointer_cast<BasePart>(this->shared_from_this()));
-}
-
 void BasePart::trackJoint(std::shared_ptr<JointInstance> joint) {
     if (!joint->part0.expired() && joint->part0.lock() == shared_from_this()) {
         for (auto it = primaryJoints.begin(); it != primaryJoints.end();) {

core/src/objects/part/basepart.h

@@ -119,7 +119,6 @@ public:
 
     void MakeJoints();
     void BreakJoints();
-    void UpdateNoBreakJoints();
 
     // Calculate size of axis-aligned bounding box
     Vector3 GetAABB();

core/src/objects/service/script/scriptcontext.h

@@ -21,14 +21,13 @@ class DEF_INST_SERVICE_(hidden) ScriptContext : public Service {
     std::vector<SleepingThread> sleepingThreads;
     int lastScriptSourceId = 0;
 protected:
+    void InitService() override;
     bool initialized = false;
 
 public:
     ScriptContext();
     ~ScriptContext();
 
-    void InitService() override;
-    
     lua_State* state;
     void PushThreadSleep(lua_State* thread, float delay);
     void RunSleepingThreads();

core/src/objects/service/script/serverscriptservice.h

@@ -8,14 +8,13 @@
 class DEF_INST_SERVICE_(explorer_icon="server-scripts", hidden) ServerScriptService : public Service {
     AUTOGEN_PREAMBLE
 protected:
+    void InitService() override;
+    void OnRun() override;
     bool initialized = false;
 
 public:
     ServerScriptService();
     ~ServerScriptService();
 
-    void InitService() override;
-    void OnRun() override;
-    
     static inline std::shared_ptr<Instance> Create() { return std::make_shared<ServerScriptService>(); };
 };

core/src/objects/service/workspace.h

@@ -2,9 +2,10 @@
 
 #include "objects/annotation.h"
 #include "objects/base/service.h"
-#include "objects/joint/jointinstance.h"
 #include "physics/world.h"
+#include "utils.h"
 #include <glm/ext/vector_float3.hpp>
+#include <list>
 #include <memory>
 #include <mutex>
 #include <queue>
@@ -33,14 +34,13 @@ class DEF_INST_SERVICE_(explorer_icon="workspace") Workspace : public Service {
     std::shared_ptr<PhysWorld> physicsWorld;
     friend PhysWorld;
 protected:
+    void InitService() override;
+    void OnRun() override;
     bool initialized = false;
 
 public:
     Workspace();
     ~Workspace();
-    
-    void InitService() override;
-    void OnRun() override;
 
     std::recursive_mutex queueLock;
 
@@ -56,9 +56,6 @@ public:
     inline PhysJoint CreateJoint(PhysJointInfo& info, std::shared_ptr<BasePart> part0, std::shared_ptr<BasePart> part1) { return physicsWorld->createJoint(info, part0, part1); }
     inline void DestroyJoint(PhysJoint joint) { physicsWorld->destroyJoint(joint); }
 
-    inline void TrackDrivenJoint(std::shared_ptr<JointInstance> motor) { return physicsWorld->trackDrivenJoint(motor); }
-    inline void UntrackDrivenJoint(std::shared_ptr<JointInstance> motor) { return physicsWorld->untrackDrivenJoint(motor); }
-
     void PhysicsStep(float deltaTime);
     inline std::optional<const RaycastResult> CastRayNearest(glm::vec3 point, glm::vec3 rotation, float maxLength, std::optional<RaycastFilter> filter = std::nullopt, unsigned short categoryMaskBits = 0xFFFF) { return physicsWorld->castRay(point, rotation, maxLength, filter, categoryMaskBits); }
 };

core/src/physics/world.cpp

@@ -2,7 +2,6 @@
 #include "datatypes/vector.h"
 #include "enum/part.h"
 #include "logger.h"
-#include "objects/joint/jointinstance.h"
 #include "objects/part/basepart.h"
 #include "objects/part/part.h"
 #include "objects/part/wedgepart.h"
@@ -38,8 +37,6 @@
 #include <Jolt/Physics/Collision/NarrowPhaseQuery.h>
 #include <Jolt/Physics/Constraints/FixedConstraint.h>
 #include <Jolt/Physics/Constraints/HingeConstraint.h>
-#include <algorithm>
-#include <cstdio>
 #include <memory>
 
 static JPH::TempAllocator* allocator;
@@ -197,11 +194,6 @@ void PhysWorld::step(float deltaTime) {
         part->cframe = CFrame(convert<Vector3>(interface.GetPosition(bodyID)), convert<glm::quat>(interface.GetRotation(bodyID)));
     }
 
-    // Update joints
-    for (std::shared_ptr<JointInstance> joint : drivenJoints) {
-        joint->OnPhysicsStep(deltaTime);
-    }
-
     physTime = tu_clock_micros() - startTime;
 }
 
@@ -234,56 +226,28 @@ 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);
-        // settings for Motor6D
-        settings.mMotorSettings.mSpringSettings.mFrequency = 20;
-        settings.mMotorSettings.mSpringSettings.mDamping = 1;
         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* _ = dynamic_cast<PhysStepperJointInfo*>(&type)) {
-            static_cast<JPH::HingeConstraint*>(constraint)->SetMotorState(JPH::EMotorState::Position);
         }
     } else {
         panic();
     }
 
     worldImpl.AddConstraint(constraint);
-    return { constraint, this };
+    return { constraint };
-}
-
-void PhysWorld::trackDrivenJoint(std::shared_ptr<JointInstance> motor) {
-    drivenJoints.push_back(motor);
-}
-
-void PhysWorld::untrackDrivenJoint(std::shared_ptr<JointInstance> motor) {
-    for (auto it = drivenJoints.begin(); it != drivenJoints.end();) {
-        if (*it == motor)
-            it = drivenJoints.erase(it);
-        else
-            it++;
-    }
 }
 
 // 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);
 }

core/src/physics/world.h

@@ -14,7 +14,6 @@
 #include <Jolt/Physics/Constraints/TwoBodyConstraint.h>
 
 class BasePart;
-class JointInstance;
 class PhysWorld;
 
 struct PhysJointInfo { virtual ~PhysJointInfo() = default; protected: PhysJointInfo() = default; };
@@ -29,31 +28,19 @@ 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 PhysMotorizedJointInfo(CFrame c0, CFrame c1, float initialVelocity) : PhysRotatingJointInfo(c0, c1), initialVelocity(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) {}
-
-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;
@@ -117,9 +104,7 @@ class PhysWorld : public std::enable_shared_from_this<PhysWorld> {
     ObjectLayerPairFilter objectLayerPairFilter;
     JPH::PhysicsSystem worldImpl;
     std::list<std::shared_ptr<BasePart>> simulatedBodies;
-    std::list<std::shared_ptr<JointInstance>> drivenJoints;
 
-    friend PhysJoint;
 public:
     PhysWorld();
     ~PhysWorld();
@@ -132,11 +117,6 @@ public:
     PhysJoint createJoint(PhysJointInfo& type, std::shared_ptr<BasePart> part0, std::shared_ptr<BasePart> part1);
     void destroyJoint(PhysJoint joint);
 
-    void trackDrivenJoint(std::shared_ptr<JointInstance> motor);
-    void untrackDrivenJoint(std::shared_ptr<JointInstance> motor);
-
-    void setCFrameInternal(std::shared_ptr<BasePart> part, CFrame frame);
-
     inline const std::list<std::shared_ptr<BasePart>>& getSimulatedBodies() { return simulatedBodies; }
     void syncBodyProperties(std::shared_ptr<BasePart>);
     std::optional<const RaycastResult> castRay(Vector3 point, Vector3 rotation, float maxLength, std::optional<RaycastFilter> filter, unsigned short categoryMaskBits);