Added all 3D joints

supernovaengine · Oct 16, 2023 · ba66785 · ba66785
1 parent 9bd2c7d
commit ba66785
Show file tree

Hide file tree

Showing 6 changed files with 169 additions and 1 deletion.
diff --git a/engine/core/component/Joint3DComponent.h b/engine/core/component/Joint3DComponent.h
@@ -18,7 +18,10 @@ namespace Supernova{
         PRISMATIC, // slider in Jolt
         SWINGTWIST,
         SIXDOF,
-        PATH
+        PATH,
+        GEAR,
+        RACKANDPINON,
+        PULLEY
     };
 
     struct Joint3DComponent{

diff --git a/engine/core/object/physics/Joint3D.cpp b/engine/core/object/physics/Joint3D.cpp
@@ -73,6 +73,18 @@ void Joint3D::setPathJoint(Entity bodyA, Entity bodyB, std::vector<Vector3> posi
     scene->getSystem<PhysicsSystem>()->loadPathJoint3D(getComponent<Joint3DComponent>(), bodyA, bodyB, positions, tangents, normals, pathPosition, isLooping);
 }
 
+void Joint3D::setGearJoint(Entity bodyA, Entity bodyB, Entity hingeA, Entity hingeB, int numTeethGearA, int numTeethGearB){
+    scene->getSystem<PhysicsSystem>()->loadGearJoint3D(getComponent<Joint3DComponent>(), bodyA, bodyB, hingeA, hingeB, numTeethGearA, numTeethGearB);
+}
+
+void Joint3D::setRackAndPinionJoint(Entity bodyA, Entity bodyB, Entity hinge, Entity slider, int numTeethRack, int numTeethGear, int rackLength){
+    scene->getSystem<PhysicsSystem>()->loadRackAndPinionJoint3D(getComponent<Joint3DComponent>(), bodyA, bodyB, hinge, slider, numTeethRack, numTeethGear, rackLength);
+}
+
+void Joint3D::setPulleyJoint(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 worldAnchorOnBodyA, Vector3 worldAnchorOnBodyB, Vector3 fixedPointA, Vector3 fixedPointB){
+    scene->getSystem<PhysicsSystem>()->loadPulleyJoint3D(getComponent<Joint3DComponent>(), bodyA, bodyB, worldAnchorOnBodyA, worldAnchorOnBodyB, fixedPointA, fixedPointB);
+}
+
 Joint3DType Joint3D::getType(){
     Joint3DComponent& joint = getComponent<Joint3DComponent>();
 

diff --git a/engine/core/object/physics/Joint3D.h b/engine/core/object/physics/Joint3D.h
@@ -29,6 +29,9 @@ namespace Supernova{
         void setSwingTwistJoint(Entity bodyA, Entity bodyB, Vector3 worldAnchor, Vector3 twistAxis, Vector3 planeAxis, float normalHalfConeAngle, float planeHalfConeAngle, float twistMinAngle, float twistMaxAngle);
         void setSixDOFJoint(Entity bodyA, Entity bodyB, Vector3 worldAnchorOnBodyA, Vector3 worldAnchorOnBodyB, Vector3 axisX, Vector3 axisY);
         void setPathJoint(Entity bodyA, Entity bodyB, std::vector<Vector3> positions, std::vector<Vector3> tangents, std::vector<Vector3> normals, Vector3 pathPosition, bool isLooping);
+        void setGearJoint(Entity bodyA, Entity bodyB, Entity hingeA, Entity hingeB, int numTeethGearA, int numTeethGearB);
+        void setRackAndPinionJoint(Entity bodyA, Entity bodyB, Entity hinge, Entity slider, int numTeethRack, int numTeethGear, int rackLength);
+        void setPulleyJoint(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 worldAnchorOnBodyA, Vector3 worldAnchorOnBodyB, Vector3 fixedPointA, Vector3 fixedPointB);
 
         Joint3DType getType();
     };

diff --git a/engine/core/subsystem/PhysicsSystem.cpp b/engine/core/subsystem/PhysicsSystem.cpp
@@ -1134,6 +1134,149 @@ bool PhysicsSystem::loadPathJoint3D(Joint3DComponent& joint, Entity bodyA, Entit
     return true;
 }
 
+bool PhysicsSystem::loadGearJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Entity hingeA, Entity hingeB, int numTeethGearA, int numTeethGearB){
+    Signature signatureA = scene->getSignature(bodyA);
+    Signature signatureB = scene->getSignature(bodyB);
+    Signature signatureHingeA = scene->getSignature(hingeA);
+    Signature signatureHingeB = scene->getSignature(hingeB);
+
+    if (signatureA.test(scene->getComponentType<Body3DComponent>()) && signatureB.test(scene->getComponentType<Body3DComponent>())){
+
+        Body3DComponent myBodyA = scene->getComponent<Body3DComponent>(bodyA);
+        Body3DComponent myBodyB = scene->getComponent<Body3DComponent>(bodyB);
+
+        updateBody3DPosition(signatureA, bodyA, myBodyA, true);
+        updateBody3DPosition(signatureB, bodyB, myBodyB, true);
+
+        if (signatureHingeA.test(scene->getComponentType<Joint3DComponent>()) && signatureHingeB.test(scene->getComponentType<Joint3DComponent>())){
+
+            Joint3DComponent myHingeA = scene->getComponent<Joint3DComponent>(hingeA);
+            Joint3DComponent myHingeB = scene->getComponent<Joint3DComponent>(hingeB);
+
+            if ((myHingeA.type != Joint3DType::HINGE) || (myHingeB.type != Joint3DType::HINGE)){
+                Log::error("Cannot create joint, hingeA or hingeB is not hinge type");
+                return false;
+            }
+
+            // Disable collision between gears
+            JPH::Ref<JPH::GroupFilterTable> group_filter = new JPH::GroupFilterTable(2);
+            group_filter->DisableCollision(0, 1);
+            myBodyA.body->SetCollisionGroup(JPH::CollisionGroup(group_filter, 0, 0));
+            myBodyB.body->SetCollisionGroup(JPH::CollisionGroup(group_filter, 0, 1));
+
+            JPH::HingeConstraintSettings* hingeSetA = (JPH::HingeConstraintSettings*)((JPH::HingeConstraint*)myHingeA.joint)->GetConstraintSettings().GetPtr();
+            JPH::HingeConstraintSettings* hingeSetB = (JPH::HingeConstraintSettings*)((JPH::HingeConstraint*)myHingeB.joint)->GetConstraintSettings().GetPtr();
+
+            JPH::GearConstraintSettings settings;
+            settings.mHingeAxis1 = hingeSetA->mHingeAxis1;
+            settings.mHingeAxis2 = hingeSetB->mHingeAxis1;
+            settings.SetRatio(numTeethGearA, numTeethGearB);
+
+            joint.joint = settings.Create(*myBodyA.body, *myBodyB.body);
+
+            ((JPH::GearConstraint *)joint.joint)->SetConstraints(myHingeA.joint, myHingeB.joint);
+            world3D->AddConstraint(joint.joint);
+            joint.type = Joint3DType::GEAR;
+        }else{
+            Log::error("Cannot create joint, error in hingeA or hingeB");
+            return false;
+        }
+
+    }else{
+        Log::error("Cannot create joint, error in bodyA or bodyB");
+        return false;
+    }
+
+    return true;
+}
+
+bool PhysicsSystem::loadRackAndPinionJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Entity hinge, Entity slider, int numTeethRack, int numTeethGear, int rackLength){
+    Signature signatureA = scene->getSignature(bodyA);
+    Signature signatureB = scene->getSignature(bodyB);
+    Signature signatureHinge = scene->getSignature(hinge);
+    Signature signatureSlider = scene->getSignature(slider);
+
+    if (signatureA.test(scene->getComponentType<Body3DComponent>()) && signatureB.test(scene->getComponentType<Body3DComponent>())){
+
+        Body3DComponent myBodyA = scene->getComponent<Body3DComponent>(bodyA);
+        Body3DComponent myBodyB = scene->getComponent<Body3DComponent>(bodyB);
+
+        updateBody3DPosition(signatureA, bodyA, myBodyA, true);
+        updateBody3DPosition(signatureB, bodyB, myBodyB, true);
+
+        if (signatureHinge.test(scene->getComponentType<Joint3DComponent>()) && signatureSlider.test(scene->getComponentType<Joint3DComponent>())){
+
+            Joint3DComponent myHinge = scene->getComponent<Joint3DComponent>(hinge);
+            Joint3DComponent mySlider = scene->getComponent<Joint3DComponent>(slider);
+
+            if ((myHinge.type != Joint3DType::HINGE) || (mySlider.type != Joint3DType::PRISMATIC)){
+                Log::error("Cannot create joint, hinge or slider is not hinge and prismatic (slider) types");
+                return false;
+            }
+
+            // Disable collision between gears
+            JPH::Ref<JPH::GroupFilterTable> group_filter = new JPH::GroupFilterTable(2);
+            group_filter->DisableCollision(0, 1);
+            myBodyA.body->SetCollisionGroup(JPH::CollisionGroup(group_filter, 0, 0));
+            myBodyB.body->SetCollisionGroup(JPH::CollisionGroup(group_filter, 0, 1));
+
+            JPH::HingeConstraintSettings* hingeSetA = (JPH::HingeConstraintSettings*)((JPH::HingeConstraint*)myHinge.joint)->GetConstraintSettings().GetPtr();
+            JPH::SliderConstraintSettings* sliderSetB = (JPH::SliderConstraintSettings*)((JPH::SliderConstraint*)mySlider.joint)->GetConstraintSettings().GetPtr();
+
+            JPH::RackAndPinionConstraintSettings settings;
+            settings.mHingeAxis = hingeSetA->mHingeAxis1;
+            settings.mSliderAxis = sliderSetB->mSliderAxis2;
+            settings.SetRatio(numTeethRack, rackLength, numTeethGear);
+
+            joint.joint = settings.Create(*myBodyA.body, *myBodyB.body);
+
+            ((JPH::GearConstraint *)joint.joint)->SetConstraints(myHinge.joint, mySlider.joint);
+            world3D->AddConstraint(joint.joint);
+            joint.type = Joint3DType::RACKANDPINON;
+        }else{
+            Log::error("Cannot create joint, error in hinge or slider");
+            return false;
+        }
+
+    }else{
+        Log::error("Cannot create joint, error in bodyA or bodyB");
+        return false;
+    }
+
+    return true;
+}
+
+bool PhysicsSystem::loadPulleyJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 anchorA, Vector3 anchorB, Vector3 fixedPointA, Vector3 fixedPointB){
+    Signature signatureA = scene->getSignature(bodyA);
+    Signature signatureB = scene->getSignature(bodyB);
+
+    if (signatureA.test(scene->getComponentType<Body3DComponent>()) && signatureB.test(scene->getComponentType<Body3DComponent>())){
+
+        Body3DComponent myBodyA = scene->getComponent<Body3DComponent>(bodyA);
+        Body3DComponent myBodyB = scene->getComponent<Body3DComponent>(bodyB);
+
+        updateBody3DPosition(signatureA, bodyA, myBodyA, true);
+        updateBody3DPosition(signatureB, bodyB, myBodyB, true);
+
+        JPH::PulleyConstraintSettings settings;
+        settings.mBodyPoint1 = JPH::Vec3(anchorA.x, anchorA.y, anchorA.z);
+        settings.mBodyPoint2 = JPH::Vec3(anchorB.x, anchorB.y, anchorB.z);
+        settings.mFixedPoint1 = JPH::Vec3(fixedPointA.x, fixedPointA.y, fixedPointA.z);
+        settings.mFixedPoint2 = JPH::Vec3(fixedPointB.x, fixedPointB.y, fixedPointB.z);
+
+        joint.joint = settings.Create(*myBodyA.body, *myBodyB.body);
+
+        world3D->AddConstraint(joint.joint);
+        joint.type = Joint3DType::PULLEY;
+
+    }else{
+        Log::error("Cannot create joint, error in bodyA or bodyB");
+        return false;
+    }
+
+    return true;
+}
+
 void PhysicsSystem::load(){
 }
 

diff --git a/engine/core/subsystem/PhysicsSystem.h b/engine/core/subsystem/PhysicsSystem.h
@@ -123,6 +123,9 @@ namespace Supernova{
 		bool loadSwingTwistJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 anchor, Vector3 twistAxis, Vector3 planeAxis, float normalHalfConeAngle, float planeHalfConeAngle, float twistMinAngle, float twistMaxAngle);
 		bool loadSixDOFJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 anchorA, Vector3 anchorB, Vector3 axisX, Vector3 axisY);
 		bool loadPathJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, std::vector<Vector3> positions, std::vector<Vector3> tangents, std::vector<Vector3> normals, Vector3 pathPosition, bool isLooping);
+		bool loadGearJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Entity hingeA, Entity hingeB, int numTeethGearA, int numTeethGearB);
+		bool loadRackAndPinionJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Entity hinge, Entity slider, int numTeethRack, int numTeethGear, int rackLength);
+		bool loadPulleyJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 anchorA, Vector3 anchorB, Vector3 fixedPointA, Vector3 fixedPointB);
 
 		virtual void load();
 		virtual void destroy();

diff --git a/engine/core/util/JoltPhysicsAux.h b/engine/core/util/JoltPhysicsAux.h
@@ -17,6 +17,7 @@
 #include "Jolt/Physics/Collision/Shape/SphereShape.h"
 #include "Jolt/Physics/Body/BodyCreationSettings.h"
 #include "Jolt/Physics/Body/BodyActivationListener.h"
+#include "Jolt/Physics/Collision/GroupFilterTable.h"
 
 #include "Jolt/Physics/Constraints/FixedConstraint.h"
 #include "Jolt/Physics/Constraints/DistanceConstraint.h"
@@ -28,6 +29,9 @@
 #include "Jolt/Physics/Constraints/SixDOFConstraint.h"
 #include "Jolt/Physics/Constraints/PathConstraint.h"
 #include "Jolt/Physics/Constraints/PathConstraintPathHermite.h"
+#include "Jolt/Physics/Constraints/GearConstraint.h"
+#include "Jolt/Physics/Constraints/RackAndPinionConstraint.h"
+#include "Jolt/Physics/Constraints/PulleyConstraint.h"
 
 
 // Based on: https://github.com/jrouwe/JoltPhysics/blob/master/HelloWorld/HelloWorld.cpp