Added hinge 3D joint

supernovaengine · Oct 11, 2023 · c8b75f3 · c8b75f3
1 parent 7290f21
commit c8b75f3
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Showing 6 changed files with 42 additions and 1 deletion.
diff --git a/engine/core/component/Joint3DComponent.h b/engine/core/component/Joint3DComponent.h
@@ -12,7 +12,8 @@ namespace Supernova{
     enum class Joint3DType{
         FIXED,
         DISTANCE,
-        POINT
+        POINT,
+        HINGE
     };
 
     struct Joint3DComponent{

diff --git a/engine/core/object/physics/Joint3D.cpp b/engine/core/object/physics/Joint3D.cpp
@@ -47,4 +47,8 @@ void Joint3D::setDistanceJoint(Entity bodyA, Entity bodyB, Vector3 worldAnchorOn
 
 void Joint3D::setPointJoint(Entity bodyA, Entity bodyB, Vector3 worldAnchor){
     scene->getSystem<PhysicsSystem>()->loadPointJoint3D(getComponent<Joint3DComponent>(), bodyA, bodyB, worldAnchor);
+}
+
+void Joint3D::setHingeJoint(Entity bodyA, Entity bodyB, Vector3 worldAnchor, Vector3 axis, Vector3 normal){
+    scene->getSystem<PhysicsSystem>()->loadHingeJoint3D(getComponent<Joint3DComponent>(), bodyA, bodyB, worldAnchor, axis, normal);
 }
diff --git a/engine/core/object/physics/Joint3D.h b/engine/core/object/physics/Joint3D.h
@@ -23,6 +23,7 @@ namespace Supernova{
         void setFixedJoint(Entity bodyA, Entity bodyB); 
         void setDistanceJoint(Entity bodyA, Entity bodyB, Vector3 worldAnchorOnBodyA, Vector3 worldAnchorOnBodyB);    
         void setPointJoint(Entity bodyA, Entity bodyB, Vector3 worldAnchor);
+        void setHingeJoint(Entity bodyA, Entity bodyB, Vector3 worldAnchor, Vector3 axis, Vector3 normal);
 
         Joint3DType getType();
     };

diff --git a/engine/core/subsystem/PhysicsSystem.cpp b/engine/core/subsystem/PhysicsSystem.cpp
@@ -939,6 +939,39 @@ bool PhysicsSystem::loadPointJoint3D(Joint3DComponent& joint, Entity bodyA, Enti
     return true;
 }
 
+bool PhysicsSystem::loadHingeJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 anchor, Vector3 axis, Vector3 normal){
+    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::HingeConstraintSettings settings;
+        settings.mPoint1 = JPH::Vec3(anchor.x, anchor.y, anchor.z);
+        settings.mPoint2 = JPH::Vec3(anchor.x, anchor.y, anchor.z);
+        settings.mHingeAxis1 = JPH::Vec3(axis.x, axis.y, axis.z);
+        settings.mHingeAxis2 = JPH::Vec3(axis.x, axis.y, axis.z);
+        settings.mNormalAxis1 = JPH::Vec3(normal.x, normal.y, normal.z);
+        settings.mNormalAxis2 = JPH::Vec3(normal.x, normal.y, normal.z);
+
+        joint.joint = settings.Create(*myBodyA.body, *myBodyB.body);
+
+        world3D->AddConstraint(joint.joint);
+        joint.type = Joint3DType::HINGE;
+
+    }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
@@ -117,6 +117,7 @@ namespace Supernova{
 		bool loadFixedJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB);
 		bool loadDistanceJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 anchorA, Vector3 anchorB);
 		bool loadPointJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 anchor);
+		bool loadHingeJoint3D(Joint3DComponent& joint, Entity bodyA, Entity bodyB, Vector3 anchor, Vector3 axis, Vector3 normal);
 
 		virtual void load();
 		virtual void destroy();

diff --git a/engine/core/util/JoltPhysicsAux.h b/engine/core/util/JoltPhysicsAux.h
@@ -21,6 +21,7 @@
 #include "Jolt/Physics/Constraints/FixedConstraint.h"
 #include "Jolt/Physics/Constraints/DistanceConstraint.h"
 #include "Jolt/Physics/Constraints/PointConstraint.h"
+#include "Jolt/Physics/Constraints/HingeConstraint.h"
 
 
 // Based on: https://github.com/jrouwe/JoltPhysics/blob/master/HelloWorld/HelloWorld.cpp