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Fix/simplify single-collider joints;

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bjorn 2024-05-28 09:21:32 -07:00
parent 8e704f1a85
commit c7e97b9021
3 changed files with 43 additions and 65 deletions
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2
deps/jolt-physics-sharp vendored

@ -1 +1 @@
Subproject commit c1cdad713b7ea3841ef644d4f4b3ca31f99abc02
Subproject commit f25e4587198f6c6ee235cc9e913cdc57b6c0e6ce

12
src/api/l_physics.c
View file

@ -212,7 +212,7 @@ static int l_lovrPhysicsNewTerrainShape(lua_State* L) {
}
static int l_lovrPhysicsNewWeldJoint(lua_State* L) {
Collider* a = luax_totype(L, 1, Collider);
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float anchor[3];
luax_readvec3(L, 3, anchor, NULL);
@ -223,7 +223,7 @@ static int l_lovrPhysicsNewWeldJoint(lua_State* L) {
}
static int l_lovrPhysicsNewBallJoint(lua_State* L) {
Collider* a = luax_totype(L, 1, Collider);
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float anchor[3];
luax_readvec3(L, 3, anchor, NULL);
@ -234,7 +234,7 @@ static int l_lovrPhysicsNewBallJoint(lua_State* L) {
}
static int l_lovrPhysicsNewConeJoint(lua_State* L) {
Collider* a = luax_totype(L, 1, Collider);
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float anchor[3], axis[3];
int index = luax_readvec3(L, 3, anchor, NULL);
@ -246,7 +246,7 @@ static int l_lovrPhysicsNewConeJoint(lua_State* L) {
}
static int l_lovrPhysicsNewDistanceJoint(lua_State* L) {
Collider* a = luax_totype(L, 1, Collider);
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float anchor1[3], anchor2[3];
int index = luax_readvec3(L, 3, anchor1, NULL);
@ -258,7 +258,7 @@ static int l_lovrPhysicsNewDistanceJoint(lua_State* L) {
}
static int l_lovrPhysicsNewHingeJoint(lua_State* L) {
Collider* a = luax_totype(L, 1, Collider);
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float anchor[3], axis[3];
int index = luax_readvec3(L, 3, anchor, NULL);
@ -270,7 +270,7 @@ static int l_lovrPhysicsNewHingeJoint(lua_State* L) {
}
static int l_lovrPhysicsNewSliderJoint(lua_State* L) {
Collider* a = luax_totype(L, 1, Collider);
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float axis[3];
luax_readvec3(L, 3, axis, NULL);

94
src/modules/physics/physics.c
View file

@ -2027,15 +2027,13 @@ static JointNode* lovrJointGetNode(Joint* joint, Collider* collider) {
void lovrJointInit(Joint* joint, Collider* a, Collider* b) {
World* world = a->world;
if (a) {
if (a->joints) {
joint->a.next = a->joints;
lovrJointGetNode(a->joints, a)->prev = joint;
}
a->joints = joint;
if (a->joints) {
joint->a.next = a->joints;
lovrJointGetNode(a->joints, a)->prev = joint;
}
a->joints = joint;
if (b) {
if (b->joints) {
joint->b.next = b->joints;
@ -2068,15 +2066,13 @@ void lovrJointDestruct(Joint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
Collider* a = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
Collider* b = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody2(constraint));
World* world = a ? a->world : b->world;
World* world = a->world;
JointNode* node;
if (a) {
node = &joint->a;
if (node->next) lovrJointGetNode(node->next, a)->prev = node->prev;
if (node->prev) lovrJointGetNode(node->prev, a)->next = node->next;
else a->joints = node->next;
}
node = &joint->a;
if (node->next) lovrJointGetNode(node->next, a)->prev = node->prev;
if (node->prev) lovrJointGetNode(node->prev, a)->next = node->next;
else a->joints = node->next;
if (b) {
node = &joint->b;
@ -2161,7 +2157,7 @@ float lovrJointGetForce(Joint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
Collider* a = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
Collider* b = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody2(constraint));
World* world = a ? a->world : b->world;
World* world = a->world;
JPH_Vec3 v;
float force[3], x, y;
@ -2188,7 +2184,7 @@ float lovrJointGetTorque(Joint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
Collider* a = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
Collider* b = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody2(constraint));
World* world = a ? a->world : b->world;
World* world = a->world;
JPH_Vec3 v;
float torque[3], x, y;
@ -2213,11 +2209,8 @@ float lovrJointGetTorque(Joint* joint) {
// WeldJoint
WeldJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
WeldJoint* joint = lovrCalloc(sizeof(WeldJoint));
joint->ref = 1;
@ -2226,9 +2219,9 @@ WeldJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]) {
JPH_FixedConstraintSettings* settings = JPH_FixedConstraintSettings_Create();
JPH_FixedConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor));
JPH_FixedConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
joint->constraint = (JPH_Constraint*) JPH_FixedConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
joint->constraint = (JPH_Constraint*) JPH_FixedConstraintSettings_CreateConstraint(settings, parent, a->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
@ -2237,11 +2230,8 @@ WeldJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]) {
// BallJoint
BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
BallJoint* joint = lovrCalloc(sizeof(BallJoint));
joint->ref = 1;
@ -2250,9 +2240,9 @@ BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
JPH_PointConstraintSettings* settings = JPH_PointConstraintSettings_Create();
JPH_PointConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor));
JPH_PointConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
joint->constraint = (JPH_Constraint*) JPH_PointConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
joint->constraint = (JPH_Constraint*) JPH_PointConstraintSettings_CreateConstraint(settings, parent, a->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
@ -2261,11 +2251,8 @@ BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
// ConeJoint
ConeJoint* lovrConeJointCreate(Collider* a, Collider* b, float anchor[3], float axis[3]) {
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
ConeJoint* joint = lovrCalloc(sizeof(ConeJoint));
joint->ref = 1;
@ -2276,8 +2263,8 @@ ConeJoint* lovrConeJointCreate(Collider* a, Collider* b, float anchor[3], float
JPH_ConeConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
JPH_ConeConstraintSettings_SetTwistAxis1(settings, vec3_toJolt(axis));
JPH_ConeConstraintSettings_SetTwistAxis2(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_ConeConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
JPH_PhysicsSystem_AddConstraint((a ? a : b)->world->system, joint->constraint);
joint->constraint = (JPH_Constraint*) JPH_ConeConstraintSettings_CreateConstraint(settings, parent, a->body);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
@ -2314,11 +2301,8 @@ void lovrConeJointSetLimit(ConeJoint* joint, float angle) {
// DistanceJoint
DistanceJoint* lovrDistanceJointCreate(Collider* a, Collider* b, float anchor1[3], float anchor2[3]) {
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
DistanceJoint* joint = lovrCalloc(sizeof(DistanceJoint));
joint->ref = 1;
@ -2327,9 +2311,9 @@ DistanceJoint* lovrDistanceJointCreate(Collider* a, Collider* b, float anchor1[3
JPH_DistanceConstraintSettings* settings = JPH_DistanceConstraintSettings_Create();
JPH_DistanceConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor1));
JPH_DistanceConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor2));
joint->constraint = (JPH_Constraint*) JPH_DistanceConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
joint->constraint = (JPH_Constraint*) JPH_DistanceConstraintSettings_CreateConstraint(settings, parent, a->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
@ -2363,11 +2347,8 @@ void lovrDistanceJointSetSpring(DistanceJoint* joint, float frequency, float dam
// HingeJoint
HingeJoint* lovrHingeJointCreate(Collider* a, Collider* b, float anchor[3], float axis[3]) {
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
HingeJoint* joint = lovrCalloc(sizeof(HingeJoint));
joint->ref = 1;
@ -2378,9 +2359,9 @@ HingeJoint* lovrHingeJointCreate(Collider* a, Collider* b, float anchor[3], floa
JPH_HingeConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
JPH_HingeConstraintSettings_SetHingeAxis1(settings, vec3_toJolt(axis));
JPH_HingeConstraintSettings_SetHingeAxis2(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_HingeConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
joint->constraint = (JPH_Constraint*) JPH_HingeConstraintSettings_CreateConstraint(settings, parent, a->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
@ -2507,11 +2488,8 @@ void lovrHingeJointSetSpring(HingeJoint* joint, float frequency, float damping)
// SliderJoint
SliderJoint* lovrSliderJointCreate(Collider* a, Collider* b, float axis[3]) {
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
SliderJoint* joint = lovrCalloc(sizeof(SliderJoint));
joint->ref = 1;
@ -2519,9 +2497,9 @@ SliderJoint* lovrSliderJointCreate(Collider* a, Collider* b, float axis[3]) {
JPH_SliderConstraintSettings* settings = JPH_SliderConstraintSettings_Create();
JPH_SliderConstraintSettings_SetSliderAxis(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_SliderConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
joint->constraint = (JPH_Constraint*) JPH_SliderConstraintSettings_CreateConstraint(settings, parent, a->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;