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constraints: Implemented pulley #214

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Aug 15, 2024
Merged

constraints: Implemented pulley #214

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99a7497
constraints: Implemented pulley
PiMoNFeeD Aug 13, 2024
7f508bf
README: Pulleys are working now
PiMoNFeeD Aug 13, 2024
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -22,7 +22,7 @@ It is not meant to be a bash on anyone elses work however, the Bullet VPhysics p
| Feature | VPhysics | Volt (VPhysics Jolt) | Bullet VPhysics |
|:--------------|:--------:|:-------------:|:---------------:|
| Constraints (except Pulleys) | ✔️ | ✔️ | ✔️ |
| Pulleys | ✔️ | ❌ | ❌ |
| Pulleys | ✔️ | ✔️ | ❌ |
| Breakable constraints | ✔️ | ❌ | ❌ |
| Motors (Motion Controllers) | ✔️ | ✔️ | ✔️ |
| Motors (Constraint) | ✔️ | ✔️ | ❌ |
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1 change: 1 addition & 0 deletions vphysics_jolt/cbase.h
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Expand Up @@ -126,6 +126,7 @@
#include <Jolt/Physics/Constraints/SixDOFConstraint.h>
#include <Jolt/Physics/Constraints/DistanceConstraint.h>
#include <Jolt/Physics/Constraints/SliderConstraint.h>
#include <Jolt/Physics/Constraints/PulleyConstraint.h>
#include <Jolt/Physics/Vehicle/VehicleConstraint.h>
#include <Jolt/Physics/Vehicle/VehicleCollisionTester.h>
#include <Jolt/Physics/Vehicle/WheeledVehicleController.h>
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33 changes: 33 additions & 0 deletions vphysics_jolt/vjolt_constraints.cpp
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Expand Up @@ -566,6 +566,39 @@ void JoltPhysicsConstraint::InitialiseLength( IPhysicsConstraintGroup *pGroup, c
m_pPhysicsSystem->AddConstraint( m_pConstraint );
}

//-------------------------------------------------------------------------------------------------
// Pulley
//-------------------------------------------------------------------------------------------------

void JoltPhysicsConstraint::InitialisePulley( IPhysicsConstraintGroup *pGroup, const constraint_pulleyparams_t &pulley )
{
SetGroup( pGroup );
m_ConstraintType = CONSTRAINT_PULLEY;

// Get our bodies
JPH::Body* refBody = m_pObjReference->GetBody();
JPH::Body* attBody = m_pObjAttached->GetBody();

JPH::PulleyConstraintSettings settings;
settings.mNumVelocityStepsOverride = vjolt_constraint_velocity_substeps.GetInt();
settings.mNumPositionStepsOverride = vjolt_constraint_position_substeps.GetInt();
settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
settings.mBodyPoint1 = SourceToJolt::Distance( pulley.objectPosition[0] ) - refBody->GetShape()->GetCenterOfMass();
settings.mBodyPoint2 = SourceToJolt::Distance( pulley.objectPosition[1] ) - attBody->GetShape()->GetCenterOfMass();

settings.mFixedPoint1 = SourceToJolt::Distance( pulley.pulleyPosition[0] );
settings.mFixedPoint2 = SourceToJolt::Distance( pulley.pulleyPosition[1] );

settings.mRatio = pulley.gearRatio;

settings.mMaxLength = SourceToJolt::Distance( pulley.totalLength ); // PiMoN: from my testing, it is the same value as Jolt would calculate automatically

m_pConstraint = settings.Create( *refBody, *attBody );
m_pConstraint->SetEnabled( !pGroup && pulley.constraint.isActive );

m_pPhysicsSystem->AddConstraint( m_pConstraint );
}

//-------------------------------------------------------------------------------------------------

void JoltPhysicsConstraint::SaveConstraintSettings( JPH::StateRecorder &recorder )
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1 change: 1 addition & 0 deletions vphysics_jolt/vjolt_constraints.h
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Expand Up @@ -79,6 +79,7 @@ class JoltPhysicsConstraint final : public IPhysicsConstraint, public IJoltObjec
void InitialiseBallsocket( IPhysicsConstraintGroup *pGroup, const constraint_ballsocketparams_t &ballsocket );
void InitialiseFixed( IPhysicsConstraintGroup *pGroup, const constraint_fixedparams_t &fixed );
void InitialiseLength( IPhysicsConstraintGroup *pGroup, const constraint_lengthparams_t &length );
void InitialisePulley( IPhysicsConstraintGroup *pGroup, const constraint_pulleyparams_t &pulley );

void SaveConstraintSettings( JPH::StateRecorder &recorder );

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5 changes: 3 additions & 2 deletions vphysics_jolt/vjolt_environment.cpp
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Expand Up @@ -631,8 +631,9 @@ IPhysicsConstraint *JoltPhysicsEnvironment::CreateBallsocketConstraint( IPhysics

IPhysicsConstraint *JoltPhysicsEnvironment::CreatePulleyConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_pulleyparams_t &pulley )
{
Log_Stub( LOG_VJolt );
return nullptr;
JoltPhysicsConstraint *pConstraint = new JoltPhysicsConstraint( this, pReferenceObject, pAttachedObject );
pConstraint->InitialisePulley( pGroup, pulley );
return pConstraint;
}

IPhysicsConstraint *JoltPhysicsEnvironment::CreateLengthConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_lengthparams_t &length )
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