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#include "UnityPrefix.h"
#if ENABLE_PHYSICS
#include "CharacterJoint.h"
#include "Runtime/Graphics/Transform.h"
#include "Runtime/Serialize/TransferFunctions/SerializeTransfer.h"
#include "PhysicsManager.h"
#include "Runtime/Utilities/Utility.h"
#include "External/PhysX/builds/SDKs/Physics/include/NxPhysics.h"
using namespace std;
namespace Unity
{
#define GET_JOINT() static_cast<NxD6Joint*> (m_Joint)
inline void FixupNovodexLimitBug (NxD6JointDesc& desc)
{
desc.twistMotion = desc.swing2Motion = desc.swing1Motion = NX_D6JOINT_MOTION_LIMITED;
}
/*
- We awake the hingejoint only once. (AwakeFromLoad)
At this point we setup the axes. They are never changed afterwards
-> The perfect solution remembers the old position/rotation of the rigid bodies.
Then when changing axis/anchor is changed it generates axes that are rleative to the old position/rotation state!
*/
CharacterJoint::CharacterJoint (MemLabelId label, ObjectCreationMode mode)
: Super(label, mode)
{
m_TargetRotation = Quaternionf::identity();
// m_TargetAngularVelocity = Vector3f::zero;
m_UseTargetRotation = false;
m_SwingAxis = Vector3f::yAxis;
}
CharacterJoint::~CharacterJoint ()
{
}
void CharacterJoint::CalculateGlobalHingeSpace (Vector3f& globalAnchor, Vector3f& globalAxis, Vector3f& globalNormal) const
{
const Transform& transform = GetComponent (Transform);
Vector3f localAxis = m_Axis;
if (SqrMagnitude (localAxis) < Vector3f::epsilon)
localAxis = Vector3f (1.0F, 0.0F, 0.0F);
Vector3f localNormal = m_SwingAxis;
OrthoNormalize (&localAxis, &localNormal);
globalAnchor = transform.TransformPoint (m_Anchor);
// Vector3f globalRigidbodyPos = transform.GetPosition ();
globalAxis = transform.TransformDirection (localAxis);
globalNormal = transform.TransformDirection (localNormal);
Matrix3x3f m;
m.SetOrthoNormalBasisInverse(globalAxis, globalNormal, Cross (globalAxis, globalNormal));
// m.SetOrthoNormalBasisInverse(Vector3f::xAxis, globalNormal, Cross (globalAxis, globalNormal));
// m.SetOrthoNormalBasisInverse(globalNormal, Cross (globalAxis, globalNormal), globalAxis);
// OrthoNormalize(m);
Quaternionf q;
MatrixToQuaternion(m, q);
m_ConfigurationSpace = q * Inverse(transform.GetRotation ());
}
void CharacterJoint::Reset ()
{
Super::Reset();
m_RotationDrive.maximumForce = 20;
m_RotationDrive.positionSpring = 50;
m_RotationDrive.positionDamper = 5;
InitSoftJointLimit (m_LowTwistLimit);
InitSoftJointLimit (m_HighTwistLimit);
InitSoftJointLimit (m_Swing1Limit);
InitSoftJointLimit (m_Swing2Limit);
m_LowTwistLimit.limit = -20;
m_HighTwistLimit.limit = 70;
m_Swing1Limit.limit = 40;
m_Swing2Limit.limit = 0;
}
void CharacterJoint::CheckConsistency ()
{
Super::CheckConsistency();
m_LowTwistLimit.limit = clamp<float> (m_LowTwistLimit.limit, -180, 180);
m_HighTwistLimit.limit = clamp<float> (m_HighTwistLimit.limit, -180, 180);
m_Swing1Limit.limit = clamp<float> (m_Swing1Limit.limit, 0, 180);
m_Swing2Limit.limit = clamp<float> (m_Swing2Limit.limit, 0, 180);
}
void CharacterJoint::UpdateTargetRotation ()
{
NxD6Joint* joint = GET_JOINT ();
if (joint)
{
Quaternionf temp = m_ConfigurationSpace * Inverse(m_TargetRotation) * Inverse(m_ConfigurationSpace);
NxQuat targetRotation = (const NxQuat&)temp;
// NxActor *a0, *a1;
// joint->getActors(&a0, &a1);
// if (a1)
// targetRotation = a1->getGlobalOrientationQuat () * targetRotation;
//NxQuat id;
//id.id();
joint->setDriveOrientation(targetRotation);
}
}
Quaternionf CharacterJoint::GetTargetRotation ()
{
return m_TargetRotation;
}
void CharacterJoint::SetTargetRotation (const Quaternionf& rot)
{
SetDirty ();
if (m_Joint)
{
NxActor* a0, *a1;
m_Joint->getActors(&a0, &a1);
/* if (a1)
{
Quaternionf q = (const Quaternionf&)a1->getGlobalOrientationQuat();
m_TargetRotation = NormalizeSafe(Inverse(q) * rot);
}
else*/
m_TargetRotation = NormalizeSafe (rot);
}
UpdateTargetRotation();
}
Vector3f CharacterJoint::GetTargetAngularVelocity ()
{
return m_TargetAngularVelocity;
}
void CharacterJoint::SetTargetAngularVelocity (const Vector3f& rot)
{
SetDirty ();
m_TargetAngularVelocity = rot;
if (m_Joint)
GET_JOINT ()->setDriveAngularVelocity ((const NxVec3&)m_TargetAngularVelocity);
}
JointDrive CharacterJoint::GetRotationDrive ()
{
return m_RotationDrive;
}
void CharacterJoint::SetRotationDrive (const JointDrive& drive)
{
SetDirty ();
m_RotationDrive = drive;
if (GET_JOINT())
{
NxD6JointDesc desc;
GET_JOINT()->saveToDesc (desc);
FixupNovodexLimitBug(desc);
int flag = 0;
if (m_UseTargetRotation)
flag |= NX_D6JOINT_DRIVE_POSITION;
ConvertDrive (m_RotationDrive, desc.slerpDrive, flag);
ConvertDrive (m_RotationDrive, desc.twistDrive, flag);
ConvertDrive (m_RotationDrive, desc.swingDrive, flag);
GET_JOINT()->loadFromDesc (desc);
}
}
void CharacterJoint::SetLowTwistLimit (const SoftJointLimit& limit)
{
SetDirty ();
m_LowTwistLimit = limit;
if (GET_JOINT())
{
NxD6JointDesc desc;
GET_JOINT()->saveToDesc (desc);
FixupNovodexLimitBug(desc);
ConvertSoftLimit (m_LowTwistLimit, desc.twistLimit.low);
ConvertSoftLimit (m_HighTwistLimit, desc.twistLimit.high);
if (desc.twistLimit.low.value > desc.twistLimit.high.value)
swap (desc.twistLimit.low, desc.twistLimit.high);
GET_JOINT()->loadFromDesc (desc);
}
}
void CharacterJoint::SetHighTwistLimit (const SoftJointLimit& limit)
{
SetDirty ();
m_HighTwistLimit = limit;
if (GET_JOINT())
{
NxD6JointDesc desc;
GET_JOINT()->saveToDesc (desc);
FixupNovodexLimitBug(desc);
ConvertSoftLimit (m_LowTwistLimit, desc.twistLimit.low);
ConvertSoftLimit (m_HighTwistLimit, desc.twistLimit.high);
if (desc.twistLimit.low.value > desc.twistLimit.high.value)
swap (desc.twistLimit.low, desc.twistLimit.high);
GET_JOINT()->loadFromDesc (desc);
}
}
void CharacterJoint::SetSwing1Limit (const SoftJointLimit& limit)
{
SetDirty ();
m_Swing1Limit = limit;
if (GET_JOINT())
{
NxD6JointDesc desc;
GET_JOINT()->saveToDesc (desc);
FixupNovodexLimitBug(desc);
ConvertSoftLimit (m_Swing1Limit, desc.swing1Limit);
GET_JOINT()->loadFromDesc (desc);
}
}
void CharacterJoint::SetSwing2Limit (const SoftJointLimit& limit)
{
SetDirty ();
m_Swing2Limit = limit;
if (GET_JOINT())
{
NxD6JointDesc desc;
GET_JOINT()->saveToDesc (desc);
FixupNovodexLimitBug(desc);
ConvertSoftLimit (m_Swing2Limit, desc.swing2Limit);
GET_JOINT()->loadFromDesc (desc);
}
}
/*
- When the rigid body which is attached with the hinge joint is activated after the joint is loaded
It will not be connected with the joint!
*/
template<class TransferFunction>
void CharacterJoint::Transfer (TransferFunction& transfer)
{
JointTransferPre (transfer);
TRANSFER (m_SwingAxis);
// TRANSFER (m_UseTargetRotation);
// TRANSFER (m_RotationDrive);
TRANSFER (m_LowTwistLimit);
TRANSFER (m_HighTwistLimit);
TRANSFER (m_Swing1Limit);
TRANSFER (m_Swing2Limit);
JointTransferPost (transfer);
}
void CharacterJoint::Create ()
{
AssertIf (!IsActive ());
NxD6JointDesc desc;
if (m_Joint && m_Joint->getState () == NX_JS_SIMULATING)
GET_JOINT()->saveToDesc (desc);
desc.xMotion = NX_D6JOINT_MOTION_LOCKED;
desc.yMotion = NX_D6JOINT_MOTION_LOCKED;
desc.zMotion = NX_D6JOINT_MOTION_LOCKED;
ConvertSoftLimit (m_LowTwistLimit, desc.twistLimit.low);
ConvertSoftLimit (m_HighTwistLimit, desc.twistLimit.high);
if (desc.twistLimit.low.value > desc.twistLimit.high.value)
swap (desc.twistLimit.low, desc.twistLimit.high);
ConvertSoftLimit (m_Swing1Limit, desc.swing1Limit);
ConvertSoftLimit (m_Swing2Limit, desc.swing2Limit);
desc.swing1Motion = NX_D6JOINT_MOTION_LIMITED;
desc.swing2Motion = NX_D6JOINT_MOTION_LIMITED;
desc.twistMotion = NX_D6JOINT_MOTION_LIMITED;
// desc.driveOrientation = (const NxQuat&)m_TargetRotation;
desc.driveAngularVelocity = (const NxVec3&)m_TargetAngularVelocity;
desc.flags = NX_D6JOINT_SLERP_DRIVE;
int flag = 0;
if (m_UseTargetRotation)
flag |= NX_D6JOINT_DRIVE_POSITION;
ConvertDrive (m_RotationDrive, desc.slerpDrive, flag);
ConvertDrive (m_RotationDrive, desc.twistDrive, flag);
ConvertDrive (m_RotationDrive, desc.swingDrive, flag);
FINALIZE_CREATE (desc, NxD6Joint);
///////// DO WE WANT THIS?????????
SetTargetRotation (GetComponent(Transform).GetRotation());
}
void CharacterJoint::SetSwingAxis (const Vector3f& axis)\
{
SetDirty ();
m_SwingAxis = axis;
ApplySetupAxesToDesc (kChangeAxis);
}
void CharacterJoint::ApplySetupAxesToDesc (int option)
{
if (IsActive () && m_Joint)
{
NxD6JointDesc desc;
AssertIf (m_Joint->getState () == NX_JS_BROKEN);
GET_JOINT()->saveToDesc (desc);
FixupNovodexLimitBug(desc);
SetupAxes (desc, option);
GET_JOINT()->loadFromDesc (desc);
AssertIf (m_Joint->getState () == NX_JS_BROKEN);
}
}
}
IMPLEMENT_CLASS (CharacterJoint)
IMPLEMENT_OBJECT_SERIALIZE (CharacterJoint)
#endif //ENABLE_PHYSICS
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