346 lines
11 KiB
C++
346 lines
11 KiB
C++
//========= Copyright Valve Corporation, All rights reserved. ============//
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//
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// Purpose:
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//
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// $NoKeywords: $
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//=============================================================================//
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#ifndef CONSTRAINTS_H
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#define CONSTRAINTS_H
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#ifdef _WIN32
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#pragma once
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#endif
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#include "vphysics_interface.h"
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#include "mathlib/mathlib.h"
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// constraint groups
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struct constraint_groupparams_t
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{
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int additionalIterations; // additional solver iterations make the constraint system more stable
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int minErrorTicks; // minimum number of ticks with an error before it's reported
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float errorTolerance; // error tolerance in HL units
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inline void Defaults()
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{
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additionalIterations = 0;
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minErrorTicks = 15;
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errorTolerance = 3.0f;
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}
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};
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// Breakable constraints;
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//
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// forceLimit - kg * in / s limit (N * conversion(in/m))
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// torqueLimit - kg * in^2 / s (Nm * conversion(in^2/m^2))
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//
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// strength 0 - 1
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struct constraint_breakableparams_t
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{
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float strength; // strength of the constraint 0.0 - 1.0
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float forceLimit; // constraint force limit to break (0 means never break)
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float torqueLimit; // constraint torque limit to break (0 means never break)
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float bodyMassScale[2]; // scale applied to mass of reference/attached object before solving constriant
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bool isActive;
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inline void Defaults()
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{
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forceLimit = 0.0f;
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torqueLimit = 0.0f;
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strength = 1.0f;
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bodyMassScale[0] = 1.0f;
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bodyMassScale[1] = 1.0f;
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isActive = true;
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}
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};
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//-----------------------------------------------------------------------------
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// Purpose: constraint limit on a single rotation axis
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//-----------------------------------------------------------------------------
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struct constraint_axislimit_t
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{
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float minRotation;
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float maxRotation;
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float angularVelocity; // desired angular velocity around hinge
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float torque; // torque to achieve angular velocity (use 0, torque for "friction")
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inline void SetAxisFriction( float rmin, float rmax, float friction )
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{
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minRotation = rmin;
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maxRotation = rmax;
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angularVelocity = 0;
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torque = friction;
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}
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inline void Defaults()
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{
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SetAxisFriction(0,0,0);
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}
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};
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// Builds a transform which maps points in the input object's local space
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// to the output object's local space
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inline void BuildObjectRelativeXform( IPhysicsObject *pOutputSpace, IPhysicsObject *pInputSpace, matrix3x4_t &xformInToOut )
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{
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matrix3x4_t outInv, tmp, input;
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pOutputSpace->GetPositionMatrix( &tmp );
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MatrixInvert( tmp, outInv );
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pInputSpace->GetPositionMatrix( &input );
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ConcatTransforms( outInv, input, xformInToOut );
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}
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//-----------------------------------------------------------------------------
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// Purpose: special limited ballsocket constraint for ragdolls.
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// Has axis limits for all 3 axes.
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//-----------------------------------------------------------------------------
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struct constraint_ragdollparams_t
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{
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constraint_breakableparams_t constraint;
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matrix3x4_t constraintToReference;// xform constraint space to refobject space
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matrix3x4_t constraintToAttached; // xform constraint space to attached object space
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int parentIndex; // NOTE: only used for parsing. NEED NOT BE SET for create
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int childIndex; // NOTE: only used for parsing. NEED NOT BE SET for create
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constraint_axislimit_t axes[3];
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bool onlyAngularLimits; // only angular limits (not translation as well?)
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bool isActive;
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bool useClockwiseRotations; // HACKHACK: Did this wrong in version one. Fix in the future.
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inline void Defaults()
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{
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constraint.Defaults();
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isActive = true;
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SetIdentityMatrix( constraintToReference );
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SetIdentityMatrix( constraintToAttached );
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parentIndex = -1;
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childIndex = -1;
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axes[0].Defaults();
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axes[1].Defaults();
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axes[2].Defaults();
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onlyAngularLimits = false;
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useClockwiseRotations = false;
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}
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};
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//-----------------------------------------------------------------------------
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// Purpose: Used to init a hinge restricting the relative position and orientation
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// of two objects to rotation around a single axis
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//-----------------------------------------------------------------------------
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struct constraint_hingeparams_t
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{
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Vector worldPosition; // position in world space on the hinge axis
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Vector worldAxisDirection; // unit direction vector of the hinge axis in world space
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constraint_axislimit_t hingeAxis;
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constraint_breakableparams_t constraint;
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inline void Defaults()
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{
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worldPosition.Init();
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worldAxisDirection.Init();
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hingeAxis.Defaults();
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constraint.Defaults();
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}
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};
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struct constraint_limitedhingeparams_t : public constraint_hingeparams_t
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{
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Vector referencePerpAxisDirection; // unit direction vector vector perpendicular to the hinge axis in world space
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Vector attachedPerpAxisDirection; // unit direction vector vector perpendicular to the hinge axis in world space
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constraint_limitedhingeparams_t() {}
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constraint_limitedhingeparams_t( const constraint_hingeparams_t &hinge )
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{
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static_cast<constraint_hingeparams_t &>(*this) = hinge;
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referencePerpAxisDirection.Init();
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attachedPerpAxisDirection.Init();
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}
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inline void Defaults()
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{
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this->constraint_hingeparams_t::Defaults();
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referencePerpAxisDirection.Init();
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attachedPerpAxisDirection.Init();
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}
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};
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//-----------------------------------------------------------------------------
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// Purpose: Used to init a constraint that fixes the position and orientation
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// of two objects relative to each other (like glue)
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//-----------------------------------------------------------------------------
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struct constraint_fixedparams_t
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{
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matrix3x4_t attachedRefXform; // xform attached object space to ref object space
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constraint_breakableparams_t constraint;
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inline void InitWithCurrentObjectState( IPhysicsObject *pRef, IPhysicsObject *pAttached )
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{
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BuildObjectRelativeXform( pRef, pAttached, attachedRefXform );
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}
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inline void Defaults()
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{
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SetIdentityMatrix( attachedRefXform );
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constraint.Defaults();
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}
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};
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//-----------------------------------------------------------------------------
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// Purpose: Same parameters as fixed constraint, but torqueLimit has no effect
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//-----------------------------------------------------------------------------
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struct constraint_ballsocketparams_t
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{
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Vector constraintPosition[2]; // position of the constraint in each object's space
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constraint_breakableparams_t constraint;
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inline void Defaults()
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{
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constraint.Defaults();
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constraintPosition[0].Init();
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constraintPosition[1].Init();
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}
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void InitWithCurrentObjectState( IPhysicsObject *pRef, IPhysicsObject *pAttached, const Vector &ballsocketOrigin )
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{
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pRef->WorldToLocal( &constraintPosition[0], ballsocketOrigin );
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pAttached->WorldToLocal( &constraintPosition[1], ballsocketOrigin );
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}
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};
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struct constraint_slidingparams_t
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{
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matrix3x4_t attachedRefXform; // xform attached object space to ref object space
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Vector slideAxisRef; // unit direction vector of the slide axis in ref object space
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constraint_breakableparams_t constraint;
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// NOTE: if limitMin == limitMax there is NO limit set!
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float limitMin; // minimum limit coordinate refAxisDirection space
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float limitMax; // maximum limit coordinate refAxisDirection space
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float friction; // friction on sliding
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float velocity; // desired velocity
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inline void Defaults()
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{
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SetIdentityMatrix( attachedRefXform );
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slideAxisRef.Init();
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limitMin = limitMax = 0;
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friction = 0;
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velocity = 0;
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constraint.Defaults();
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}
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inline void SetFriction( float inputFriction )
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{
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friction = inputFriction;
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velocity = 0;
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}
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inline void SetLinearMotor( float inputVelocity, float maxForce )
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{
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friction = maxForce;
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velocity = inputVelocity;
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}
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inline void InitWithCurrentObjectState( IPhysicsObject *pRef, IPhysicsObject *pAttached, const Vector &slideDirWorldspace )
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{
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BuildObjectRelativeXform( pRef, pAttached, attachedRefXform );
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matrix3x4_t tmp;
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pRef->GetPositionMatrix( &tmp );
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VectorIRotate( slideDirWorldspace, tmp, slideAxisRef );
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}
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};
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struct constraint_pulleyparams_t
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{
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constraint_breakableparams_t constraint;
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Vector pulleyPosition[2]; // These are the pulley positions for the reference and attached objects in world space
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Vector objectPosition[2]; // local positions of attachments to the ref,att objects
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float totalLength; // total rope length (include gearing!)
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float gearRatio; // gearing affects attached object ALWAYS
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bool isRigid;
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inline void Defaults()
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{
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constraint.Defaults();
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totalLength = 1.0;
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gearRatio = 1.0;
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pulleyPosition[0].Init();
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pulleyPosition[1].Init();
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objectPosition[0].Init();
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objectPosition[1].Init();
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isRigid = false;
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}
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};
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struct constraint_lengthparams_t
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{
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constraint_breakableparams_t constraint;
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Vector objectPosition[2]; // These are the positions for the reference and attached objects in local space
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float totalLength; // Length of rope/spring/constraint. Distance to maintain
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float minLength; // if rigid, objects are not allowed to move closer than totalLength either
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void InitWorldspace( IPhysicsObject *pRef, IPhysicsObject *pAttached, const Vector &refPosition, const Vector &attachedPosition, bool rigid = false )
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{
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pRef->WorldToLocal( &objectPosition[0], refPosition );
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pAttached->WorldToLocal( &objectPosition[1], attachedPosition );
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totalLength = (refPosition - attachedPosition).Length();
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minLength = rigid ? totalLength : 0;
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}
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inline void Defaults()
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{
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constraint.Defaults();
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objectPosition[0].Init();
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objectPosition[1].Init();
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totalLength = 1;
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minLength = 0;
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}
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};
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class IPhysicsConstraint
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{
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public:
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virtual ~IPhysicsConstraint( void ) {}
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// NOTE: Constraints are active when created. You can temporarily enable/disable them with these functions
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virtual void Activate( void ) = 0;
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virtual void Deactivate( void ) = 0;
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// set a pointer to the game object
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virtual void SetGameData( void *gameData ) = 0;
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// get a pointer to the game object
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virtual void *GetGameData( void ) const = 0;
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// Get the parent/referenced object
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virtual IPhysicsObject *GetReferenceObject( void ) const = 0;
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// Get the attached object
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virtual IPhysicsObject *GetAttachedObject( void ) const = 0;
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virtual void SetLinearMotor( float speed, float maxLinearImpulse ) = 0;
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virtual void SetAngularMotor( float rotSpeed, float maxAngularImpulse ) = 0;
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virtual void UpdateRagdollTransforms( const matrix3x4_t &constraintToReference, const matrix3x4_t &constraintToAttached ) = 0;
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virtual bool GetConstraintTransform( matrix3x4_t *pConstraintToReference, matrix3x4_t *pConstraintToAttached ) const = 0;
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virtual bool GetConstraintParams( constraint_breakableparams_t *pParams ) const = 0;
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virtual void OutputDebugInfo() = 0;
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};
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class IPhysicsConstraintGroup
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{
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public:
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virtual ~IPhysicsConstraintGroup( void ) {}
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virtual void Activate() = 0;
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virtual bool IsInErrorState() = 0;
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virtual void ClearErrorState() = 0;
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virtual void GetErrorParams( constraint_groupparams_t *pParams ) = 0;
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virtual void SetErrorParams( const constraint_groupparams_t ¶ms ) = 0;
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virtual void SolvePenetration( IPhysicsObject *pObj0, IPhysicsObject *pObj1 ) = 0;
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};
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#endif // CONSTRAINTS_H
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