From c27d11502ef73f09b76d066591f69234163ab015 Mon Sep 17 00:00:00 2001
From: yangfengzzz <yangfengzzz@hotmail.com>
Date: Sat, 28 Jan 2023 12:19:59 +0800
Subject: [PATCH] feat: add spherical joint
---
.../core/src/physics/joint/SphericalJoint.ts | 86 ++++++++++++++++
packages/core/src/physics/joint/index.ts | 1 +
packages/design/src/physics/IPhysics.ts | 8 +-
.../src/physics/joints/ISphericalJoint.ts | 24 +++++
packages/design/src/physics/joints/index.ts | 1 +
packages/physics-lite/src/LitePhysics.ts | 14 ++-
packages/physics-physx/src/PhysXPhysics.ts | 9 ++
.../src/joint/PhysXSphericalJoint.ts | 97 +++++++++++++++++++
8 files changed, 236 insertions(+), 4 deletions(-)
create mode 100644 packages/core/src/physics/joint/SphericalJoint.ts
create mode 100644 packages/design/src/physics/joints/ISphericalJoint.ts
create mode 100644 packages/physics-physx/src/joint/PhysXSphericalJoint.ts
diff --git a/packages/core/src/physics/joint/SphericalJoint.ts b/packages/core/src/physics/joint/SphericalJoint.ts
new file mode 100644
index 0000000000..9a0baca25c
--- /dev/null
+++ b/packages/core/src/physics/joint/SphericalJoint.ts
@@ -0,0 +1,86 @@
+import { Joint } from "./Joint";
+import { ISphericalJoint } from "@oasis-engine/design";
+import { Collider } from "../Collider";
+import { PhysicsManager } from "../PhysicsManager";
+
+/**
+ * A joint which behaves in a similar way to a ball and socket.
+ */
+export class SphericalJoint extends Joint {
+ private _yLimit = Math.PI / 2;
+ private _zLimit = Math.PI / 2;
+ private _contactDistance = -1;
+ private _stiffness = 0;
+ private _damping = 0;
+ private _enableSpring = false;
+
+ /** Whether enable spring limit */
+ get enableSpring(): boolean {
+ return this._enableSpring;
+ }
+
+ set enableSpring(value: boolean) {
+ this._enableSpring = value;
+ (<ISphericalJoint>this._nativeJoint).enableSpring(value);
+ }
+
+ /** The limit angle from the Y-axis of the constraint frame. */
+ get yLimit(): number {
+ return this._yLimit;
+ }
+
+ set yLimit(value: number) {
+ this._yLimit = value;
+ (<ISphericalJoint>this._nativeJoint).setYLimit(value);
+ }
+
+ /** The limit angle from the Z-axis of the constraint frame. */
+ get zLimit(): number {
+ return this._zLimit;
+ }
+
+ set zLimit(value: number) {
+ this._zLimit = value;
+ (<ISphericalJoint>this._nativeJoint).setZLimit(value);
+ }
+
+ /** Distance inside the limit value at which the limit will be considered to be active by the solver. */
+ get contactDistance(): number {
+ return this._contactDistance;
+ }
+
+ set contactDistance(value: number) {
+ this._contactDistance = value;
+ (<ISphericalJoint>this._nativeJoint).setContactDistance(value);
+ }
+
+ /** The spring forces used to reach the target position. */
+ get stiffness(): number {
+ return this._stiffness;
+ }
+
+ set stiffness(value: number) {
+ this._stiffness = value;
+ (<ISphericalJoint>this._nativeJoint).setStiffness(value);
+ }
+
+ /** The damper force uses to dampen the spring. */
+ get damping(): number {
+ return this._damping;
+ }
+
+ set damping(value: number) {
+ this._damping = value;
+ (<ISphericalJoint>this._nativeJoint).setDamping(value);
+ }
+
+ /**
+ * @override
+ * @internal
+ */
+ _onAwake() {
+ const collider = this._collider;
+ collider.collider = this.entity.getComponent(Collider);
+ this._nativeJoint = PhysicsManager._nativePhysics.createSphericalJoint(collider.collider._nativeCollider);
+ }
+}
diff --git a/packages/core/src/physics/joint/index.ts b/packages/core/src/physics/joint/index.ts
index 2ffd2e3cb2..b643d06dd5 100644
--- a/packages/core/src/physics/joint/index.ts
+++ b/packages/core/src/physics/joint/index.ts
@@ -2,6 +2,7 @@ export { Joint } from "./Joint";
export { FixedJoint } from "./FixedJoint";
export { HingeJoint } from "./HingeJoint";
export { SpringJoint } from "./SpringJoint";
+export { SphericalJoint } from "./SphericalJoint";
export { JointLimits } from "./JointLimits";
export { JointMotor } from "./JointMotor";
diff --git a/packages/design/src/physics/IPhysics.ts b/packages/design/src/physics/IPhysics.ts
index ad90d00da2..ad0d08b17d 100644
--- a/packages/design/src/physics/IPhysics.ts
+++ b/packages/design/src/physics/IPhysics.ts
@@ -6,7 +6,7 @@ import { IStaticCollider } from "./IStaticCollider";
import { Quaternion, Vector3 } from "@oasis-engine/math";
import { ICollider } from "./ICollider";
import { ICharacterController } from "./ICharacterController";
-import { IFixedJoint, IHingeJoint, ISpringJoint } from "./joints";
+import { IFixedJoint, IHingeJoint, ISpringJoint, ISphericalJoint } from "./joints";
/**
* The interface of physics creation.
@@ -119,4 +119,10 @@ export interface IPhysics {
* @param collider - Affector of joint
*/
createSpringJoint(collider: ICollider): ISpringJoint;
+
+ /**
+ * Create spherical joint
+ * @param collider - Affector of joint
+ */
+ createSphericalJoint(collider: ICollider): ISphericalJoint;
}
diff --git a/packages/design/src/physics/joints/ISphericalJoint.ts b/packages/design/src/physics/joints/ISphericalJoint.ts
new file mode 100644
index 0000000000..9be2e17a95
--- /dev/null
+++ b/packages/design/src/physics/joints/ISphericalJoint.ts
@@ -0,0 +1,24 @@
+import { IJoint } from "./IJoint";
+
+/**
+ * A joint which behaves in a similar way to a ball and socket.
+ */
+export interface ISphericalJoint extends IJoint {
+ /** Whether enable spring limit */
+ enableSpring(value: boolean);
+
+ /** The limit angle from the Y-axis of the constraint frame. */
+ setYLimit(value: number);
+
+ /** The limit angle from the Z-axis of the constraint frame. */
+ setZLimit(value: number);
+
+ /** Distance inside the limit value at which the limit will be considered to be active by the solver. */
+ setContactDistance(value: number);
+
+ /** The spring forces used to reach the target position. */
+ setStiffness(value: number);
+
+ /** The damper force uses to dampen the spring. */
+ setDamping(value: number);
+}
diff --git a/packages/design/src/physics/joints/index.ts b/packages/design/src/physics/joints/index.ts
index 6a0b39f4e6..7f278b23ad 100644
--- a/packages/design/src/physics/joints/index.ts
+++ b/packages/design/src/physics/joints/index.ts
@@ -2,3 +2,4 @@ export type { IJoint } from "./IJoint";
export type { IFixedJoint } from "./IFixedJoint";
export type { IHingeJoint } from "./IHingeJoint";
export type { ISpringJoint } from "./ISpringJoint";
+export type { ISphericalJoint } from "./ISphericalJoint";
diff --git a/packages/physics-lite/src/LitePhysics.ts b/packages/physics-lite/src/LitePhysics.ts
index 6cc92369b3..48b00e70ed 100644
--- a/packages/physics-lite/src/LitePhysics.ts
+++ b/packages/physics-lite/src/LitePhysics.ts
@@ -12,6 +12,7 @@ import {
IFixedJoint,
IHingeJoint,
ISpringJoint,
+ ISphericalJoint
} from "@oasis-engine/design";
import { Quaternion, Vector3 } from "oasis-engine";
import { LiteDynamicCollider } from "./LiteDynamicCollider";
@@ -121,20 +122,27 @@ export class LitePhysics {
* {@inheritDoc IPhysics.createFixedJoint }
*/
static createFixedJoint(collider: LiteCollider): IFixedJoint {
- throw "Physics-lite don't support CapsuleColliderShape. Use Physics-PhysX instead!";
+ throw "Physics-lite don't support FixedJoint. Use Physics-PhysX instead!";
}
/**
* {@inheritDoc IPhysics.createHingeJoint }
*/
static createHingeJoint(collider: LiteCollider): IHingeJoint {
- throw "Physics-lite don't support CapsuleColliderShape. Use Physics-PhysX instead!";
+ throw "Physics-lite don't support HingeJoint. Use Physics-PhysX instead!";
}
/**
* {@inheritDoc IPhysics.createSpringJoint }
*/
static createSpringJoint(collider: LiteCollider): ISpringJoint {
- throw "Physics-lite don't support CapsuleColliderShape. Use Physics-PhysX instead!";
+ throw "Physics-lite don't support SpringJoint. Use Physics-PhysX instead!";
+ }
+
+ /**
+ * {@inheritDoc IPhysics.createSphericalJoint }
+ */
+ static createSphericalJoint(collider: LiteCollider): ISphericalJoint {
+ throw "Physics-lite don't support SphericalJoint. Use Physics-PhysX instead!";
}
}
diff --git a/packages/physics-physx/src/PhysXPhysics.ts b/packages/physics-physx/src/PhysXPhysics.ts
index d5569dcebb..1456f00f33 100644
--- a/packages/physics-physx/src/PhysXPhysics.ts
+++ b/packages/physics-physx/src/PhysXPhysics.ts
@@ -10,6 +10,7 @@ import {
IPhysicsMaterial,
IPlaneColliderShape,
ISphereColliderShape,
+ ISphericalJoint,
ISpringJoint,
IStaticCollider
} from "@oasis-engine/design";
@@ -18,6 +19,7 @@ import { PhysXRuntimeMode } from "./enum/PhysXRuntimeMode";
import { PhysXFixedJoint } from "./joint/PhysXFixedJoint";
import { PhysXHingeJoint } from "./joint/PhysXHingeJoint";
import { PhysXSpringJoint } from "./joint/PhysXSpringJoint";
+import { PhysXSphericalJoint } from "./joint/PhysXSphericalJoint";
import { PhysXCharacterController } from "./PhysXCharacterController";
import { PhysXCollider } from "./PhysXCollider";
import { PhysXDynamicCollider } from "./PhysXDynamicCollider";
@@ -220,6 +222,13 @@ export class PhysXPhysics {
return new PhysXSpringJoint(collider);
}
+ /**
+ * {@inheritDoc IPhysics.createSpringJoint }
+ */
+ static createSphericalJoint(collider: PhysXCollider): ISphericalJoint {
+ return new PhysXSphericalJoint(collider);
+ }
+
private static _init(physX: any): void {
const version = physX.PX_PHYSICS_VERSION;
const defaultErrorCallback = new physX.PxDefaultErrorCallback();
diff --git a/packages/physics-physx/src/joint/PhysXSphericalJoint.ts b/packages/physics-physx/src/joint/PhysXSphericalJoint.ts
new file mode 100644
index 0000000000..2844126f0e
--- /dev/null
+++ b/packages/physics-physx/src/joint/PhysXSphericalJoint.ts
@@ -0,0 +1,97 @@
+import { ISphericalJoint } from "@oasis-engine/design";
+import { PhysXJoint } from "./PhysXJoint";
+import { PhysXCollider } from "../PhysXCollider";
+import { PhysXPhysics } from "../PhysXPhysics";
+
+/**
+ * A joint which behaves in a similar way to a ball and socket.
+ */
+export class PhysXSphericalJoint extends PhysXJoint implements ISphericalJoint {
+ private _yLimit = Math.PI / 2;
+ private _zLimit = Math.PI / 2;
+ private _contactDistance = -1;
+ private _stiffness = 0;
+ private _damping = 0;
+ private _enableSpring = false;
+
+ constructor(collider: PhysXCollider) {
+ super();
+ this._collider = collider;
+ this._pxJoint = PhysXPhysics._pxPhysics.createSphericalJoint(
+ null,
+ PhysXJoint._defaultVec,
+ PhysXJoint._defaultQuat,
+ collider._pxActor,
+ PhysXJoint._defaultVec,
+ PhysXJoint._defaultQuat
+ );
+ }
+
+ /**
+ * {@inheritDoc ISphericalJoint.enableSpring }
+ */
+ enableSpring(value: boolean) {
+ if (this._enableSpring !== value) {
+ this._enableSpring = value;
+ this._setLimitCone();
+ }
+ }
+
+ /**
+ * {@inheritDoc ISphericalJoint.setYLimit }
+ */
+ setYLimit(value: number) {
+ if (this._yLimit !== value) {
+ this._yLimit = value;
+ this._setLimitCone();
+ }
+ }
+
+ /**
+ * {@inheritDoc ISphericalJoint.setZLimit }
+ */
+ setZLimit(value: number) {
+ if (this._zLimit !== value) {
+ this._zLimit = value;
+ this._setLimitCone();
+ }
+ }
+
+ /**
+ * {@inheritDoc ISphericalJoint.setContactDistance }
+ */
+ setContactDistance(value: number) {
+ if (this._contactDistance !== value) {
+ this._contactDistance = value;
+ this._setLimitCone();
+ }
+ }
+
+ /**
+ * {@inheritDoc ISphericalJoint.setStiffness }
+ */
+ setStiffness(value: number) {
+ if (this._stiffness !== value) {
+ this._stiffness = value;
+ this._setLimitCone();
+ }
+ }
+
+ /**
+ * {@inheritDoc ISphericalJoint.setDamping }
+ */
+ setDamping(value: number) {
+ if (this._damping !== value) {
+ this._damping = value;
+ this._setLimitCone();
+ }
+ }
+
+ private _setLimitCone() {
+ if (this._enableSpring) {
+ this._pxJoint.setSoftLimitCone(this._yLimit, this._zLimit, this._stiffness, this._damping);
+ } else {
+ this._pxJoint.setHardLimitCone(this._yLimit, this._zLimit, this._contactDistance);
+ }
+ }
+}