aboutsummaryrefslogtreecommitdiffstats
path: root/src/lib/ephysics/ephysics_constraints.cpp
blob: 7fcc4b57ecd847ac6e2842d583f325ad0a856e5a (plain) (blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif

#include "ephysics_private.h"

#ifdef  __cplusplus
extern "C" {
#endif

struct _EPhysics_Constraint {
     btGeneric6DofConstraint *bt_constraint;
     EPhysics_World *world;
     EPhysics_Body *bodies[2];
};

static void
_ephysics_constraint_del(EPhysics_Constraint *constraint)
{
   ephysics_world_constraint_del(constraint->world, constraint,
                                 constraint->bt_constraint);
   delete constraint->bt_constraint;
   free(constraint);
}

void
ephysics_constraint_body_del(EPhysics_Body *body)
{
   void *ldata;
   EPhysics_Constraint *constraint;
   Eina_List *l, *constraints, *rem = NULL;

   constraints = ephysics_world_constraints_get(body->world);
   if (!constraints) return;

   EINA_LIST_FOREACH(constraints, l, ldata)
     {
        constraint = (EPhysics_Constraint *)ldata;
        if (constraint->bodies[0] == body || constraint->bodies[1])
          rem = eina_list_append(rem, constraint);
     }

   EINA_LIST_FREE(rem, ldata)
     _ephysics_constraint_del((EPhysics_Constraint *)ldata);
}

static void
_ephysics_constraint_linear_limit_get(const EPhysics_Constraint *constraint, Evas_Coord *lower_x, Evas_Coord *upper_x, Evas_Coord *lower_y, Evas_Coord *upper_y, Evas_Coord *lower_z, Evas_Coord *upper_z, double rate)
{
   btVector3 linear_limit;

   if (lower_x || lower_y || lower_z)
     {
        constraint->bt_constraint->getLinearLowerLimit(linear_limit);

        if (lower_x) *lower_x = linear_limit.getX() * rate;
        if (lower_y) *lower_y = linear_limit.getY() * rate;
        if (lower_z) *lower_z = linear_limit.getZ() * rate;
     }

   if (upper_x || upper_y || upper_z)
     {
        constraint->bt_constraint->getLinearUpperLimit(linear_limit);

        if (upper_x) *upper_x = linear_limit.getX() * rate;
        if (upper_y) *upper_y = linear_limit.getY() * rate;
        if (upper_z) *upper_z = linear_limit.getZ() * rate;
     }
}

static void
_ephysics_constraint_linear_limit_set(EPhysics_Constraint *constraint, Evas_Coord lower_x, Evas_Coord upper_x, Evas_Coord lower_y, Evas_Coord upper_y, Evas_Coord lower_z, Evas_Coord upper_z, double rate)
{
   lower_x = (lower_x) / rate;
   upper_x = (upper_x) / rate;

   lower_y = (lower_y) / rate;
   upper_y = (upper_y) / rate;

   lower_z = (lower_z) / rate;
   upper_z = (upper_z) / rate;

   constraint->bt_constraint->setLinearLowerLimit(btVector3(-lower_x, -upper_y,
                                                            -lower_z));
   constraint->bt_constraint->setLinearUpperLimit(btVector3(upper_x, upper_y,
                                                            upper_z));
}

void
ephysics_constraint_recalc(EPhysics_Constraint *constraint, double rate)
{
   Evas_Coord lower_x, upper_x, lower_y, upper_y, lower_z, upper_z;

   _ephysics_constraint_linear_limit_get(constraint, &lower_x, &upper_x,
                                   &lower_y, &upper_y, &lower_z, &upper_z, rate);
   _ephysics_constraint_linear_limit_set(constraint, lower_x, upper_x, lower_y,
                                   upper_y, lower_z, upper_z, rate);
}

EAPI EPhysics_Constraint *
ephysics_constraint_add(EPhysics_Body *body)
{
   EPhysics_Constraint *constraint;
   btTransform trans;

   if (!body)
     {
        ERR("To create a constraint body must to be non null.");
        return NULL;
     }

   constraint = (EPhysics_Constraint *) calloc(1, sizeof(EPhysics_Constraint));
   if (!constraint)
     {
        ERR("Couldn't create a new constraint.");
        return NULL;
     }

   ephysics_world_lock_take(ephysics_body_world_get(body));
   trans.setIdentity();
   trans.setOrigin(btVector3(0, 0, 0));
   constraint->bt_constraint = new
       btGeneric6DofConstraint(*ephysics_body_rigid_body_get(body), trans,
                               false);

   if (!constraint->bt_constraint)
     {
        ERR("Failed to create a btConstraint");
        free(constraint);
        return NULL;
     }

   constraint->bodies[0] = body;
   constraint->world = ephysics_body_world_get(body);
   ephysics_world_constraint_add(constraint->world, constraint,
                                 constraint->bt_constraint);

   INF("Constraint added.");
   ephysics_world_lock_release(ephysics_body_world_get(body));
   return constraint;
}

EAPI void
ephysics_constraint_linear_limit_set(EPhysics_Constraint *constraint, Evas_Coord lower_x, Evas_Coord upper_x, Evas_Coord lower_y, Evas_Coord upper_y, Evas_Coord lower_z, Evas_Coord upper_z)
{
   double rate;

   if (!constraint)
     {
        ERR("Can't set constraint's linear limit, constraint is null.");
        return;
     }

   ephysics_world_lock_take(constraint->world);
   rate = ephysics_world_rate_get(constraint->world);
   _ephysics_constraint_linear_limit_set(constraint, lower_x, upper_x, lower_y,
                                         upper_y, lower_z, upper_z, rate);
   ephysics_world_lock_release(constraint->world);
}

EAPI void
ephysics_constraint_linear_limit_get(const EPhysics_Constraint *constraint, Evas_Coord *lower_x, Evas_Coord *upper_x, Evas_Coord *lower_y, Evas_Coord *upper_y, Evas_Coord *lower_z, Evas_Coord *upper_z)
{
   int rate;

   if (!constraint)
     {
        ERR("Can't get constraint's linear limit, constraint is null.");
        return;
     }

   rate = ephysics_world_rate_get(constraint->world);
   _ephysics_constraint_linear_limit_get(constraint, lower_x, upper_x, lower_y,
                                         upper_y, lower_z, upper_z, rate);
}

EAPI void
ephysics_constraint_angular_limit_set(EPhysics_Constraint *constraint, double counter_clock_x, double clock_wise_x, double counter_clock_y, double clock_wise_y, double counter_clock_z, double clock_wise_z)
{

   if (!constraint)
     {
        ERR("Can't set constraint's angular limit, constraint is null.");
        return;
     }

   ephysics_world_lock_take(constraint->world);

   constraint->bt_constraint->setAngularLowerLimit(btVector3(
                    -counter_clock_x / RAD_TO_DEG, -counter_clock_y / RAD_TO_DEG,
                    -counter_clock_z/RAD_TO_DEG));
   constraint->bt_constraint->setAngularUpperLimit(btVector3(
                    clock_wise_x / RAD_TO_DEG, clock_wise_y / RAD_TO_DEG,
                    clock_wise_z/RAD_TO_DEG));
   ephysics_world_lock_release(constraint->world);
}

EAPI void
ephysics_constraint_angular_limit_get(const EPhysics_Constraint *constraint, double *counter_clock_x, double *clock_wise_x, double *counter_clock_y, double *clock_wise_y, double *counter_clock_z, double *clock_wise_z)
{
   btVector3 angular_limit;

   if (!constraint)
     {
        ERR("Can't get constraint's angular limit, constraint is null.");
        return;
     }

   if (counter_clock_x)
     {
        constraint->bt_constraint->getAngularLowerLimit(angular_limit);
        *counter_clock_x = angular_limit.getX() * RAD_TO_DEG;
     }

   if (clock_wise_x)
     {
        constraint->bt_constraint->getAngularUpperLimit(angular_limit);
        *clock_wise_x = angular_limit.getX() * RAD_TO_DEG;
     }

   if (counter_clock_y)
     {
        constraint->bt_constraint->getAngularLowerLimit(angular_limit);
        *counter_clock_y = angular_limit.getY() * RAD_TO_DEG;
     }

   if (clock_wise_y)
     {
        constraint->bt_constraint->getAngularUpperLimit(angular_limit);
        *clock_wise_y = angular_limit.getY() * RAD_TO_DEG;
     }

   if (counter_clock_z)
     {
        constraint->bt_constraint->getAngularLowerLimit(angular_limit);
        *counter_clock_z = angular_limit.getZ() * RAD_TO_DEG;
     }

   if (clock_wise_z)
     {
        constraint->bt_constraint->getAngularUpperLimit(angular_limit);
        *clock_wise_z = angular_limit.getZ() * RAD_TO_DEG;
     }
}

EAPI void
ephysics_constraint_anchor_set(EPhysics_Constraint *constraint, Evas_Coord anchor_b1_x, Evas_Coord anchor_b1_y, Evas_Coord anchor_b1_z, Evas_Coord anchor_b2_x, Evas_Coord anchor_b2_y, Evas_Coord anchor_b2_z)
{
   btTransform anchor_b1;
   btTransform anchor_b2;
   btTransform center_mass;
   double rate;
   Evas_Coord b1x, b1y, b1z, b1w, b1h, b1d, b2x, b2y, b2z, b2w, b2h, b2d, wx, wy,
     wh;
   btScalar ab1x, ab1y, ab1z, ab2x, ab2y, ab2z;

   if (!constraint)
     {
        ERR("Can't set constraint's anchors, constraint is null.");
        return;
     }

   ephysics_world_lock_take(constraint->world);

   ephysics_world_render_geometry_get(constraint->world, &wx, &wy, NULL, NULL,
                                      &wh, NULL);

   ephysics_body_geometry_get(constraint->bodies[0], &b1x, &b1y, &b1z, &b1w,
                              &b1h, &b1d);

   rate = ephysics_world_rate_get(constraint->world);

   ab1x = (anchor_b1_x - (b1x + b1w / 2)) / rate;
   ab1y = (anchor_b1_y - (b1y + b1h / 2)) / rate;
   ab1z = (anchor_b1_z - (b1z + b1d / 2)) / rate;
   DBG("body1 anchor set to: %lf, %lf, %lf", ab1x, ab1y, ab1z);

   anchor_b1.setIdentity();
   anchor_b1.setOrigin(btVector3(ab1x, ab1y, ab1z));

   if (constraint->bodies[1])
     {
        ephysics_body_geometry_get(constraint->bodies[1], &b2x, &b2y, &b2z, &b2w,
                                &b2h, &b2d);

        ab2x = (anchor_b2_x - (b2x + b2w / 2)) / rate;
        ab2y = (anchor_b2_y - (b2y + b2h / 2)) / rate;
        ab2z = (anchor_b2_z - (b2z + b2d / 2)) / rate;

        DBG("body2 anchor set to: %lf, %lf, %lf", ab2x, ab2y, ab2z);

        anchor_b2.setIdentity();
        anchor_b2.setOrigin(btVector3(ab2x, ab2y, ab2z));
     }
   else
     {
        anchor_b2.setIdentity();
        anchor_b2.setOrigin(btVector3(anchor_b1.getOrigin().x(),
                                      anchor_b1.getOrigin().y(),
                                      anchor_b1.getOrigin().z()));

        center_mass = constraint->bodies[0]->rigid_body->
          getCenterOfMassTransform();

        anchor_b1.setIdentity();
        anchor_b1 = center_mass * anchor_b2;
     }

   constraint->bt_constraint->setFrames(anchor_b1, anchor_b2);
   ephysics_world_lock_release(constraint->world);
}

EAPI void
ephysics_constraint_anchor_get(const EPhysics_Constraint *constraint, Evas_Coord *anchor_b1_x, Evas_Coord *anchor_b1_y, Evas_Coord *anchor_b1_z, Evas_Coord *anchor_b2_x, Evas_Coord *anchor_b2_y, Evas_Coord *anchor_b2_z)
{
   btTransform anchor_b1;
   btTransform anchor_b2;
   double rate;

   if (!constraint)
     {
        ERR("Can't set constraint's anchors, constraint is null.");
        return;
     }

   rate = ephysics_world_rate_get(constraint->world);

   anchor_b1 = constraint->bt_constraint->getFrameOffsetA();
   anchor_b2 = constraint->bt_constraint->getFrameOffsetB();

   if (anchor_b1_x) *anchor_b1_x = round(anchor_b1.getOrigin().x() * rate);
   if (anchor_b1_y) *anchor_b1_y = round(anchor_b1.getOrigin().y() * rate);
   if (anchor_b1_z) *anchor_b1_z = round(anchor_b1.getOrigin().z() * rate);
   if (anchor_b2_x) *anchor_b2_x = round(anchor_b2.getOrigin().x() * rate);
   if (anchor_b2_y) *anchor_b2_y = round(anchor_b2.getOrigin().y() * rate);
   if (anchor_b2_z) *anchor_b2_z = round(anchor_b2.getOrigin().z() * rate);
}

EAPI EPhysics_Constraint *
ephysics_constraint_linked_add(EPhysics_Body *body1, EPhysics_Body *body2)
{
   EPhysics_Constraint *constraint;

   if (!body1 || !body2)
     {
        ERR("To create a linked constraint body1 and bod2 must to be non null.");
        return NULL;
     }

   if (ephysics_body_world_get(body1) != ephysics_body_world_get(body2))
     {
        ERR("To create a constraint both bodies must belong to the same"
            "world.");
        return NULL;
     }

   if (body1->type == EPHYSICS_BODY_TYPE_CLOTH ||
       body2->type == EPHYSICS_BODY_TYPE_CLOTH)
     {
        ERR("Constraints are allowed only between rigid -> rigid bodies or"
            "rigid -> soft bodies");
        return NULL;
     }

   constraint = (EPhysics_Constraint *) calloc(1, sizeof(EPhysics_Constraint));
   if (!constraint)
     {
        ERR("Couldn't create a new constraint.");
        return NULL;
     }

   constraint->world = ephysics_body_world_get(body1);
   constraint->bodies[0] = body1;
   constraint->bodies[1] = body2;

   ephysics_world_lock_take(constraint->world);

   constraint->bt_constraint = new btGeneric6DofConstraint(
      *ephysics_body_rigid_body_get(body1), *ephysics_body_rigid_body_get(body2),
      btTransform(), btTransform(), false);

   if (!constraint->bt_constraint)
     {
        ephysics_world_lock_release(constraint->world);
        free(constraint);
        return NULL;
     }

   ephysics_world_constraint_add(constraint->world, constraint,
                                 constraint->bt_constraint);

   ephysics_world_lock_release(constraint->world);
   INF("Constraint added.");
   return constraint;
}

EAPI void
ephysics_constraint_del(EPhysics_Constraint *constraint)
{
   if (!constraint)
     {
        ERR("Can't delete constraint, it wasn't provided.");
        return;
     }

   // technically at this point locking and unlocking is pointless because
   // if another thread is accessing this constraint, after this point it
   // will be broken locks or not. this removes a segv in locking something
   // we freed in _ephysics_constraint_del() by not locking.
   _ephysics_constraint_del(constraint);
   INF("Constraint deleted.");
}


#ifdef  __cplusplus
}
#endif