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Rebase against latest JoltPhysics w/ CCD fix 

Closes: #1
Closes: #28
Closes: #86
This commit is contained in:
Joshua Ashton 2023-08-01 02:06:17 -07:00
parent 562458200c
commit 457a95fca5
5 changed files with 19 additions and 15 deletions
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3
joltphysics/joltphysics_inc.vpc
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@ -173,7 +173,6 @@ $Project "$PROJNAME"
$File "$JOLT_PHYSICS_ROOT/Math/Real.h"
$File "$JOLT_PHYSICS_ROOT/Math/Swizzle.h"
$File "$JOLT_PHYSICS_ROOT/Math/Trigonometry.h"
$File "$JOLT_PHYSICS_ROOT/Math/UVec4.cpp"
$File "$JOLT_PHYSICS_ROOT/Math/UVec4.h"
$File "$JOLT_PHYSICS_ROOT/Math/UVec4.inl"
$File "$JOLT_PHYSICS_ROOT/Math/UVec8.h"
@ -385,6 +384,8 @@ $Project "$PROJNAME"
$File "$JOLT_PHYSICS_ROOT/Physics/Constraints/SixDOFConstraint.h"
$File "$JOLT_PHYSICS_ROOT/Physics/Constraints/SliderConstraint.cpp"
$File "$JOLT_PHYSICS_ROOT/Physics/Constraints/SliderConstraint.h"
$File "$JOLT_PHYSICS_ROOT/Physics/Constraints/SpringSettings.cpp"
$File "$JOLT_PHYSICS_ROOT/Physics/Constraints/SpringSettings.h"
$File "$JOLT_PHYSICS_ROOT/Physics/Constraints/SwingTwistConstraint.cpp"
$File "$JOLT_PHYSICS_ROOT/Physics/Constraints/SwingTwistConstraint.h"
$File "$JOLT_PHYSICS_ROOT/Physics/Constraints/TwoBodyConstraint.cpp"

2
joltphysics/src

@ -1 +1 @@
Subproject commit 172a99c718bded5faa169ac440517286684fa2f0
Subproject commit 9ece1b49279210061bf7097c3bebb9fac23d93de

11
vphysics_jolt/vjolt_controller_vehicle.cpp
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@ -408,7 +408,10 @@ void JoltPhysicsVehicleController::CreateWheel( JPH::VehicleConstraintSettings &
JPH::WheelSettingsWV *wheelSettings = new JPH::WheelSettingsWV;
wheelSettings->mPosition = SourceToJolt::Distance( wheelPositionLocal );
wheelSettings->mDirection = JPH::Vec3( 0, 0, -1 );
wheelSettings->mSuspensionDirection = JPH::Vec3( 0, 0, -1 );
wheelSettings->mSteeringAxis = JPH::Vec3( 0, 0, 1 );
wheelSettings->mWheelUp = JPH::Vec3( 0, 0, 1 );
wheelSettings->mWheelForward = JPH::Vec3( 0, 1, 0 );
wheelSettings->mAngularDamping = axle.wheels.rotdamping;
// TODO(Josh): What about more than 4 wheels?
wheelSettings->mMaxSteerAngle = axleIdx == 0 ? steeringAngle : 0.0f;
@ -417,17 +420,17 @@ void JoltPhysicsVehicleController::CreateWheel( JPH::VehicleConstraintSettings &
wheelSettings->mInertia = 0.5f * axle.wheels.mass * ( wheelSettings->mRadius * wheelSettings->mRadius );
wheelSettings->mSuspensionMinLength = 0;
wheelSettings->mSuspensionMaxLength = additionalLength;
wheelSettings->mSuspensionDamping = axle.suspension.springDamping;
wheelSettings->mSuspensionSpring.mMode = JPH::ESpringMode::FrequencyAndDamping;
// Josh:
// so to go from K (Spring Constant) -> freq we do
// sqrtf( K / Mass ) / ( 2.0f * PI )
// but it seems like it already has mass divided in Source so...
// sqrtf( K ) / ( 2.0f * PI )
wheelSettings->mSuspensionFrequency = sqrtf( axle.suspension.springConstant ) / ( 2.0f * M_PI_F );
// Josh: I don't know why but it looks and feels really wrong without this:
// TODO(Josh): Investigate more later, doesn't make much sense.
// May be related to mass of wheel or something.
wheelSettings->mSuspensionFrequency *= M_PI_F;
wheelSettings->mSuspensionSpring.mFrequency = sqrtf( axle.suspension.springConstant ) / ( 2.0f * M_PI_F ) * M_PI_F;
wheelSettings->mSuspensionSpring.mDamping = axle.suspension.springDamping;
if ( axle.wheels.frictionScale )
{
wheelSettings->mLateralFriction.AddPoint( 1.0f, axle.wheels.frictionScale );

16
vphysics_jolt/vjolt_environment.cpp
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@ -53,7 +53,6 @@ static ConVar vjolt_linearcast( "vjolt_linearcast", "1", FCVAR_NONE, "Whether bo
static ConVar vjolt_initial_simulation( "vjolt_initial_simulation", "0", FCVAR_NONE, "Whether to pre-settle physics objects on map load." );
static ConVar vjolt_substeps_collision( "vjolt_substeps_collision", "1", FCVAR_NONE, "Number of collision steps to perform.", true, 0.0f, true, 4.0f );
static ConVar vjolt_substeps_integration( "vjolt_substeps_integration", "1", FCVAR_NONE, "Number of integration substeps to perform.", true, 0.0f, true, 4.0f );
static ConVar vjolt_baumgarte_factor( "vjolt_baumgarte_factor", "0.2", FCVAR_NONE, "Baumgarte stabilization factor (how much of the position error to 'fix' in 1 update). Changing this may help with constraint stability. Requires a map restart to change.", true, 0.0f, true, 1.0f );
@ -479,9 +478,10 @@ JoltPhysicsSpring::JoltPhysicsSpring( JPH::PhysicsSystem *pPhysicsSystem, JoltPh
settings.mMinDistance = m_OnlyStretch ? 0.0f : SourceToJolt::Distance( pParams->naturalLength );
settings.mMaxDistance = SourceToJolt::Distance( pParams->naturalLength );
settings.mFrequency = GetSpringFrequency( pParams->constant, m_pObjectStart, m_pObjectEnd );
settings.mLimitsSpringSettings.mMode = JPH::ESpringMode::FrequencyAndDamping;
settings.mLimitsSpringSettings.mFrequency = GetSpringFrequency( pParams->constant, m_pObjectStart, m_pObjectEnd );
// TODO(Josh): The damping values are normally fucking crazy like 5500 from Source... wtf is going on here.
settings.mDamping = 0.0f;
settings.mLimitsSpringSettings.mDamping = 0.0f;
m_pConstraint = static_cast< JPH::DistanceConstraint * >( settings.Create( *refBody, *attBody ) );
m_pConstraint->SetEnabled( true );
@ -522,7 +522,8 @@ void JoltPhysicsSpring::SetSpringConstant( float flSpringConstant )
m_pObjectStart->Wake();
m_pObjectEnd->Wake();
m_pConstraint->SetFrequency( GetSpringFrequency( flSpringConstant, m_pObjectStart, m_pObjectEnd ) );
JPH::SpringSettings& springSettings = m_pConstraint->GetLimitsSpringSettings();
springSettings.mFrequency = GetSpringFrequency( flSpringConstant, m_pObjectStart, m_pObjectEnd );
}
void JoltPhysicsSpring::SetSpringDamping( float flSpringDamping )
@ -774,7 +775,6 @@ void JoltPhysicsEnvironment::Simulate( float deltaTime )
for ( IJoltPhysicsController *pController : m_pPhysicsControllers )
pController->OnPreSimulate( deltaTime );
const int nIntegrationSubSteps = vjolt_substeps_integration.GetInt();
const int nCollisionSubSteps = vjolt_substeps_collision.GetInt();
// If we haven't already, optimize the broadphase, currently this can only happen once per-environment
@ -793,20 +793,20 @@ void JoltPhysicsEnvironment::Simulate( float deltaTime )
int nIterCount = 0;
while ( m_PhysicsSystem.GetNumActiveBodies() && nIterCount < MaxInitialIterations )
{
m_PhysicsSystem.Update( InitialIterationTimescale, 1, InitialSubSteps, tempAllocator, jobSystem );
m_PhysicsSystem.Update( InitialIterationTimescale, InitialSubSteps, tempAllocator, jobSystem );
nIterCount++;
}
}
else
{
// Move things around!
m_PhysicsSystem.Update( deltaTime, nCollisionSubSteps, nIntegrationSubSteps, tempAllocator, jobSystem );
m_PhysicsSystem.Update( deltaTime, nCollisionSubSteps, tempAllocator, jobSystem );
}
}
else
{
// Move things around!
m_PhysicsSystem.Update( deltaTime, nCollisionSubSteps, nIntegrationSubSteps, tempAllocator, jobSystem );
m_PhysicsSystem.Update( deltaTime, nCollisionSubSteps, tempAllocator, jobSystem );
}
m_ContactListener.FlushCallbacks();

2
vphysics_jolt/vjolt_object.cpp
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@ -280,7 +280,7 @@ void JoltPhysicsObject::SetMass( float mass )
JPH::MassProperties massProperties = m_pBody->GetShape()->GetMassProperties();
massProperties.ScaleToMass( mass );
massProperties.mInertia( 3, 3 ) = 1.0f;
pMotionProperties->SetMassProperties( massProperties );
pMotionProperties->SetMassProperties( JPH::EAllowedDOFs::All, massProperties );
CalculateBuoyancy();
}