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Apply gel hinge joint limits when appropriate.

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This commit is contained in:
Rod Kay
2025-08-04 14:34:12 +10:00
parent 59d478511e
commit 61d6e359ae
7 changed files with 77 additions and 60 deletions
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2
3-mid/physics/implement/box2d/contrib/src/dynamics/b2_revolute_joint.cpp
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@@ -425,7 +425,7 @@ float b2RevoluteJoint::GetUpperLimit() const
void b2RevoluteJoint::SetLimits(float lower, float upper) void b2RevoluteJoint::SetLimits(float lower, float upper)
{ {
b2Assert(lower <= upper); b2Assert(lower <= upper);
if (lower != m_lowerAngle || upper != m_upperAngle) if (lower != m_lowerAngle || upper != m_upperAngle)
{ {
m_bodyA->SetAwake(true); m_bodyA->SetAwake(true);

62
3-mid/physics/implement/box2d/source/c/box2d-joint.cpp
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@@ -35,17 +35,15 @@ extern "C"
/// Forge /// Forge
// //
Joint *
Joint* b2d_new_hinge_Joint_with_local_anchors (Space *in_Space,
b2d_new_hinge_Joint_with_local_anchors Object *Object_A,
(Space* in_Space, Object *Object_B,
Object* Object_A, Vector_3 *Anchor_in_A,
Object* Object_B, Vector_3 *Anchor_in_B,
Vector_3* Anchor_in_A, float low_Limit,
Vector_3* Anchor_in_B, float high_Limit,
float low_Limit, bool collide_Connected)
float high_Limit,
bool collide_Connected)
{ {
b2RevoluteJointDef* Self = new b2RevoluteJointDef(); b2RevoluteJointDef* Self = new b2RevoluteJointDef();
@@ -54,10 +52,10 @@ b2d_new_hinge_Joint_with_local_anchors
Self->bodyB = (b2Body*) Object_B; // The actual b2Body will be substituted when the joint is added to the world. Self->bodyB = (b2Body*) Object_B; // The actual b2Body will be substituted when the joint is added to the world.
Self->localAnchorA = b2Vec2 (Anchor_in_A->x, Self->localAnchorA = b2Vec2 (Anchor_in_A->x,
Anchor_in_A->y); Anchor_in_A->y);
Self->localAnchorB = b2Vec2 (Anchor_in_B->x, Self->localAnchorB = b2Vec2 (Anchor_in_B->x,
Anchor_in_B->y); Anchor_in_B->y);
Self->lowerAngle = low_Limit; Self->lowerAngle = low_Limit;
Self->upperAngle = high_Limit; Self->upperAngle = high_Limit;
@@ -70,15 +68,15 @@ b2d_new_hinge_Joint_with_local_anchors
Joint* Joint *
b2d_new_hinge_Joint (Space* in_Space, b2d_new_hinge_Joint (Space *in_Space,
Object* Object_A, Object *Object_A,
Object* Object_B, Object *Object_B,
Matrix_4x4* Frame_A, Matrix_4x4 *Frame_A,
Matrix_4x4* Frame_B, Matrix_4x4 *Frame_B,
float low_Limit, float low_Limit,
float high_Limit, float high_Limit,
bool collide_Connected) bool collide_Connected)
{ {
b2RevoluteJointDef* Self = new b2RevoluteJointDef(); b2RevoluteJointDef* Self = new b2RevoluteJointDef();
@@ -99,10 +97,26 @@ b2d_new_hinge_Joint (Space* in_Space,
Joint* Joint*
b2d_new_space_hinge_Joint (Object* Object_A, b2d_new_space_hinge_Joint (Space* in_Space,
Object* Object_A,
Matrix_4x4* Frame_A) Matrix_4x4* Frame_A)
{ {
return 0; b2RevoluteJointDef* Self = new b2RevoluteJointDef();
b2World* World = (b2World*) in_Space;
b2BodyDef groundDef;
b2Body* Ground = World->CreateBody (&groundDef);
Vector_2 ground_Site = Vector_2 (0.0, 0.0);
// Object* Object_B = b2d_new_Object (&ground_Site,
// 0.0,
// 0.0,
// 0.0,
// b2d_new_Circle (0.1));
Self->bodyA = (b2Body*) Object_A;
Self->bodyB = Ground; // (b2Body*) Object_B;
return (Joint*) dynamic_cast <b2JointDef*> (Self);
} }

60
3-mid/physics/implement/box2d/source/c/box2d-joint.h
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@@ -7,37 +7,37 @@
extern "C" extern "C"
{ {
struct Joint; struct Joint;
struct Space; struct Space;
///////// /////////
/// Forge /// Forge
// //
Joint* b2d_new_hinge_Joint_with_local_anchors Joint *b2d_new_hinge_Joint_with_local_anchors (Space *in_Space,
(Space* in_Space, Object *Object_A,
Object* Object_A, Object *Object_B,
Object* Object_B, Vector_3 *Anchor_in_A,
Vector_3* Anchor_in_A, Vector_3 *Anchor_in_B,
Vector_3* Anchor_in_B, float low_Limit,
float low_Limit, float high_Limit,
float high_Limit, bool collide_Connected);
bool collide_Connected);
Joint* b2d_new_hinge_Joint (Space* in_Space, Joint* b2d_new_hinge_Joint (Space* in_Space,
Object* Object_A, Object* Object_A,
Object* Object_B, Object* Object_B,
Matrix_4x4* Frame_A, Matrix_4x4* Frame_A,
Matrix_4x4* Frame_B, Matrix_4x4* Frame_B,
float low_Limit, float low_Limit,
float high_Limit, float high_Limit,
bool collide_Connected); bool collide_Connected);
void b2d_free_hinge_Joint (Joint* Self); void b2d_free_hinge_Joint (Joint* Self);
Joint* b2d_new_space_hinge_Joint (Object* Object_A, Joint* b2d_new_space_hinge_Joint (Space* in_Space,
Object* Object_A,
Matrix_4x4* Frame_A); Matrix_4x4* Frame_A);
@@ -61,13 +61,13 @@ extern "C"
Vector_3* Pivot_in_A, Vector_3* Pivot_in_A,
Vector_3* Pivot_in_B); Vector_3* Pivot_in_B);
////////////// //////////////
/// Attributes /// Attributes
// //
void* b2d_Joint_user_Data (Joint* Self); void* b2d_Joint_user_Data (Joint* Self);
void b2d_Joint_user_Data_is (Joint* Self, void* Now); // void b2d_Joint_user_Data_is (Joint* Self, void* Now);
Object* b2d_Joint_Object_A (Joint* Self); Object* b2d_Joint_Object_A (Joint* Self);
Object* b2d_Joint_Object_B (Joint* Self); Object* b2d_Joint_Object_B (Joint* Self);
@@ -80,8 +80,8 @@ extern "C"
void b2d_Joint_set_local_Anchor (Joint* Self, bool is_Anchor_A, void b2d_Joint_set_local_Anchor (Joint* Self, bool is_Anchor_A,
Vector_3* local_Anchor); Vector_3* local_Anchor);
bool b2d_Joint_is_Limited (Joint* Self, int DoF); bool b2d_Joint_is_Limited (Joint* Self, int DoF);
bool b2d_Joint_Extent (Joint* Self, int DoF); bool b2d_Joint_Extent (Joint* Self, int DoF);
@@ -90,16 +90,16 @@ extern "C"
Vector_3 b2d_Joint_reaction_Force (Joint* Self); Vector_3 b2d_Joint_reaction_Force (Joint* Self);
Real b2d_Joint_reaction_Torque (Joint* Self); Real b2d_Joint_reaction_Torque (Joint* Self);
/// Hinge /// Hinge
// //
void b2d_Joint_hinge_Limits_are (Joint* Self, Real Low, void b2d_Joint_hinge_Limits_are (Joint* Self, Real Low,
Real High); Real High);
} // extern "C" } // extern "C"

7
3-mid/physics/interface/source/private/box2d/box2d_physics-joint.adb
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@@ -765,7 +765,9 @@ is
end new_hinge_Joint; end new_hinge_Joint;
function new_hinge_Joint (Object_A : in physics.Object.view;
function new_hinge_Joint (in_Space : in box2d_c.Pointers.Space_Pointer;
Object_A : in physics.Object.view;
Frame_A : in Matrix_4x4) return physics.Joint.hinge.view Frame_A : in Matrix_4x4) return physics.Joint.hinge.view
is is
use type box2d_physics.Object.view; use type box2d_physics.Object.view;
@@ -775,7 +777,8 @@ is
c_Object_A : constant box2d_C.Pointers.Object_Pointer := box2d_physics.Object.view (Object_A).C; c_Object_A : constant box2d_C.Pointers.Object_Pointer := box2d_physics.Object.view (Object_A).C;
c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A; c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
begin begin
Self.C := b2d_new_space_hinge_Joint (c_Object_A, Self.C := b2d_new_space_hinge_Joint (in_Space,
c_Object_A,
c_Frame_A'unchecked_Access); c_Frame_A'unchecked_Access);
return Self; return Self;
end new_hinge_Joint; end new_hinge_Joint;

3
3-mid/physics/interface/source/private/box2d/box2d_physics-joint.ads
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@@ -51,7 +51,8 @@ is
low_Limit, high_Limit : in math.Real; low_Limit, high_Limit : in math.Real;
collide_Conected : in Boolean) return physics.Joint.hinge.view; collide_Conected : in Boolean) return physics.Joint.hinge.view;
function new_hinge_Joint (Object_A : in physics.Object.view; function new_hinge_Joint (in_Space : in box2d_c.Pointers.Space_Pointer;
Object_A : in physics.Object.view;
Frame_A : in Matrix_4x4) return physics.Joint.hinge.view; Frame_A : in Matrix_4x4) return physics.Joint.hinge.view;

2
3-mid/physics/interface/source/private/box2d/box2d_physics-space.adb
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@@ -270,7 +270,7 @@ is
Frame_A : in Matrix_4x4) return physics.Joint.hinge.view Frame_A : in Matrix_4x4) return physics.Joint.hinge.view
is is
pragma unreferenced (Self); pragma unreferenced (Self);
the_Joint : constant physics.Joint.hinge.view := box2d_physics.Joint.new_hinge_Joint (Object_A, Frame_A); the_Joint : constant physics.Joint.hinge.view := box2d_physics.Joint.new_hinge_Joint (Self.C, Object_A, Frame_A);
begin begin
return the_Joint; return the_Joint;
end new_hinge_Joint; end new_hinge_Joint;

1
4-high/gel/source/gel-sprite.adb
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@@ -973,7 +973,6 @@ is
pivot_Anchor => pivot_Anchor); pivot_Anchor => pivot_Anchor);
the_Joint.Limits_are (low_Limit, high_Limit); the_Joint.Limits_are (low_Limit, high_Limit);
Self.attach (the_Child, the_Joint.all'Access); Self.attach (the_Child, the_Joint.all'Access);
new_Joint := the_Joint.all'Access; new_Joint := the_Joint.all'Access;