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Add ability to set coupled axes in GenericConstraint #994

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Add ability to set coupled axes in GenericConstraint #994

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7 changes: 6 additions & 1 deletion ...va/dev/ryanhcode/sable/api/physics/constraint/generic/GenericConstraintConfiguration.java
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Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,14 @@ public record GenericConstraintConfiguration(
Vector3dc pos2,
Quaterniondc orientation1,
Quaterniondc orientation2,
Set<ConstraintJointAxis> lockedAxes
Set<ConstraintJointAxis> lockedAxes,
Set<ConstraintJointAxis> coupledAxes
) implements PhysicsConstraintConfiguration<GenericConstraintHandle> {

public GenericConstraintConfiguration(final Vector3dc pos1, final Vector3dc pos2, final Quaterniondc orientation1, final Quaterniondc orientation2, final Set<ConstraintJointAxis> lockedAxes) {
this(pos1, pos2, orientation1, orientation2, lockedAxes, EnumSet.noneOf(ConstraintJointAxis.class));
}

public GenericConstraintConfiguration(final Vector3dc pos1, final Vector3dc pos2, final Quaterniondc orientation1, final Quaterniondc orientation2) {
this(pos1, pos2, orientation1, orientation2, EnumSet.noneOf(ConstraintJointAxis.class));
}
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4 changes: 3 additions & 1 deletion common/src/main/java/dev/ryanhcode/sable/physics/impl/rapier/Rapier3D.java
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Expand Up @@ -422,6 +422,7 @@ public static native long addFreeConstraint(final int dimensionID,
* @param localOrientationZB the local orientation Z of the second object
* @param localOrientationWB the local orientation W of the second object
* @param lockedAxesMask bit mask of locked axes; bit {@code n} corresponds to {@link dev.ryanhcode.sable.api.physics.constraint.ConstraintJointAxis#ordinal()}
* @param coupledAxesMask bit mask of coupled axes; bit {@code n} corresponds to {@link dev.ryanhcode.sable.api.physics.constraint.ConstraintJointAxis#ordinal()}
*/
@ApiStatus.Internal
public static native long addGenericConstraint(final int dimensionID,
Expand All @@ -441,7 +442,8 @@ public static native long addGenericConstraint(final int dimensionID,
double localOrientationYB,
double localOrientationZB,
double localOrientationWB,
int lockedAxesMask);
int lockedAxesMask,
int coupledAxesMask);

/**
* Sets the local frame on one side of a constraint.
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8 changes: 7 additions & 1 deletion ...ryanhcode/sable/physics/impl/rapier/constraint/generic/RapierGenericConstraintHandle.java
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Expand Up @@ -29,6 +29,11 @@ public static RapierGenericConstraintHandle create(final ServerLevel serverLevel
lockedAxesMask |= 1 << axis.ordinal();
}

int coupledAxesMask = 0;
for (final ConstraintJointAxis axis : config.coupledAxes()) {
coupledAxesMask |= 1 << axis.ordinal();
}

final long handle = Rapier3D.addGenericConstraint(
sceneID,
sublevelA == null ? -1 : Rapier3D.getID(sublevelA),
Expand All @@ -47,7 +52,8 @@ public static RapierGenericConstraintHandle create(final ServerLevel serverLevel
config.orientation2().y(),
config.orientation2().z(),
config.orientation2().w(),
lockedAxesMask
lockedAxesMask,
coupledAxesMask
);

return new RapierGenericConstraintHandle(sceneID, handle);
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12 changes: 8 additions & 4 deletions common/src/main/rust/rapier/src/joints.rs
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Expand Up @@ -518,6 +518,7 @@ pub extern "system" fn Java_dev_ryanhcode_sable_physics_impl_rapier_Rapier3D_add
local_q_z_b: jdouble,
local_q_w_b: jdouble,
locked_axes_mask: jint,
coupled_axes_mask: jint,
) -> SableJointHandle {
let scene = get_scene_mut_ref(scene_id);

Expand All @@ -534,6 +535,7 @@ pub extern "system" fn Java_dev_ryanhcode_sable_physics_impl_rapier_Rapier3D_add
};

let locked_axes = JointAxesMask::from_bits_truncate(locked_axes_mask as u8);
let coupled_axes = JointAxesMask::from_bits_truncate(coupled_axes_mask as u8);

let rotation_a = Quat::from_xyzw(
local_q_x_a as Real,
Expand All @@ -548,10 +550,12 @@ pub extern "system" fn Java_dev_ryanhcode_sable_physics_impl_rapier_Rapier3D_add
local_q_w_b as Real,
);

let mut joint = GenericJointBuilder::new(locked_axes).softness(SpringCoefficients::new(
JOINT_SPRING_FREQUENCY,
JOINT_SPRING_DAMPING_RATIO,
));
let mut joint = GenericJointBuilder::new(locked_axes)
.coupled_axes(coupled_axes)
.softness(SpringCoefficients::new(
JOINT_SPRING_FREQUENCY,
JOINT_SPRING_DAMPING_RATIO,
));
joint.0.local_frame1.rotation = rotation_a;
joint.0.local_frame2.rotation = rotation_b;

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