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Initial commit: VR Messs workspace (grab v5.3.1, body-physics research)

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Foxyz1302 committed 2026-10-01 21:32:13 +03:00
commit 5d2c5bf265
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.vendor/box3d-weld.patch
+154
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@@ -0,0 +1,154 @@
diff --git a/src/joints/box3d_weld_joint_impl_3d.cpp b/src/joints/box3d_weld_joint_impl_3d.cpp
new file mode 100644
index 0000000..ed4c687
--- /dev/null
+++ b/src/joints/box3d_weld_joint_impl_3d.cpp
@@ -0,0 +1,64 @@
+#include "box3d_weld_joint_impl_3d.hpp"
+
+#include "../misc/type_conversions.hpp"
+
+#include <box3d/box3d.h>
+
+b3JointId Box3DWeldJointImpl3D::_create_joint_id(b3WorldId p_world_id, b3BodyId p_body_a, b3BodyId p_body_b, b3Transform p_local_frame_a, b3Transform p_local_frame_b) {
+ b3WeldJointDef def = b3DefaultWeldJointDef();
+ def.base.bodyIdA = p_body_a;
+ def.base.bodyIdB = p_body_b;
+ def.base.localFrameA = p_local_frame_a;
+
+ // The weld enforces relQ == identity against the two local frames, so frame B's rotation
+ // is pre-corrected with the bodies' CURRENT relative rotation: the joint then locks the
+ // relative pose at creation time, no matter how the joint node was oriented.
+ const b3Quat quat_a = b3Body_GetRotation(p_body_a);
+ const b3Quat quat_b = b3Body_GetRotation(p_body_b);
+ const b3Quat world_frame_a = b3MulQuat(quat_a, p_local_frame_a.q);
+ def.base.localFrameB.q = b3InvMulQuat(quat_b, world_frame_a);
+ def.base.localFrameB.p = p_local_frame_b.p;
+
+ // hertz 0 = maximum stiffness (Box3D falls back to its engine-clamped world constraint
+ // softness); bias > 0 softens the weld: hertz = bias * 30, mirroring the pin joint.
+ def.linearHertz = (float)bias * 30.0f;
+ def.angularHertz = (float)bias * 30.0f;
+ def.linearDampingRatio = 1.0f;
+ def.angularDampingRatio = 1.0f;
+ return b3CreateWeldJoint(p_world_id, &def);
+}
+
+real_t Box3DWeldJointImpl3D::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
+ switch (p_param) {
+ case PhysicsServer3D::CONE_TWIST_JOINT_BIAS:
+ return bias;
+ default:
+ return 0.0;
+ }
+}
+
+void Box3DWeldJointImpl3D::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
+ switch (p_param) {
+ case PhysicsServer3D::CONE_TWIST_JOINT_BIAS:
+ bias = p_value;
+ if (has_joint_id()) {
+ b3WeldJoint_SetLinearHertz(get_joint_id(), (float)bias * 30.0f);
+ b3WeldJoint_SetAngularHertz(get_joint_id(), (float)bias * 30.0f);
+ }
+ break;
+ case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN:
+ case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN:
+ if (p_value > 0.0) {
+ WARN_PRINT_ONCE("Box3D: ConeTwistJoint3D's swing/twist spans have no Box3D equivalent (the weld joint has no limits) and are treated as fully rigid.");
+ }
+ break;
+ case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS:
+ WARN_PRINT_ONCE("Box3D: ConeTwistJoint3D's SOFTNESS parameter has no Box3D equivalent and is ignored; use BIAS to soften the weld.");
+ break;
+ case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION:
+ WARN_PRINT_ONCE("Box3D: ConeTwistJoint3D's RELAXATION parameter has no Box3D equivalent and is ignored.");
+ break;
+ default:
+ break;
+ }
+}
diff --git a/src/joints/box3d_weld_joint_impl_3d.hpp b/src/joints/box3d_weld_joint_impl_3d.hpp
new file mode 100644
index 0000000..408fd3b
--- /dev/null
+++ b/src/joints/box3d_weld_joint_impl_3d.hpp
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "box3d_joint_impl_3d.hpp"
+
+// CONE_TWIST_JOINT mapped to Box3D's weld joint: a solver-owned rigid weld that locks the
+// two bodies at the relative pose captured when the joint is created. Godot's
+// ConeTwistJoint3D with swing_span 0 + twist_span 0 is therefore a rigid grab weld; nonzero
+// spans have no Box3D equivalent (the weld has no limits) and are warned + treated as rigid.
+class Box3DWeldJointImpl3D final : public Box3DJointImpl3D {
+public:
+ Box3DWeldJointImpl3D(
+ Box3DBodyImpl3D* p_body_a,
+ Box3DBodyImpl3D* p_body_b,
+ const Transform3D& p_local_frame_a,
+ const Transform3D& p_local_frame_b) :
+ Box3DJointImpl3D(p_body_a, p_body_b, p_local_frame_a, p_local_frame_b) {
+ }
+
+ PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_CONE_TWIST; }
+
+ real_t get_param(PhysicsServer3D::ConeTwistJointParam p_param) const;
+
+ void set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value);
+
+protected:
+ b3JointId _create_joint_id(b3WorldId p_world_id, b3BodyId p_body_a, b3BodyId p_body_b, b3Transform p_local_frame_a, b3Transform p_local_frame_b) override;
+
+private:
+ real_t bias = 0.0;
+};
diff --git a/src/servers/box3d_physics_server_3d.cpp b/src/servers/box3d_physics_server_3d.cpp
index d7de27e..01565a2 100644
--- a/src/servers/box3d_physics_server_3d.cpp
+++ b/src/servers/box3d_physics_server_3d.cpp
@@ -5,6 +5,7 @@
#include "../joints/box3d_filter_joint_impl_3d.hpp"
#include "../joints/box3d_pin_joint_impl_3d.hpp"
#include "../joints/box3d_slider_joint_impl_3d.hpp"
+#include "../joints/box3d_weld_joint_impl_3d.hpp"
#include "../misc/type_conversions.hpp"
#include "../objects/box3d_area_impl_3d.hpp"
#include "../objects/box3d_body_impl_3d.hpp"
@@ -1093,15 +1094,33 @@ double Box3DPhysicsServer3D::_slider_joint_get_param(const RID& p_joint, Physics
return joint->get_param(p_param);
}
+// Box3D's weld joint has no cone/twist limits: a ConeTwistJoint3D with swing_span 0 +
+// twist_span 0 is exactly a rigid weld at the captured relative pose, and nonzero spans are
+// warned + treated as fully rigid (see Box3DWeldJointImpl3D).
void Box3DPhysicsServer3D::_joint_make_cone_twist(const RID& p_joint, const RID& p_body_a, const Transform3D& p_local_ref_a, const RID& p_body_b, const Transform3D& p_local_ref_b) {
- ERR_FAIL_MSG("Box3D: ConeTwistJoint3D is not supported in this version of the Box3D extension.");
+ _joint_clear(p_joint);
+
+ Box3DBodyImpl3D* body_a = body_owner.get_or_null(p_body_a);
+ Box3DBodyImpl3D* body_b = body_owner.get_or_null(p_body_b);
+ ERR_FAIL_NULL(body_a);
+ ERR_FAIL_NULL(body_b);
+
+ auto* joint = memnew(Box3DWeldJointImpl3D(body_a, body_b, p_local_ref_a, p_local_ref_b));
+ joint->set_rid(p_joint);
+ joint_owner.replace(p_joint, joint);
+ joint->rebuild();
}
void Box3DPhysicsServer3D::_cone_twist_joint_set_param(const RID& p_joint, PhysicsServer3D::ConeTwistJointParam p_param, double p_value) {
+ auto* joint = dynamic_cast<Box3DWeldJointImpl3D*>(joint_owner.get_or_null(p_joint));
+ ERR_FAIL_NULL(joint);
+ joint->set_param(p_param, p_value);
}
double Box3DPhysicsServer3D::_cone_twist_joint_get_param(const RID& p_joint, PhysicsServer3D::ConeTwistJointParam p_param) const {
- return 0.0;
+ auto* joint = dynamic_cast<Box3DWeldJointImpl3D*>(joint_owner.get_or_null(p_joint));
+ ERR_FAIL_NULL_V(joint, 0.0);
+ return joint->get_param(p_param);
}
void Box3DPhysicsServer3D::_joint_make_generic_6dof(const RID& p_joint, const RID& p_body_a, const Transform3D& p_local_ref_a, const RID& p_body_b, const Transform3D& p_local_ref_b) {