Added HingeJoint.

VERSIONS.TXT

@@ -1,6 +1,8 @@
 
 ***** Monkey-v2018.05 Mx2cc-v1.1.12 Ted2go-2.10 *****
 
+Added mojo3d HingeJoint. See tests/hingechain.monkey2
+
 Renamed mojo3d Constraint->Joint and PointToPointConstraint->BallSocketJoint.
 
 Added mojo3d support for 'spherical' sky textures. Also added TextureFlags.Envmap which must be used for envmap textures. Previously, cubemap+mipmap implied envmap but this is no longer true.

hingechain-scene.mojo3d

@@ -0,0 +1,4429 @@
+{
+	"assetsDir":"modules/mojo3d/tests/assets/",
+	"instances":[{
+		"ctor":{
+			"args":[true],
+			"decl":"mojo3d.Scene.New",
+			"type":"Void(Bool)"
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+		"state":{
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+			"ClearColor":[0.20000000298023224,0.60000002384185791,1,1],
+			"FogColor":[0.20000000298023224,0.60000002384185791,1,1],
+			"FogFar":200
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+		"type":"mojo3d.Scene"
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+			"decl":"mojo3d.Camera.New",
+			"type":"Void(mojo3d.Entity)"
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+		"state":{
+			"LocalMatrix":[1,0,0,0,1,0,0,0,1,0,2.5,-5]
+		},
+		"type":"mojo3d.Camera"
+	},{
+		"ctor":{
+			"args":["@1"],
+			"decl":"mojo3d.FlyBehaviour.New",
+			"type":"Void(mojo3d.Entity)"
+		},
+		"id":2,
+		"type":"mojo3d.FlyBehaviour"
+	},{
+		"ctor":{
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+			"decl":"mojo3d.Light.New",
+			"type":"Void(mojo3d.Entity)"
+		},
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+		"state":{
+			"CastsShadow":true,
+			"LocalMatrix":[0.70710676908493042,0,0.70710676908493042,-0.49999997019767761,0.70710676908493042,0.49999997019767761,-0.49999997019767761,-0.70710676908493042,0.49999997019767761,0,0,0]
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+		"type":"mojo3d.Light"
+	},{
+		"ctor":{
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+			"decl":"mojo3d.PbrMaterial.New",
+			"type":"Void(std.graphics.Color,Float,Float)"
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+		"type":"mojo3d.PbrMaterial"
+	},{
+		"ctor":{
+			"args":[[-100,-1,-100,100,0,100],1,1,1],
+			"decl":"mojo3d.Mesh.CreateBox",
+			"type":"mojo3d.Mesh(std.geom.Box<monkey.types.Float>,Int,Int,Int)"
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+		"type":"mojo3d.Mesh"
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+			"type":"Void(mojo3d.Mesh,mojo3d.Material,mojo3d.Entity)"
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+		"type":"mojo3d.Model"
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+		"type":"mojo3d.BoxCollider"
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+		"type":"mojo3d.PbrMaterial"
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+			"type":"mojo3d.Mesh(std.geom.Box<monkey.types.Float>,Int,Int,Int)"
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+		"type":"mojo3d.Mesh"
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+		"ctor":{
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+			"decl":"mojo3d.Model.New",
+			"type":"Void(mojo3d.Mesh,mojo3d.Material,mojo3d.Entity)"
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+		"state":{
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+			"decl":"mojo3d.BoxCollider.New",
+			"type":"Void(mojo3d.Entity)"
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+			"decl":"mojo3d.RigidBody.New",
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+		"type":"mojo3d.RigidBody"
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+		"type":"mojo3d.BoxCollider"
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+			"type":"Void(mojo3d.Entity,mojo3d.RigidBody)"
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+		"type":"mojo3d.RigidBody"
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+			"type":"Void(mojo3d.Model,mojo3d.Entity)"
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+			"type":"Void(mojo3d.Entity,mojo3d.BoxCollider)"
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+		"type":"mojo3d.BoxCollider"
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+			"decl":"mojo3d.RigidBody.New",
+			"type":"Void(mojo3d.Entity,mojo3d.RigidBody)"
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+		"type":"mojo3d.RigidBody"
+	},{
+		"ctor":{
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+			"decl":"mojo3d.HingeJoint.New",
+			"type":"Void(mojo3d.Entity)"
+		},
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+		"state":{
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+			"ConnectedAxis":[1,0,0],
+			"ConnectedBody":"@16",
+			"ConnectedPivot":[0,0.5,0],
+			"Pivot":[0,-0.5,0]
+		},
+		"type":"mojo3d.HingeJoint"
+	},{
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+			"decl":"mojo3d.Model.New",
+			"type":"Void(mojo3d.Model,mojo3d.Entity)"
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+		"state":{
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+			"Visible":true
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+	},{
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+			"decl":"mojo3d.BoxCollider.New",
+			"type":"Void(mojo3d.Entity,mojo3d.BoxCollider)"
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+		"id":22,
+		"type":"mojo3d.BoxCollider"
+	},{
+		"ctor":{
+			"args":["@21","@13"],
+			"decl":"mojo3d.RigidBody.New",
+			"type":"Void(mojo3d.Entity,mojo3d.RigidBody)"
+		},
+		"id":23,
+		"type":"mojo3d.RigidBody"
+	},{
+		"ctor":{
+			"args":["@21"],
+			"decl":"mojo3d.HingeJoint.New",
+			"type":"Void(mojo3d.Entity)"
+		},
+		"id":24,
+		"state":{
+			"Axis":[1,0,0],
+			"ConnectedAxis":[1,0,0],
+			"ConnectedBody":"@19",
+			"ConnectedPivot":[0,0.5,0],
+			"Pivot":[0,-0.5,0]
+		},
+		"type":"mojo3d.HingeJoint"
+	},{
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+			"decl":"mojo3d.Model.New",
+			"type":"Void(mojo3d.Model,mojo3d.Entity)"
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+		"type":"mojo3d.BoxCollider"
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+			"type":"Void(mojo3d.Entity,mojo3d.RigidBody)"
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+		"id":27,
+		"type":"mojo3d.RigidBody"
+	},{
+		"ctor":{
+			"args":["@25"],
+			"decl":"mojo3d.HingeJoint.New",
+			"type":"Void(mojo3d.Entity)"
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+		"state":{
+			"Axis":[1,0,0],
+			"ConnectedAxis":[1,0,0],
+			"ConnectedBody":"@23",
+			"ConnectedPivot":[0,0.5,0],
+			"Pivot":[0,-0.5,0]
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+		"type":"mojo3d.HingeJoint"
+	},{
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+			"decl":"mojo3d.Model.New",
+			"type":"Void(mojo3d.Model,mojo3d.Entity)"
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+			"type":"Void(mojo3d.Entity,mojo3d.BoxCollider)"
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+		"type":"mojo3d.BoxCollider"
+	},{
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+			"decl":"mojo3d.RigidBody.New",
+			"type":"Void(mojo3d.Entity,mojo3d.RigidBody)"
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+		"type":"mojo3d.RigidBody"
+	},{
+		"ctor":{
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+			"decl":"mojo3d.HingeJoint.New",
+			"type":"Void(mojo3d.Entity)"
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+		"state":{
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+			"ConnectedAxis":[1,0,0],
+			"ConnectedBody":"@27",
+			"ConnectedPivot":[0,0.5,0],
+			"Pivot":[0,-0.5,0]
+		},
+		"type":"mojo3d.HingeJoint"
+	},{
+		"ctor":{
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+			"decl":"mojo3d.Model.New",
+			"type":"Void(mojo3d.Model,mojo3d.Entity)"
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+		"state":{
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+			"Visible":true
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+		"type":"mojo3d.Model"
+	},{
+		"ctor":{
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+			"decl":"mojo3d.BoxCollider.New",
+			"type":"Void(mojo3d.Entity,mojo3d.BoxCollider)"
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+		"id":34,
+		"type":"mojo3d.BoxCollider"
+	},{
+		"ctor":{
+			"args":["@33","@13"],
+			"decl":"mojo3d.RigidBody.New",
+			"type":"Void(mojo3d.Entity,mojo3d.RigidBody)"
+		},
+		"id":35,
+		"type":"mojo3d.RigidBody"
+	},{
+		"ctor":{
+			"args":["@33"],
+			"decl":"mojo3d.HingeJoint.New",
+			"type":"Void(mojo3d.Entity)"
+		},
+		"id":36,
+		"state":{
+			"Axis":[1,0,0],
+			"ConnectedAxis":[1,0,0],
+			"ConnectedBody":"@31",
+			"ConnectedPivot":[0,0.5,0],
+			"Pivot":[0,-0.5,0]
+		},
+		"type":"mojo3d.HingeJoint"
+	},{
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+			"type":"Void(mojo3d.Model,mojo3d.Entity)"
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+		"state":{
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+			"Visible":true
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+	},{
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+			"decl":"mojo3d.BoxCollider.New",
+			"type":"Void(mojo3d.Entity,mojo3d.BoxCollider)"
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+		"type":"mojo3d.BoxCollider"
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+			"decl":"mojo3d.RigidBody.New",
+			"type":"Void(mojo3d.Entity,mojo3d.RigidBody)"
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+		"type":"mojo3d.RigidBody"
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+			"decl":"mojo3d.HingeJoint.New",
+			"type":"Void(mojo3d.Entity)"
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+		"state":{
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+			"ConnectedAxis":[1,0,0],
+			"ConnectedBody":"@35",
+			"ConnectedPivot":[0,0.5,0],
+			"Pivot":[0,-0.5,0]
+		},
+		"type":"mojo3d.HingeJoint"
+	},{
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+		"type":"mojo3d.RigidBody"
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+			"decl":"mojo3d.HingeJoint.New",
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+		"state":{
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+			"ConnectedBody":"@39",
+			"ConnectedPivot":[0,0.5,0],
+			"Pivot":[0,-0.5,0]
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+		"type":"mojo3d.HingeJoint"
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+		"type":"mojo3d.RigidBody"
+	},{
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+			"decl":"mojo3d.HingeJoint.New",
+			"type":"Void(mojo3d.Entity)"
+		},
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+		"state":{
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+			"ConnectedBody":"@43",
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+			"Pivot":[0,-0.5,0]
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+		"type":"mojo3d.HingeJoint"
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+		"type":"mojo3d.RigidBody"
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+		},
+		"type":"mojo3d.HingeJoint"
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+	},{
+		"ctor":{
+			"args":["@11",null],
+			"decl":"mojo3d.Model.New",
+			"type":"Void(mojo3d.Model,mojo3d.Entity)"
+		},
+		"id":409,
+		"state":{
+			"LocalMatrix":[1,0,0,0,1,0,0,0,1,0,109,0],
+			"Visible":true
+		},
+		"type":"mojo3d.Model"
+	},{
+		"ctor":{
+			"args":["@409","@12"],
+			"decl":"mojo3d.BoxCollider.New",
+			"type":"Void(mojo3d.Entity,mojo3d.BoxCollider)"
+		},
+		"id":410,
+		"type":"mojo3d.BoxCollider"
+	},{
+		"ctor":{
+			"args":["@409","@13"],
+			"decl":"mojo3d.RigidBody.New",
+			"type":"Void(mojo3d.Entity,mojo3d.RigidBody)"
+		},
+		"id":411,
+		"state":{
+			"Mass":0
+		},
+		"type":"mojo3d.RigidBody"
+	},{
+		"ctor":{
+			"args":["@409"],
+			"decl":"mojo3d.HingeJoint.New",
+			"type":"Void(mojo3d.Entity)"
+		},
+		"id":412,
+		"state":{
+			"Axis":[1,0,0],
+			"ConnectedAxis":[1,0,0],
+			"ConnectedBody":"@407",
+			"ConnectedPivot":[0,0.5,0],
+			"Pivot":[0,-0.5,0]
+		},
+		"type":"mojo3d.HingeJoint"
+	}]
+}

modules/bullet/bullet.monkey2

@@ -610,4 +610,20 @@ Class btPoint2PointConstraint Extends btTypedConstraint="bbBullet::Point2PointCo
 		
 End
 
+Class btHingeConstraint Extends btTypedConstraint="bbBullet::HingeConstraint"
+
+ 	method New( rbA:btRigidBody,rtB:btRigidBody,pivotInA:btVector3,pivotInB:btVector3,axisInA:btVector3,axisInB:btVector3,useReferenceFrameA:Bool=False)
+ 
+ 	Method New( rbA:btRigidBody,pivotInA:btVector3,axisInA:btVector3,useReferenceFrameA:Bool=False)
+ 
+ 	Method New( rbA:btRigidBody,rbB:btRigidBody,rbAFrame:btTransform,rbBFrame:btTransform,useReferenceFrameA:Bool=False )
+ 	
+ 	Method New( rbA:btRigidBody,rbAFrame:btTransform,useReferenceFrameA:Bool=False )
+	 	
+	Method getFrameOffsetA:btTransform()
+		
+	Method getFrameOffsetB:btTransform()
+End
+
+
 

modules/bullet/bullet_glue.h

@@ -18,6 +18,21 @@ namespace bbBullet{
 		Point2PointConstraint(btRigidBody* rbA,const btVector3& pivotInA):
 		btPoint2PointConstraint(*rbA,pivotInA){}
 	};
+
+	struct HingeConstraint : public btHingeConstraint{
+			
+		HingeConstraint(btRigidBody *rbA, btRigidBody *rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btVector3 &axisInA, const btVector3 &axisInB, bool useReferenceFrameA=false):
+		btHingeConstraint(*rbA, *rbB, pivotInA, pivotInB, axisInA, axisInB, useReferenceFrameA){}
+ 
+		HingeConstraint(btRigidBody *rbA, const btVector3 &pivotInA, const btVector3 &axisInA, bool useReferenceFrameA=false):
+		btHingeConstraint(*rbA, pivotInA, axisInA, useReferenceFrameA){}
+ 
+		HingeConstraint(btRigidBody *rbA, btRigidBody *rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false):
+		btHingeConstraint(*rbA, *rbB, rbAFrame, rbBFrame, useReferenceFrameA){}
+ 
+		HingeConstraint(btRigidBody *rbA, const btTransform &rbAFrame, bool useReferenceFrameA=false):
+		btHingeConstraint(*rbA, rbAFrame, useReferenceFrameA){}
+	};
 	
 	struct MotionState : public btMotionState{
 		

modules/mojo3d/scene/components/joint.monkey2

@@ -150,3 +150,103 @@ Class BallSocketJoint Extends Joint
 	End
 		
 End
+
+Class HingeJoint Extends Joint
+
+	Method New( entity:Entity )
+		
+		Super.New( entity )
+		
+		Axis=New Vec3f( 0,1,0 )
+		ConnectedAxis=New Vec3f( 0,1,0 )
+		
+		AddInstance()
+	End
+	
+	Method New( entity:Entity,joint:HingeJoint )
+		
+		Super.New( entity,joint )
+		
+		Pivot=joint.Pivot
+		Axis=joint.Axis
+		ConnectedBody=joint.ConnectedBody
+		ConnectedPivot=joint.ConnectedPivot
+		ConnectedAxis=joint.ConnectedAxis
+		
+		AddInstance( joint )
+	End
+	
+	[jsonify=1]
+	Property Pivot:Vec3f()
+		
+		Return _pivot1
+		
+	Setter( pivot:Vec3f )
+		
+		_pivot1=pivot
+	End
+	
+	[jsonify=1]
+	Property Axis:Vec3f()
+		
+		Return _axis1
+		
+	Setter( axis:Vec3f )
+		
+		_axis1=axis
+	End
+	
+	[jsonify=1]
+	Property ConnectedBody:RigidBody()
+		
+		Return _connected
+		
+	Setter( body:RigidBody )
+		
+		_connected=body
+	End
+	
+	[jsonify=1]
+	Property ConnectedPivot:Vec3f()
+	
+		Return _pivot2
+	
+	Setter( pivot:Vec3f )
+		
+		_pivot2=pivot
+	End
+	
+	[jsonify=1]
+	Property ConnectedAxis:Vec3f()
+		
+		Return _axis2
+		
+	Setter( axis:Vec3f )
+		
+		_axis2=axis
+	End
+	
+	Protected
+	
+	Field _connected:RigidBody
+	Field _pivot1:Vec3f
+	Field _pivot2:Vec3f
+	Field _axis1:Vec3f
+	Field _axis2:Vec3f
+	
+	Method OnCreate() Override
+		
+		Local btBody1:=Entity.GetComponent<RigidBody>().btBody
+		Assert( btBody1,"BallSocketJoint: No rigid body" )	'todo: fail nicely
+		
+		If _connected
+			Local btBody2:=_connected.btBody
+			Assert( btBody2,"BallSocketJoint: No rigid body" )	'todo: fail nicely
+			_btconstraint=New btHingeConstraint( btBody1,btBody2,_pivot1,_pivot2,_axis1,_axis2 )
+		Else
+			_btconstraint=New btHingeConstraint( btBody1,_pivot1,_axis1 )
+		End
+	End
+	
+End
+

modules/mojo3d/tests/hingechain.monkey2

@@ -0,0 +1,111 @@
+Namespace myapp3d
+
+#Import "<std>"
+#Import "<mojo>"
+#Import "<mojo3d>"
+
+#Reflect mojo3d
+
+Using std..
+Using mojo..
+Using mojo3d..
+
+Class MyWindow Extends Window
+	
+	Field _scene:Scene
+	Field _camera:Camera
+	Field _light:Light
+	Field _ground:Model
+	Field _donut:Model
+	
+	Method New( title:String="Simple mojo3d app",width:Int=640,height:Int=480,flags:WindowFlags=WindowFlags.Resizable )
+		
+		Super.New( title,width,height,flags )
+	End
+	
+	Method OnCreateWindow() Override
+		
+		_scene=New Scene( True )
+		
+		_scene.ClearColor = New Color( 0.2, 0.6, 1.0 )
+		_scene.AmbientLight = _scene.ClearColor * 0.25
+		_scene.FogColor = _scene.ClearColor
+		_scene.FogFar = 1.0
+		_scene.FogFar = 200.0
+		
+		'create camera
+		Local camera:=New Camera( Self )
+		camera.AddComponent<FlyBehaviour>()
+		camera.Move( 0,2.5,-5 )
+		
+		'create light
+		Local light:=New Light
+		light.CastsShadow=True
+		light.Rotate( 45, 45, 0 )
+		
+		'create ground
+		Local groundBox:=New Boxf( -100,-1,-100,100,0,100 )
+		Local groundMaterial:=New PbrMaterial( Color.Lime )
+		Local ground:=Model.CreateBox( groundBox,1,1,1,groundMaterial )
+		ground.AddComponent<BoxCollider>().Box=groundBox
+		ground.AddComponent<RigidBody>().Mass=0
+		ground.CastsShadow=False
+
+		'create chain link
+		Local box:=New Boxf( -.2,-.45,-.01,.2,.45,.01 )
+		Local material:=New PbrMaterial( Color.Red, 0.05, 0.2 )
+		Local model:=Model.CreateBox( box,1,1,1,material )
+		model.AddComponent<BoxCollider>().Box=box
+		model.AddComponent<RigidBody>()
+
+		Local prev:Model
+
+		For Local y:=0 Until 100
+			
+			Local copy:=model.Copy()
+			
+			copy.Position=New Vec3f( 0,y+10,0 )
+			
+			If prev
+				Local joint:=copy.AddComponent<HingeJoint>()
+				joint.Pivot=New Vec3f( 0,-.5,0 )
+				joint.Axis=New Vec3f( 1,0,0 )
+				joint.ConnectedBody=prev.RigidBody
+				joint.ConnectedPivot=New Vec3f( 0,.5,0 )
+				joint.ConnectedAxis=New Vec3f( 1,0,0 )
+			Endif
+			
+			prev=copy
+		Next
+		
+		prev.RigidBody.Mass=0
+		
+		model.Visible=False
+		
+		If _scene.Editable 
+			_scene.Save( "hingechain-scene.mojo3d","modules/mojo3d/tests/assets/" )
+			_scene=Scene.Load( "hingechain-scene.mojo3d" )
+		Endif
+	End
+	
+	Method OnRender( canvas:Canvas ) Override
+		
+		RequestRender()
+		
+		_scene.Update()
+		
+		_scene.Render( canvas )
+		
+		canvas.DrawText( "FPS="+App.FPS,0,0 )
+	End
+	
+End
+
+Function Main()
+
+	New AppInstance
+	
+	New MyWindow
+	
+	App.Run()
+End

modules/mojo3d/tests/shapes.monkey2

@@ -149,6 +149,7 @@ Class MyWindow Extends Window
 		body.CollisionGroup=32
 		body.CollisionMask=127
 		body.Kinematic=True
+		body.Friction=0	'no friction best for kinematic bodies?
 		body.Mass=0
 		
 		'create light