JoltPhysics/Jolt/Physics/Vehicle/VehicleConstraint.h

// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT

#pragma once

#include <Jolt/Physics/Constraints/Constraint.h>
#include <Jolt/Physics/PhysicsStepListener.h>
#include <Jolt/Physics/Constraints/ConstraintPart/AngleConstraintPart.h>
#include <Jolt/Physics/Vehicle/VehicleCollisionTester.h>
#include <Jolt/Physics/Vehicle/VehicleAntiRollBar.h>
#include <Jolt/Physics/Vehicle/Wheel.h>

JPH_NAMESPACE_BEGIN

class PhysicsSystem;
class VehicleController;
class VehicleControllerSettings;

/// Configuration for constraint that simulates a wheeled vehicle.
/// 
/// The properties in this constraint are largely based on "Car Physics for Games" by Marco Monster.
/// See: https://www.asawicki.info/Mirror/Car%20Physics%20for%20Games/Car%20Physics%20for%20Games.html
class VehicleConstraintSettings : public ConstraintSettings
{
public:
	JPH_DECLARE_SERIALIZABLE_VIRTUAL(VehicleConstraintSettings)

	/// Saves the contents of the constraint settings in binary form to inStream.
	virtual void				SaveBinaryState(StreamOut &inStream) const override;

	Vec3						mUp { 0, 1, 0 };							///< Vector indicating the up direction of the vehicle (in local space to the body)
	Vec3						mForward { 0, 0, 1 };						///< Vector indicating forward direction of the vehicle (in local space to the body)
	float						mMaxPitchRollAngle = JPH_PI;				///< Defines the maximum pitch/roll angle (rad), can be used to avoid the car from getting upside down. The vehicle up direction will stay within a cone centered around the up axis with half top angle mMaxPitchRollAngle, set to pi to turn off.
	Array<Ref<WheelSettings>>	mWheels;									///< List of wheels and their properties
	Array<VehicleAntiRollBar>	mAntiRollBars;								///< List of anti rollbars and their properties
	Ref<VehicleControllerSettings> mController;								///< Defines how the vehicle can accelerate / decellerate

protected:
	/// This function should not be called directly, it is used by sRestoreFromBinaryState.
	virtual void				RestoreBinaryState(StreamIn &inStream) override;
};

/// Constraint that simulates a vehicle
/// Note: Don't forget to register the constraint as a StepListener with the PhysicsSystem!
///
/// When the vehicle drives over very light objects (rubble) you may see the car body dip down. This is a known issue and is an artifact of the iterative solver that Jolt is using.
/// Basically if a light object is sandwiched between two heavy objects (the static floor and the car body), the light object is not able to transfer enough force from the ground to
/// the car body to keep the car body up. You can see this effect in the HeavyOnLightTest sample, the boxes on the right have a lot of penetration because they're on top of light objects.
/// 
/// There are a couple of ways to improve this:
/// 
/// 1. You can increase the number of velocity steps (global settings PhysicsSettings::mNumVelocitySteps or if you only want to increase it on
/// the vehicle you can use VehicleConstraintSettings::mNumVelocityStepsOverride). E.g. going from 10 to 30 steps in the HeavyOnLightTest sample makes the penetration a lot less.
/// The number of position steps can also be increased (the first prevents the body from going down, the second corrects it if the problem did
/// occur which inevitably happens due to numerical drift). This solution costs CPU cycles.
/// 
/// 2. You can reduce the mass difference between the vehicle body and the rubble on the floor (by making the rubble heavier or the car lighter).
///
/// 3. You could filter out collisions between the vehicle collision test and the rubble completely. This would make the wheels ignore the rubble but would cause the vehicle to drive
/// through it as if nothing happened. You could create fake wheels (keyframed bodies) that move along with the vehicle and that only collide with rubble (and not the vehicle or the ground).
/// This would cause the vehicle to push away the rubble without the rubble being able to affect the vehicle (unless it hits the main body of course).
///
/// Note that when driving over rubble, you may see the wheel jump up and down quite quickly because one frame a collision is found and the next frame not.
/// To alleviate this, it may be needed to smooth the motion of the visual mesh for the wheel.
class VehicleConstraint : public Constraint, public PhysicsStepListener
{
public:
	/// Constructor / destructor
								VehicleConstraint(Body &inVehicleBody, const VehicleConstraintSettings &inSettings);
	virtual						~VehicleConstraint() override;

	/// Get the type of a constraint
	virtual EConstraintSubType	GetSubType() const override					{ return EConstraintSubType::Vehicle; }

	/// Defines the maximum pitch/roll angle (rad), can be used to avoid the car from getting upside down. The vehicle up direction will stay within a cone centered around the up axis with half top angle mMaxPitchRollAngle, set to pi to turn off.
	void						SetMaxPitchRollAngle(float inMaxPitchRollAngle) { mCosMaxPitchRollAngle = Cos(inMaxPitchRollAngle); }
	
	/// Set the interface that tests collision between wheel and ground
	void						SetVehicleCollisionTester(const VehicleCollisionTester *inTester) { mVehicleCollisionTester = inTester; }

	/// Get the local space forward vector of the vehicle
	Vec3						GetLocalForward() const						{ return mForward; }

	/// Get the local space up vector of the vehicle
	Vec3						GetLocalUp() const							{ return mUp; }

	/// Access to the vehicle body
	Body *						GetVehicleBody() const						{ return mBody; }

	/// Access to the vehicle controller interface (determines acceleration / decelleration)
	const VehicleController *	GetController() const						{ return mController; }

	/// Access to the vehicle controller interface (determines acceleration / decelleration)
	VehicleController *			GetController()								{ return mController; }

	/// Get the state of the wheels
	const Wheels &				GetWheels() const							{ return mWheels; }

	/// Get the state of a wheels (writable interface, allows you to make changes to the configuration which will take effect the next time step)
	Wheels &					GetWheels()									{ return mWheels; }

	/// Get the state of a wheel
	Wheel *						GetWheel(uint inIdx)						{ return mWheels[inIdx]; }

	/// Get the transform of a wheel in local space to the vehicle body, returns a matrix that transforms a cylinder aligned with the Y axis in body space (not COM space)
	/// @param inWheelIndex Index of the wheel to fetch
	/// @param inWheelRight Unit vector that indicates right in model space of the wheel (so if you only have 1 wheel model, you probably want to specify the opposite direction for the left and right wheels)
	/// @param inWheelUp Unit vector that indicates up in model space of the wheel
	Mat44						GetWheelLocalTransform(uint inWheelIndex, Vec3Arg inWheelRight, Vec3Arg inWheelUp) const;

	/// Get the transform of a wheel in world space, returns a matrix that transforms a cylinder aligned with the Y axis in world space
	/// @param inWheelIndex Index of the wheel to fetch
	/// @param inWheelRight Unit vector that indicates right in model space of the wheel (so if you only have 1 wheel model, you probably want to specify the opposite direction for the left and right wheels)
	/// @param inWheelUp Unit vector that indicates up in model space of the wheel
	Mat44						GetWheelWorldTransform(uint inWheelIndex, Vec3Arg inWheelRight, Vec3Arg inWheelUp) const;

	// Generic interface of a constraint
	virtual bool				IsActive() const override					{ return mIsActive && Constraint::IsActive(); }
	virtual void				SetupVelocityConstraint(float inDeltaTime) override;
	virtual void				WarmStartVelocityConstraint(float inWarmStartImpulseRatio) override;
	virtual bool				SolveVelocityConstraint(float inDeltaTime) override;
	virtual bool				SolvePositionConstraint(float inDeltaTime, float inBaumgarte) override;
	virtual void				BuildIslands(uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager) override;
#ifdef JPH_DEBUG_RENDERER
	virtual void				DrawConstraint(DebugRenderer *inRenderer) const override;
	virtual void				DrawConstraintLimits(DebugRenderer *inRenderer) const override;
#endif // JPH_DEBUG_RENDERER
	virtual void				SaveState(StateRecorder &inStream) const override;
	virtual void				RestoreState(StateRecorder &inStream) override;
	virtual Ref<ConstraintSettings> GetConstraintSettings() const override;

private:
	// See: PhysicsStepListener
	virtual void				OnStep(float inDeltaTime, PhysicsSystem &inPhysicsSystem) override;

	// Calculate the contact positions of the wheel in world space, relative to the center of mass of both bodies
	void						CalculateWheelContactPoint(Mat44Arg inBodyTransform, const Wheel &inWheel, Vec3 &outR1PlusU, Vec3 &outR2) const;

	// Calculate the constraint properties for mPitchRollPart
	void						CalculatePitchRollConstraintProperties(float inDeltaTime, Mat44Arg inBodyTransform);

	// Simluation information
	Body *						mBody;										///< Body of the vehicle
	Vec3						mForward;									///< Local space forward vector for the vehicle
	Vec3						mUp;										///< Local space up vector for the vehicle
	Wheels						mWheels;									///< Wheel states of the vehicle
	Array<VehicleAntiRollBar>	mAntiRollBars;								///< Anti rollbars of the vehicle
	VehicleController *			mController;								///< Controls the acceleration / declerration of the vehicle
	bool						mIsActive = false;							///< If this constraint is active

	// Prevent vehicle from toppling over
	float						mCosMaxPitchRollAngle;						///< Cos of the max pitch/roll angle
	float						mCosPitchRollAngle;							///< Cos of the current pitch/roll angle
	Vec3						mPitchRollRotationAxis { 0, 1, 0 };			///< Current axis along which to apply torque to prevent the car from toppling over
	AngleConstraintPart			mPitchRollPart;								///< Constraint part that prevents the car from toppling over

	// Interfaces
	RefConst<VehicleCollisionTester> mVehicleCollisionTester;				///< Class that performs testing of collision for the wheels
};

JPH_NAMESPACE_END