From 1b3f322f83766bf97c1228cf475d4e23eda7ad5a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tur=C3=A1nszki=20J=C3=A1nos?=
 <turanszkij@users.noreply.github.com>
Date: Mon, 7 Apr 2025 08:50:14 +0200
Subject: [PATCH] added swing-twist constraint and constraint debug size
 control

---
 Content/models/constraint_test.wiscene | Bin 43345 -> 43082 bytes
 Editor/ConstraintWindow.cpp            | 136 +++++++++++++++++++++----
 Editor/ConstraintWindow.h              |   5 +
 Editor/GeneralWindow.cpp               |   1 +
 Editor/RigidBodyWindow.cpp             |   1 +
 WickedEngine/wiPhysics.h               |   4 +
 WickedEngine/wiPhysics_Jolt.cpp        |  26 +++++
 WickedEngine/wiScene.h                 |   2 +-
 WickedEngine/wiScene_Components.h      |   9 ++
 WickedEngine/wiScene_Serializers.cpp   |  14 +++
 WickedEngine/wiVersion.cpp             |   2 +-
 11 files changed, 177 insertions(+), 23 deletions(-)

diff --git a/Content/models/constraint_test.wiscene b/Content/models/constraint_test.wiscene
index e7eefa5dc0585730b664d3c80347fdb135b80102..024f4f318035a8fbb0fb4a5984a67585e066a6d1 100644
GIT binary patch
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diff --git a/Editor/ConstraintWindow.cpp b/Editor/ConstraintWindow.cpp
index 348ea93ca..9ab7d63dc 100644
--- a/Editor/ConstraintWindow.cpp
+++ b/Editor/ConstraintWindow.cpp
@@ -30,6 +30,23 @@ void ConstraintWindow::Create(EditorComponent* _editor)
 	infoLabel.SetText("Constraints can be added to bind one or two rigid bodies. If only one body is specified, then it will be bound to the constraint's location. If two bodies are specified, they will be bound together with the constraint acting as the pivot between them at the time of binding.");
 	AddWidget(&infoLabel);
 
+	physicsDebugCheckBox.Create(ICON_EYE " Physics visualizer: ");
+	physicsDebugCheckBox.SetTooltip("Visualize the physics world");
+	physicsDebugCheckBox.OnClick([=](wi::gui::EventArgs args) {
+		wi::physics::SetDebugDrawEnabled(args.bValue);
+		editor->generalWnd.physicsDebugCheckBox.SetCheck(args.bValue);
+		editor->componentsWnd.rigidWnd.physicsDebugCheckBox.SetCheck(args.bValue);
+	});
+	physicsDebugCheckBox.SetCheck(wi::physics::IsDebugDrawEnabled());
+	AddWidget(&physicsDebugCheckBox);
+
+	constraintDebugSlider.Create(0, 10, 1, 100, "Debug size: ");
+	constraintDebugSlider.SetValue(wi::physics::GetConstraintDebugSize());
+	constraintDebugSlider.OnSlide([](wi::gui::EventArgs args) {
+		wi::physics::SetConstraintDebugSize(args.fValue);
+		});
+	AddWidget(&constraintDebugSlider);
+
 	rebindButton.Create("Rebind Constraint");
 	rebindButton.OnClick([this](wi::gui::EventArgs args) {
 		wi::scene::Scene& scene = editor->GetCurrentScene();
@@ -51,6 +68,7 @@ void ConstraintWindow::Create(EditorComponent* _editor)
 	typeComboBox.AddItem("Hinge", (uint64_t)PhysicsConstraintComponent::Type::Hinge);
 	typeComboBox.AddItem("Cone", (uint64_t)PhysicsConstraintComponent::Type::Cone);
 	typeComboBox.AddItem("Six DOF", (uint64_t)PhysicsConstraintComponent::Type::SixDOF);
+	typeComboBox.AddItem("Swing Twist", (uint64_t)PhysicsConstraintComponent::Type::SwingTwist);
 	typeComboBox.OnSelect([&](wi::gui::EventArgs args) {
 		wi::scene::Scene& scene = editor->GetCurrentScene();
 		for (auto& x : editor->translator.selected)
@@ -121,6 +139,9 @@ void ConstraintWindow::Create(EditorComponent* _editor)
 				case PhysicsConstraintComponent::Type::Cone:
 					physicscomponent->cone_constraint.half_cone_angle = wi::math::DegreesToRadians(args.fValue);
 					break;
+				case PhysicsConstraintComponent::Type::SwingTwist:
+					physicscomponent->swing_twist.min_twist_angle = wi::math::DegreesToRadians(args.fValue);
+					break;
 				default:
 					break;
 				}
@@ -146,6 +167,9 @@ void ConstraintWindow::Create(EditorComponent* _editor)
 				case PhysicsConstraintComponent::Type::Hinge:
 					physicscomponent->hinge_constraint.max_angle = wi::math::DegreesToRadians(args.fValue);
 					break;
+				case PhysicsConstraintComponent::Type::SwingTwist:
+					physicscomponent->swing_twist.max_twist_angle = wi::math::DegreesToRadians(args.fValue);
+					break;
 				default:
 					break;
 				}
@@ -157,6 +181,38 @@ void ConstraintWindow::Create(EditorComponent* _editor)
 
 
 
+	normalConeSlider.Create(0, 90, 1, 90, "Normal Angle: ");
+	normalConeSlider.OnSlide([&](wi::gui::EventArgs args) {
+		wi::scene::Scene& scene = editor->GetCurrentScene();
+		for (auto& x : editor->translator.selected)
+		{
+			PhysicsConstraintComponent* physicscomponent = scene.constraints.GetComponent(x.entity);
+			if (physicscomponent != nullptr)
+			{
+				physicscomponent->swing_twist.normal_half_cone_angle = wi::math::DegreesToRadians(args.fValue);
+				physicscomponent->SetRefreshParametersNeeded(true);
+			}
+		}
+		});
+	AddWidget(&normalConeSlider);
+
+	planeConeSlider.Create(0, 90, 1, 90, "Plane Angle: ");
+	planeConeSlider.OnSlide([&](wi::gui::EventArgs args) {
+		wi::scene::Scene& scene = editor->GetCurrentScene();
+		for (auto& x : editor->translator.selected)
+		{
+			PhysicsConstraintComponent* physicscomponent = scene.constraints.GetComponent(x.entity);
+			if (physicscomponent != nullptr)
+			{
+				physicscomponent->swing_twist.plane_half_cone_angle = wi::math::DegreesToRadians(args.fValue);
+				physicscomponent->SetRefreshParametersNeeded(true);
+			}
+		}
+		});
+	AddWidget(&planeConeSlider);
+
+
+
 
 	fixedXButton.Create("Fix X");
 	fixedXButton.OnClick([=](wi::gui::EventArgs args) {
@@ -479,6 +535,16 @@ void ConstraintWindow::SetEntity(Entity entity)
 			minSlider.SetRange(0, 90);
 			minSlider.SetValue(wi::math::RadiansToDegrees(physicsComponent->cone_constraint.half_cone_angle));
 			break;
+		case PhysicsConstraintComponent::Type::SwingTwist:
+			minSlider.SetText("Min twist angle: ");
+			maxSlider.SetText("Max twist angle: ");
+			minSlider.SetRange(-180, 0);
+			maxSlider.SetRange(0, 180);
+			minSlider.SetValue(wi::math::RadiansToDegrees(physicsComponent->swing_twist.min_twist_angle));
+			maxSlider.SetValue(wi::math::RadiansToDegrees(physicsComponent->swing_twist.max_twist_angle));
+			normalConeSlider.SetValue(wi::math::RadiansToDegrees(physicsComponent->swing_twist.normal_half_cone_angle));
+			planeConeSlider.SetValue(wi::math::RadiansToDegrees(physicsComponent->swing_twist.plane_half_cone_angle));
+			break;
 		default:
 			break;
 		}
@@ -569,6 +635,7 @@ void ConstraintWindow::ResizeLayout()
 	const PhysicsConstraintComponent* physicsComponent = scene.constraints.GetComponent(entity);
 	if (physicsComponent != nullptr)
 	{
+
 		switch (physicsComponent->type)
 		{
 		case PhysicsConstraintComponent::Type::Distance:
@@ -576,6 +643,34 @@ void ConstraintWindow::ResizeLayout()
 			minSlider.SetVisible(true);
 			maxSlider.SetVisible(true);
 
+			normalConeSlider.SetVisible(false);
+			planeConeSlider.SetVisible(false);
+
+			fixedXButton.SetVisible(false);
+			fixedYButton.SetVisible(false);
+			fixedZButton.SetVisible(false);
+			fixedXRotationButton.SetVisible(false);
+			fixedYRotationButton.SetVisible(false);
+			fixedZRotationButton.SetVisible(false);
+			minTranslationXSlider.SetVisible(false);
+			minTranslationYSlider.SetVisible(false);
+			minTranslationZSlider.SetVisible(false);
+			maxTranslationXSlider.SetVisible(false);
+			maxTranslationYSlider.SetVisible(false);
+			maxTranslationZSlider.SetVisible(false);
+			minRotationXSlider.SetVisible(false);
+			minRotationYSlider.SetVisible(false);
+			minRotationZSlider.SetVisible(false);
+			maxRotationXSlider.SetVisible(false);
+			maxRotationYSlider.SetVisible(false);
+			maxRotationZSlider.SetVisible(false);
+			break;
+		case PhysicsConstraintComponent::Type::SwingTwist:
+			minSlider.SetVisible(true);
+			maxSlider.SetVisible(true);
+			normalConeSlider.SetVisible(true);
+			planeConeSlider.SetVisible(true);
+
 			fixedXButton.SetVisible(false);
 			fixedYButton.SetVisible(false);
 			fixedZButton.SetVisible(false);
@@ -599,6 +694,9 @@ void ConstraintWindow::ResizeLayout()
 			minSlider.SetVisible(true);
 			maxSlider.SetVisible(false);
 
+			normalConeSlider.SetVisible(false);
+			planeConeSlider.SetVisible(false);
+
 			fixedXButton.SetVisible(false);
 			fixedYButton.SetVisible(false);
 			fixedZButton.SetVisible(false);
@@ -622,6 +720,9 @@ void ConstraintWindow::ResizeLayout()
 			minSlider.SetVisible(false);
 			maxSlider.SetVisible(false);
 
+			normalConeSlider.SetVisible(false);
+			planeConeSlider.SetVisible(false);
+
 			fixedXButton.SetVisible(true);
 			fixedYButton.SetVisible(true);
 			fixedZButton.SetVisible(true);
@@ -661,30 +762,20 @@ void ConstraintWindow::ResizeLayout()
 			add(maxRotationZSlider);
 			break;
 		default:
-			minSlider.SetVisible(false);
-			maxSlider.SetVisible(false);
-
-			fixedXButton.SetVisible(false);
-			fixedYButton.SetVisible(false);
-			fixedZButton.SetVisible(false);
-			fixedXRotationButton.SetVisible(false);
-			fixedYRotationButton.SetVisible(false);
-			fixedZRotationButton.SetVisible(false);
-			minTranslationXSlider.SetVisible(false);
-			minTranslationYSlider.SetVisible(false);
-			minTranslationZSlider.SetVisible(false);
-			maxTranslationXSlider.SetVisible(false);
-			maxTranslationYSlider.SetVisible(false);
-			maxTranslationZSlider.SetVisible(false);
-			minRotationXSlider.SetVisible(false);
-			minRotationYSlider.SetVisible(false);
-			minRotationZSlider.SetVisible(false);
-			maxRotationXSlider.SetVisible(false);
-			maxRotationYSlider.SetVisible(false);
-			maxRotationZSlider.SetVisible(false);
 			break;
 		}
 
+		margin_right = 40;
+
+		if (normalConeSlider.IsVisible())
+		{
+			add(normalConeSlider);
+		}
+		if (planeConeSlider.IsVisible())
+		{
+			add(planeConeSlider);
+		}
+
 		if (minSlider.IsVisible())
 		{
 			add(minSlider);
@@ -693,5 +784,8 @@ void ConstraintWindow::ResizeLayout()
 		{
 			add(maxSlider);
 		}
+
+		add_right(physicsDebugCheckBox);
+		add(constraintDebugSlider);
 	}
 }
diff --git a/Editor/ConstraintWindow.h b/Editor/ConstraintWindow.h
index 04ba0a643..f94e556af 100644
--- a/Editor/ConstraintWindow.h
+++ b/Editor/ConstraintWindow.h
@@ -11,6 +11,8 @@ public:
 	void SetEntity(wi::ecs::Entity entity);
 
 	wi::gui::Label infoLabel;
+	wi::gui::CheckBox physicsDebugCheckBox;
+	wi::gui::Slider constraintDebugSlider;
 	wi::gui::Button rebindButton;
 	wi::gui::ComboBox typeComboBox;
 	wi::gui::ComboBox bodyAComboBox;
@@ -18,6 +20,9 @@ public:
 	wi::gui::Slider minSlider;
 	wi::gui::Slider maxSlider;
 
+	wi::gui::Slider normalConeSlider;
+	wi::gui::Slider planeConeSlider;
+
 	wi::gui::Button fixedXButton;
 	wi::gui::Button fixedYButton;
 	wi::gui::Button fixedZButton;
diff --git a/Editor/GeneralWindow.cpp b/Editor/GeneralWindow.cpp
index 138fcbd8c..78ae88d11 100644
--- a/Editor/GeneralWindow.cpp
+++ b/Editor/GeneralWindow.cpp
@@ -33,6 +33,7 @@ void GeneralWindow::Create(EditorComponent* _editor)
 	physicsDebugCheckBox.OnClick([=](wi::gui::EventArgs args) {
 		wi::physics::SetDebugDrawEnabled(args.bValue);
 		editor->componentsWnd.rigidWnd.physicsDebugCheckBox.SetCheck(args.bValue);
+		editor->componentsWnd.constraintWnd.physicsDebugCheckBox.SetCheck(args.bValue);
 	});
 	physicsDebugCheckBox.SetCheck(wi::physics::IsDebugDrawEnabled());
 	AddWidget(&physicsDebugCheckBox);
diff --git a/Editor/RigidBodyWindow.cpp b/Editor/RigidBodyWindow.cpp
index 970dceb7c..794202678 100644
--- a/Editor/RigidBodyWindow.cpp
+++ b/Editor/RigidBodyWindow.cpp
@@ -355,6 +355,7 @@ void RigidBodyWindow::Create(EditorComponent* _editor)
 	physicsDebugCheckBox.OnClick([=](wi::gui::EventArgs args) {
 		wi::physics::SetDebugDrawEnabled(args.bValue);
 		editor->generalWnd.physicsDebugCheckBox.SetCheck(args.bValue);
+		editor->componentsWnd.constraintWnd.physicsDebugCheckBox.SetCheck(args.bValue);
 	});
 	physicsDebugCheckBox.SetCheck(wi::physics::IsDebugDrawEnabled());
 	AddWidget(&physicsDebugCheckBox);
diff --git a/WickedEngine/wiPhysics.h b/WickedEngine/wiPhysics.h
index 1e1e39ed8..8f78258c6 100644
--- a/WickedEngine/wiPhysics.h
+++ b/WickedEngine/wiPhysics.h
@@ -30,6 +30,10 @@ namespace wi::physics
 	void SetDebugDrawEnabled(bool value);
 	bool IsDebugDrawEnabled();
 
+	// Adjust constraint debugging sizes
+	void SetConstraintDebugSize(float value);
+	float GetConstraintDebugSize();
+
 	// Set the accuracy of the simulation
 	//	This value corresponds to maximum simulation step count
 	//	Higher values will be slower but more accurate
diff --git a/WickedEngine/wiPhysics_Jolt.cpp b/WickedEngine/wiPhysics_Jolt.cpp
index 07cd692aa..f04d46c88 100644
--- a/WickedEngine/wiPhysics_Jolt.cpp
+++ b/WickedEngine/wiPhysics_Jolt.cpp
@@ -81,6 +81,7 @@ namespace wi::physics
 		bool ENABLED = true;
 		bool SIMULATION_ENABLED = true;
 		bool DEBUGDRAW_ENABLED = false;
+		float CONSTRAINT_DEBUGSIZE = 1;
 		int ACCURACY = 4;
 		int softbodyIterationCount = 6;
 		float TIMESTEP = 1.0f / 60.0f;
@@ -1056,6 +1057,19 @@ namespace wi::physics
 				settings.mLimitMax[SixDOFConstraintSettings::EAxis::RotationZ] = physicscomponent.six_dof.maxRotationAxes.z;
 				physicsobject.constraint = settings.Create(*body1, *body2);
 			}
+			else if (physicscomponent.type == PhysicsConstraintComponent::Type::SwingTwist)
+			{
+				SwingTwistConstraintSettings settings;
+				settings.mSpace = EConstraintSpace::WorldSpace;
+				settings.mPosition1 = settings.mPosition2 = cast(transform.GetPosition());
+				settings.mTwistAxis1 = settings.mTwistAxis2 = cast(transform.GetRight()).Normalized();
+				settings.mPlaneAxis1 = settings.mPlaneAxis2 = cast(transform.GetUp()).Normalized();
+				settings.mNormalHalfConeAngle = physicscomponent.swing_twist.normal_half_cone_angle;
+				settings.mPlaneHalfConeAngle = physicscomponent.swing_twist.plane_half_cone_angle;
+				settings.mTwistMinAngle = physicscomponent.swing_twist.min_twist_angle;
+				settings.mTwistMaxAngle = physicscomponent.swing_twist.max_twist_angle;
+				physicsobject.constraint = settings.Create(*body1, *body2);
+			}
 			else
 			{
 				wilog("Constraint creation failed: constraint type is not valid!");
@@ -1812,6 +1826,9 @@ namespace wi::physics
 	bool IsDebugDrawEnabled() { return DEBUGDRAW_ENABLED; }
 	void SetDebugDrawEnabled(bool value) { DEBUGDRAW_ENABLED = value; }
 
+	void SetConstraintDebugSize(float value) { CONSTRAINT_DEBUGSIZE = value; }
+	float GetConstraintDebugSize() { return CONSTRAINT_DEBUGSIZE; }
+
 	int GetAccuracy() { return ACCURACY; }
 	void SetAccuracy(int value) { ACCURACY = value; }
 
@@ -1989,6 +2006,14 @@ namespace wi::physics
 					ptr->SetTranslationLimits(cast(physicscomponent.six_dof.minTranslationAxes), cast(physicscomponent.six_dof.maxTranslationAxes));
 					ptr->SetRotationLimits(cast(physicscomponent.six_dof.minRotationAxes), cast(physicscomponent.six_dof.maxRotationAxes));
 				}
+				else if (physicscomponent.type == PhysicsConstraintComponent::Type::SwingTwist)
+				{
+					SwingTwistConstraint* ptr = ((SwingTwistConstraint*)constraint.constraint.GetPtr());
+					ptr->SetNormalHalfConeAngle(physicscomponent.swing_twist.normal_half_cone_angle);
+					ptr->SetPlaneHalfConeAngle(physicscomponent.swing_twist.plane_half_cone_angle);
+					ptr->SetTwistMinAngle(physicscomponent.swing_twist.min_twist_angle);
+					ptr->SetTwistMaxAngle(physicscomponent.swing_twist.max_twist_angle);
+				}
 			}
 		});
 
@@ -2345,6 +2370,7 @@ namespace wi::physics
 			if (physicscomponent.physicsobject == nullptr)
 				return;
 			Constraint& constraint = GetConstraint(physicscomponent);
+			constraint.constraint->SetDrawConstraintSize(CONSTRAINT_DEBUGSIZE);
 			if (constraint.body1_self.IsInvalid() && constraint.body2_self.IsInvalid())
 				return;
 
diff --git a/WickedEngine/wiScene.h b/WickedEngine/wiScene.h
index 0762f3629..437d9b129 100644
--- a/WickedEngine/wiScene.h
+++ b/WickedEngine/wiScene.h
@@ -63,7 +63,7 @@ namespace wi::scene
 		wi::ecs::ComponentManager<wi::VoxelGrid>& voxel_grids = componentLibrary.Register<wi::VoxelGrid>("wi::scene::Scene::voxel_grids");
 		wi::ecs::ComponentManager<MetadataComponent>& metadatas = componentLibrary.Register<MetadataComponent>("wi::scene::Scene::metadatas");
 		wi::ecs::ComponentManager<CharacterComponent>& characters = componentLibrary.Register<CharacterComponent>("wi::scene::Scene::characters");
-		wi::ecs::ComponentManager<PhysicsConstraintComponent>& constraints = componentLibrary.Register<PhysicsConstraintComponent>("wi::scene::Scene::constraints", 1); // version = 1
+		wi::ecs::ComponentManager<PhysicsConstraintComponent>& constraints = componentLibrary.Register<PhysicsConstraintComponent>("wi::scene::Scene::constraints", 2); // version = 2
 
 		// Non-serialized attributes:
 		float dt = 0;
diff --git a/WickedEngine/wiScene_Components.h b/WickedEngine/wiScene_Components.h
index 90d56c3cf..58ca3076f 100644
--- a/WickedEngine/wiScene_Components.h
+++ b/WickedEngine/wiScene_Components.h
@@ -543,6 +543,7 @@ namespace wi::scene
 			Hinge,		// rotation around a point on the UP axis of the contraint transform
 			Cone,		// constrain to a cone shape specified by the cone angle
 			SixDOF,		// manual specification of axes movement and rotation limits
+			SwingTwist,	// cone + rotational limits
 		} type = Type::Fixed;
 
 		wi::ecs::Entity bodyA = wi::ecs::INVALID_ENTITY;
@@ -587,6 +588,14 @@ namespace wi::scene
 			void SetFreeRotationZ() { minRotationAxes.z = -XM_PI; maxRotationAxes.z = XM_PI; }
 		} six_dof;
 
+		struct SwingTwistConstraintSettings
+		{
+			float normal_half_cone_angle = 0;	// radians
+			float plane_half_cone_angle = 0;	// radians
+			float min_twist_angle = 0;			// radians [-PI, PI]
+			float max_twist_angle = 0;			// radians [-PI, PI]
+		} swing_twist;
+
 		// Non-serialized attributes:
 		std::shared_ptr<void> physicsobject = nullptr; // You can set to null to recreate the physics object the next time phsyics system will be running.
 
diff --git a/WickedEngine/wiScene_Serializers.cpp b/WickedEngine/wiScene_Serializers.cpp
index cc9283ba2..9e62f2dfb 100644
--- a/WickedEngine/wiScene_Serializers.cpp
+++ b/WickedEngine/wiScene_Serializers.cpp
@@ -929,6 +929,13 @@ namespace wi::scene
 				archive >> six_dof.minRotationAxes;
 				archive >> six_dof.maxRotationAxes;
 			}
+			if (seri.GetVersion() >= 2)
+			{
+				archive >> swing_twist.normal_half_cone_angle;
+				archive >> swing_twist.plane_half_cone_angle;
+				archive >> swing_twist.min_twist_angle;
+				archive >> swing_twist.max_twist_angle;
+			}
 		}
 		else
 		{
@@ -948,6 +955,13 @@ namespace wi::scene
 				archive << six_dof.minRotationAxes;
 				archive << six_dof.maxRotationAxes;
 			}
+			if (seri.GetVersion() >= 2)
+			{
+				archive << swing_twist.normal_half_cone_angle;
+				archive << swing_twist.plane_half_cone_angle;
+				archive << swing_twist.min_twist_angle;
+				archive << swing_twist.max_twist_angle;
+			}
 		}
 	}
 	void SoftBodyPhysicsComponent::Serialize(wi::Archive& archive, EntitySerializer& seri)
diff --git a/WickedEngine/wiVersion.cpp b/WickedEngine/wiVersion.cpp
index 1421ac3bb..8f9bcba33 100644
--- a/WickedEngine/wiVersion.cpp
+++ b/WickedEngine/wiVersion.cpp
@@ -9,7 +9,7 @@ namespace wi::version
 	// minor features, major updates, breaking compatibility changes
 	const int minor = 71;
 	// minor bug fixes, alterations, refactors, updates
-	const int revision = 732;
+	const int revision = 733;
 
 	const std::string version_string = std::to_string(major) + "." + std::to_string(minor) + "." + std::to_string(revision);