RRPhysicsJointComponent.h

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#pragma once
 
 
 
//UE
 
#include "Components/ActorComponent.h"
 
#include "CoreMinimal.h"
 
#include "Kismet/KismetMathLibrary.h"
 
// #include "Containers/EnumAsByte.h"
 
#include <Containers/EnumAsByte.h>
 
 
 
//RapyutaSimulationPlugins
 
#include "Core/RRGeneralUtils.h"
 
#include "Drives/RRJointComponent.h"
 
 
 
//Thirdparty
 
#include "two_points_interpolation_constant_acc.hpp"
 
 
 
#include "RRPhysicsJointComponent.generated.h"
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRPhysicsJointComponent : public URRJointComponent
 
{
 
 
 
public:
 
    // Sets default values for this component's properties
 
    URRPhysicsJointComponent();
 
 
 
public:
 
    virtual bool IsValid() override;
 
 
 
    virtual void InitializeComponent() override;
 
 
 
    virtual void SetVelocity(const FVector& InLinearVelocity, const FVector& InAngularVelocity) override;
 
 
 
    virtual void SetVelocityTarget(const FVector& InLinearVelocity, const FVector& InAngularVelocity) override;
 
 
 
    virtual void SetPose(const FVector& InPosition, const FRotator& InOrientation) override;
 
 
 
    virtual void SetPoseTarget(const FVector& InPosition, const FRotator& InOrientation) override;
 
 
 
    virtual void Teleport(const FVector& InPosition, const FRotator& InOrientation) override;
 
 
 
    virtual void MoveToInitPose();
 
 
 
    virtual void SetJoint();
 
 
 
 
 
    UPhysicsConstraintComponent* Constraint = nullptr;
 
 
 
 
 
 
 
    bool bSmoothing = false;
 
 
 
 
 
    float Kvp = 10.f;
 
 
 
 
 
    float Kva = 10.f;
 
 
 
 
 
    float Kip = 0.f;
 
 
 
 
 
    float Kia = 0.f;
 
 
 
 
 
    float LinearVelocitySmoothingAcc = 10.f;
 
 
 
 
 
    float AngularVelocitySmoothingAcc = 10.f;
 
 
 
 
 
    float LinearSpring = 1000;
 
 
 
 
 
    float LinearDamper = 10;
 
 
 
 
 
    float LinearForceLimit = UE_BIG_NUMBER;
 
 
 
 
 
    float AngularSpring = 100000;
 
 
 
 
 
    float AngularDamper = 10000;
 
 
 
 
 
    float AngularForceLimit = UE_BIG_NUMBER;
 
 
 
 
 
 
    bool bManualConstraintSetting = false;
 
 
 
protected:
 
 
 
    FVector MidLinearVelocityTarget = FVector::ZeroVector;
 
 
 
 
 
    FVector MidAngularVelocityTarget = FVector::ZeroVector;
 
 
 
 
 
    FVector MidPositionTarget = FVector::ZeroVector;
 
 
 
 
 
    FRotator MidOrientationTarget = FRotator::ZeroRotator;
 
 
 
    virtual void UpdateState(const float DeltaTime) override;
 
 
 
    virtual void UpdateControl(const float DeltaTime) override;
 
 
 
 
    virtual void UpdateIntegral(const FVector& InPositionDiff, const FVector& InOrientationDiff, const float DeltaTime);
 
 
 
    virtual void UpdateVelocityTargetFromPose(const FVector InPositionDiff, const FVector InOrientationDiff);
 
 
 
    virtual FRotator GetOrientationTargetFromEuler(const FVector& InOrientationTarget);
 
 
 
 
    TStaticArray<TwoPointInterpolation, 3> PositionTPI;
 
 
 
 
    TStaticArray<TwoAngleInterpolation, 3> OrientationTPI;
 
 
 
 
 
    FVector PErrInt = FVector::ZeroVector;
 
 
 
 
 
    FVector AErrInt = FVector::ZeroVector;
 
};