joint_mover.txt

// I don't dance now, I make muscle moves...
// Configurable Params
MaxMoveF = 4000
MaxHoldF = 1.334 * MaxMoveF
MaxTorque = 500
MaxHoldTorque = 1.334 * MaxTorque
MaxMoveSpeed = 4.5 // m/s
HillParamA = 0.25 // Coefficient of shortening heat in Hill's muscle model

SetAngularDrag(0)
dtSqr = fixedDeltaTime * fixedDeltaTime
// Load the relevant information about the object and where our hand is
mass = GetMass()
weight = Vector3(0, mass * 9.81, 0)
// Fyi, the inertia tensor includes the mass
inertiaRaw = GetInertiaTensor()
inertiaRot = GetInertiaTensorRotation()
// The inertia tensor from Unity includes the mass
inertia = inertiaRot * inertiaRaw
SetBounciness(0.1)
didAddScript = false
zero = Vector3(0,0,0)
yLine = Line(Vector3(0,0,0), Vector3(0,1,0), "yellow")
gLine = Line(Vector3(0,0,0), Vector3(0,1,0), "green")
cLine = Line(Vector3(0,0,0), Vector3(0,1,0), "cyan")
mLine = Line(Vector3(0,0,0), Vector3(0,1,0), "magenta")
handOffset = Vector3(0, 0.2, 0)
anchorPos = zero

OnFixedUpdate = function()
	
	if GetGrabbingUser() == null then
		if globals.didAddScript then
			RemoveScript("Configurable Joint")
			globals.didAddScript = false
		end if
		return
	end if
	
	if not globals.didAddScript then
		AddScript("Configurable Joint")
		anchor = GetGrabRelativePosRot()
		//print("anchor pos " + anchor.position)
		SetAnchorPoint(anchor.position)
		globals.anchorPos = anchor.position
		globals.didAddScript = true
	end if
	
	// Info about the ideal place for us to be
	targPosRot = GetInstantGrabbedPosRotVel()
	grabPosRot = GetGrabRelativePosRot()
	handPosRot = GetRealHandPosRot()
	
	targAnchorOffset = targPosRot.rotation * globals.anchorPos
	targAnchorPos = targPosRot.position + targAnchorOffset
	SetTargetPosRot(zero, targPosRot.rotation)
	ourAnchorPos = position + rotation * globals.anchorPos
	
	// Update where the other end of the spring is
	SetConnectedAnchor(targAnchorPos)
	//SetPositionDriveSpring(10000, 10000, 10000)
	SetPositionDriveDamper(1, 1, 1)
	//SetRotationSlerpDrive(2000)
	
	/// POSITION
	delPos = targAnchorPos - ourAnchorPos
	gLine.Update(ourAnchorPos, delPos)
	posF = mass * (delPos - velocity * fixedDeltaTime) / dtSqr
	posFMag = posF.Magnitude()
	vMag = velocity.Magnitude
	
	// Clamp to the maximum that is physiologically allowed
	// If we're applying a force against the velocity, then
	// we have slightly more force to give
	cLine.Update(position, posF.Normalized() / 5)
	yLine.Update(position, velocity)
	againstV = vMag < 0.1 or dot(posF, velocity) < -0.3
	maxMag = MaxMoveF
	if againstV then
		maxMag = MaxHoldF
		//SetColor("red")
	else
		//SetColor("green")
		// Normalize the speed by the max speed
		v = abs(vMag) / MaxMoveSpeed
		if v >= 1 then
			// we're moving at the max speed
			// so we can't apply any force
			maxMag = 0
		else
			// Normalized Hill model, so a=b
			f = HillParamA * (1 + HillParamA) / (v + HillParamA) - HillParamA
			// Get the non-normalized force
			maxMag = f * MaxMoveF
		end if
	end if
	
	delPosMag = delPos.Magnitude()
	posFMag = clamp(posFMag, -maxMag, maxMag)
	// f = -kx - dv
	posSpringK = posFMag / delPosMag
	SetPositionDriveSpring(posSpringK, posSpringK, posSpringK)
	
	/// ROTATION
	targAngVel = targPosRot.angularVelocity
	// Turn the angular velocities into quaternions
	angVelQ = Quaternion(angularVelocity.Normalized, angularVelocity.Magnitude)
	tAngVelQ = Quaternion(targAngVel.Normalized, targAngVel.Magnitude)
	
	// How much the rotation will change by next frame
	angleStep = Quaternion(angularVelocity.Normalized, fixedDeltaTime * angularVelocity.Magnitude)
	tAngleStep = Quaternion(targAngVel.Normalized, fixedDeltaTime * targAngVel.Magnitude)
	// What our rotation will be next frame
	nextRot = angleStep * rotation
	targNextRot = tAngleStep * targPosRot.rotation
	
	// Get the rotation that we're planning to correct
	// delRot is the angle from where the object is, to where
	// we want it to be
	delRot = 0
	if dot(targNextRot, nextRot) >= 0 then
		delRot = targNextRot * nextRot.inv()
	else
		flippedNextRot = -nextRot
		delRot = targNextRot * flippedNextRot.inv()
	end if
	
	angleAxis = delRot.ToAngleAxis()
	delRad = radians(angleAxis.angle)
	//print("del degrees " + angleAxis.angle)
	
	// Get the torque needed to correct the rotation
	accel = delRad / dtSqr
	angAccel = angleAxis.axis * accel
	posTorque = rotation * ((rotation.inv() * angAccel).ComponentMul(inertia))
	
	// Get the torque needed to correct the angular velocity
	delAngVel = targAngVel - angularVelocity
	velAngAccel = delAngVel / fixedDeltaTime
	velTorque = rotation * ((rotation.inv() * velAngAccel).ComponentMul(inertia))
	
	// Use the delta angle to find the weight for correcting angle/angularVelocity
	// 0 means just correct angle, >= 1 means correct angular velocity
	//delAngle = rotation.inv() * (angleAxis.angle * angleAxis.axis)
	//wAngle = (abs(delAngle) - SmallAngleVec).ComponentDiv(LSAngleVec)
	wTorque = posTorque
	
	// We can apply a larger torque if we're appying a force against
	// the velocity
	rotAgainstVel = angularVelocity.Magnitude < 0.1 // Rad/s
	rotAgainstVel = rotAgainstVel or dot(angularVelocity, wTorque) < 0.01
	clampT = MaxTorque
	if rotAgainstVel then
		clampT = MaxHoldTorque
		//mLine.Update(Vector3(1, 2, 0), Vector3(0, -1, 0))
		//SetColor("red")
	else
		//SetColor("green")
		//mLine.Update(Vector3(1, 2, 0), Vector3(0, 1, 0))
	end if
	
	// Clamp the torque
	rotTMag = wTorque.Magnitude()
	rotTMag = clamp(abs(rotTMag), 0, clampT)
	//print("rotF " + rotFMag)
	// Apply the torque via the spring parameter
	rotSpringK = 0
	if delRad > 0.01 then
		rotSpringK = rotTMag / delRad
		rotSpringK = clamp(rotSpringK, 0, 20000)
	end if
	SetRotationSlerpDrive(rotSpringK)
	
	availT = clampT - rotTMag
	damper = 0
	if availT < 0.1 then
		SetRotationSlerpDamper(0)
	else
		delAngVelMag = (angularVelocity - targAngVel).Magnitude()
		if delAngVelMag > 0.01 then
			damper = availT / delAngVelMag
			//print("delAngle " + degrees(delRad) + " delV " + delAngVelMag + " availT " + availT)
			damper = clamp(damper, 0, 50)
		end if
		springAngVel = rotation.inv() * targAngVel
		springAngVel = -springAngVel
		SetTargetAngularVelocity(springAngVel)
		SetRotationSlerpDamper(damper)
		//print("rot damper: " + damper)
	end if
	//print("rot springK " + rotSpringK + " d " + damper)
end function