Merge pull request #171 from notgiven688/tweaks

notgiven688 · Aug 25, 2024 · 910604a · 910604a
2 parents 35434ea + b610677
commit 910604a
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Showing 3 changed files with 22 additions and 7 deletions.
diff --git a/src/Jitter2/Dynamics/Constraints/HingeAngle.cs b/src/Jitter2/Dynamics/Constraints/HingeAngle.cs
@@ -80,7 +80,7 @@ protected override void Create()
     /// Initializes the constraint.
     /// </summary>
     /// <param name="axis">Axis in world space for which relative angular movement is allowed.</param>
-    public void Initialize(JVector axis, AngularLimit angle)
+    public void Initialize(JVector axis, AngularLimit limit)
     {
         ref HingeAngleData data = ref handle.Data;
         ref RigidBodyData body1 = ref data.Body1.Data;
@@ -91,8 +91,8 @@ public void Initialize(JVector axis, AngularLimit angle)
         data.BiasFactor = 0.2f;
         data.LimitBias = 0.1f;
 
-        data.MinAngle = MathF.Sin((float)angle.From / 2.0f);
-        data.MaxAngle = MathF.Sin((float)angle.To / 2.0f);
+        data.MinAngle = MathF.Sin((float)limit.From / 2.0f);
+        data.MaxAngle = MathF.Sin((float)limit.To / 2.0f);
 
         data.Axis = JVector.TransposedTransform(axis, body2.Orientation);
 

diff --git a/src/Jitter2/Dynamics/Constraints/TwistAngle.cs b/src/Jitter2/Dynamics/Constraints/TwistAngle.cs
@@ -78,8 +78,8 @@ protected override void Create()
     /// </summary>
     /// <param name="axis1">Axis fixed in the local reference frame of the first body, represented in world space.</param>
     /// <param name="axis2">Axis fixed in the local reference frame of the second body, represented in world space.</param>
-    /// <param name="angle">The permissible relative twist between the bodies along the specified axes.</param>
-    public void Initialize(JVector axis1, JVector axis2, AngularLimit angle)
+    /// <param name="limit">The permissible relative twist between the bodies along the specified axes.</param>
+    public void Initialize(JVector axis1, JVector axis2, AngularLimit limit)
     {
         ref TwistLimitData data = ref handle.Data;
         ref RigidBodyData body1 = ref data.Body1.Data;
@@ -91,8 +91,8 @@ public void Initialize(JVector axis1, JVector axis2, AngularLimit angle)
         axis1.Normalize();
         axis2.Normalize();
 
-        data.Angle1 = MathF.Sin((float)angle.From / 2.0f);
-        data.Angle2 = MathF.Sin((float)angle.To / 2.0f);
+        data.Angle1 = MathF.Sin((float)limit.From / 2.0f);
+        data.Angle2 = MathF.Sin((float)limit.To / 2.0f);
 
         data.B = JVector.TransposedTransform(axis2, body2.Orientation);
 
@@ -102,6 +102,16 @@ public void Initialize(JVector axis1, JVector axis2, AngularLimit angle)
         data.Q0 = q2.Conjugate() * q1;
     }
 
+    public AngularLimit Limit
+    {
+        set
+        {
+            ref TwistLimitData data = ref handle.Data;
+            data.Angle1 = MathF.Sin((float)value.From / 2.0f);
+            data.Angle2 = MathF.Sin((float)value.To / 2.0f);
+        }
+    }
+
     /// <summary>
     /// Initializes the constraint.
     /// </summary>

diff --git a/src/JitterDemo/Demos/Common.cs b/src/JitterDemo/Demos/Common.cs
@@ -175,6 +175,11 @@ public static void BuildRagdoll(JVector position, Action<RigidBody>? action = nu
             world.CreateConstraint<TwistAngle>(parts[(int)RagdollParts.Torso], parts[(int)RagdollParts.UpperArmRight]);
         shoulderRight1.Initialize(JVector.UnitX, JVector.UnitX, AngularLimit.FromDegree(-20, 60));
 
+        shoulderLeft1.Bias = 0.01f;
+        shoulderRight1.Bias = 0.01f;
+        hipLeft1.Bias = 0.01f;
+        hipRight1.Bias = 0.01f;
+
         if (world.BroadPhaseFilter is not IgnoreCollisionBetweenFilter filter)
         {
             filter = new IgnoreCollisionBetweenFilter();