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## [1.3.5] - 2024-10-04 ### Added * Motor Jacobians have access to the Jacobian header in the Solve methods now ### Changed * Documentation updates * Updated Burst dependency to version 1.8.18 * Updated Unity Test Framework dependency to version 1.4.5 * Updated Mathematics dependency to version 1.3.2 * Updated entities packages dependencies ### Fixed * The "Use Spring" feature in the built-in `HingeJoint` now works correctly. Both the joint force values and the constraint relaxation parameters are set to the appropriate values in the underlying engine and the Unity Physics simulation behavior now closely matches the behavior in built-in physics. * Fixed a case that could lead to invalid data in the impulse handling within the LinearLimitJacobian * Limits in Hinge Joint authoring components, enabled via the "Use Limits" option, are now respected when the "Use Spring" option is also enabled.
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Tests/PlayModeTests/Dynamics/Joint/JointVerificationTests.cs
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,187 @@ | ||
| using NUnit.Framework; | ||
| using Unity.Mathematics; | ||
| using UnityEngine; | ||
|
|
||
| namespace Unity.Physics.Tests.Joints | ||
| { | ||
| /// <summary> | ||
| /// Specific verification tests for specific joints, designed to ensure we obtain the expected physical behavior. | ||
| /// </summary> | ||
| [TestFixture] | ||
| class JointVerificationTests | ||
| { | ||
| PhysicsWorld m_World; | ||
| SimulationStepInput m_StepInput; | ||
| int m_DynamicBodyIndex; | ||
| int m_StaticBodyIndex; | ||
| int m_JointIndex; | ||
|
|
||
| void Simulate(PhysicsJoint physicsJoint, int numSteps = 480) | ||
| { | ||
| var joint = new Joint | ||
| { | ||
| BodyPair = new BodyIndexPair { BodyIndexA = m_DynamicBodyIndex, BodyIndexB = m_StaticBodyIndex }, | ||
| AFromJoint = physicsJoint.BodyAFromJoint.AsMTransform(), | ||
| BFromJoint = physicsJoint.BodyBFromJoint.AsMTransform(), | ||
| Constraints = physicsJoint.m_Constraints, | ||
| }; | ||
|
|
||
| var joints = m_World.DynamicsWorld.Joints; | ||
| joints[m_JointIndex] = joint; | ||
|
|
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| var context = new SimulationContext(); | ||
|
|
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| context.Reset(m_StepInput); | ||
| for (var i = 0; i < numSteps; ++i) | ||
| { | ||
| Simulation.StepImmediate(m_StepInput, ref context); | ||
| #if DEBUG_PRINT_BODY_POSITION | ||
| if (i % 10 == 0) | ||
| Debug.Log(m_World.DynamicsWorld.MotionDatas[m_DynamicBodyIndex].WorldFromMotion.pos); | ||
| #endif | ||
| } | ||
| } | ||
|
|
||
| [TearDown] | ||
| public void TearDown() | ||
| { | ||
| m_World.Dispose(); | ||
| } | ||
|
|
||
| [SetUp] | ||
| public void Setup() | ||
| { | ||
| m_World = new PhysicsWorld(1, 1, 1); | ||
|
|
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| m_DynamicBodyIndex = 0; | ||
| m_StaticBodyIndex = 1; | ||
| m_JointIndex = 0; | ||
|
|
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| // Simulation step input | ||
| m_StepInput = new SimulationStepInput() | ||
| { | ||
| World = m_World, | ||
| Gravity = new float3(0, -9.81f, 0), | ||
| NumSolverIterations = 4, | ||
| TimeStep = 1 / 60f, | ||
| SynchronizeCollisionWorld = false // we don't need any collisions in these tests | ||
| }; | ||
|
|
||
| // position the dynamic and static bodies at origin | ||
| var body = new RigidBody | ||
| { | ||
| WorldFromBody = new RigidTransform(quaternion.identity, float3.zero), | ||
| Scale = 1.0f, | ||
| }; | ||
|
|
||
| // mass properties of a unit sphere | ||
| var massProperties = MassProperties.UnitSphere; | ||
| var mass = 1.5f; | ||
|
|
||
| var velocity = new MotionVelocity | ||
| { | ||
| InverseInertia = math.rcp(massProperties.MassDistribution.InertiaTensor * mass), | ||
| InverseMass = math.rcp(mass), | ||
| GravityFactor = 1f | ||
| }; | ||
|
|
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| var bodies = m_World.CollisionWorld.Bodies; | ||
| bodies[m_DynamicBodyIndex] = body; | ||
| bodies[m_StaticBodyIndex] = body; | ||
|
|
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| var motionDatas = m_World.MotionDatas; | ||
| motionDatas[m_DynamicBodyIndex] = MotionData.Zero; | ||
|
|
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| var motionVelocities = m_World.MotionVelocities; | ||
| motionVelocities[m_DynamicBodyIndex] = velocity; | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Creates a spring joint between a dynamic and static body with a spring stiffness that should | ||
| /// result in a target equilibrium position of a given distance unit from the anchor point. | ||
| /// </summary> | ||
| [Test] | ||
| public void Spring_ReachesCorrectEquilibriumExtension([Values(0.3f, 0.5f, 0.8f, 1.0f)] float dampingRatio) | ||
| { | ||
| var equilibriumSpringExtension = 0.75f; | ||
| var dynMotionVelocity = m_World.DynamicsWorld.MotionVelocities[m_DynamicBodyIndex]; | ||
| var mass = math.rcp(dynMotionVelocity.InverseMass); | ||
| var restoringForce = -m_StepInput.Gravity.y * mass; | ||
| var requiredStiffnessCoefficient = restoringForce / equilibriumSpringExtension; | ||
|
|
||
| // convert spring stiffness to spring frequency: | ||
| var springFrequency = JacobianUtilities.CalculateSpringFrequencyFromSpringConstant(requiredStiffnessCoefficient, mass); | ||
|
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| var physicsJoint = PhysicsJoint.CreateLimitedDistance(float3.zero, float3.zero, new Math.FloatRange(0, 0), float.MaxValue, | ||
| springFrequency, dampingRatio); | ||
| Simulate(physicsJoint); | ||
|
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| var dynMotionData = m_World.DynamicsWorld.MotionDatas[m_DynamicBodyIndex]; | ||
| Assert.That(dynMotionData.WorldFromMotion.pos.y, Is.EqualTo(-equilibriumSpringExtension).Within(1e-3)); | ||
| } | ||
|
|
||
| ///<summary> | ||
| /// Creates a hinge joint with a locked spring and a distinct arm length, | ||
| /// and checks if the hinged body settles at the expected target angle. | ||
| /// </summary> | ||
| [Test] | ||
| public void Hinge_AngularSpring_ReachesCorrectEquilibriumAngle([Values(0.05f, 0.1f, 0.3f)] float dampingRatio) | ||
| { | ||
| var armLength = 0.5f; | ||
| var jointAnchor = new BodyFrame(new RigidTransform(quaternion.identity, new float3(0, 0, armLength))); | ||
|
|
||
| // Create hinge joint and set it up as an angular spring with target at 0 and a specific expected equilibrium angle | ||
| var equilibriumAngleInDegrees = 15.0f; | ||
| var equilibriumAngle = math.radians(equilibriumAngleInDegrees); | ||
| var targetAngle = 0.0f; | ||
|
|
||
| // Required restoring torque under the assumption that the body is at 1 distance unit away from | ||
| // the hinge joint anchor point. | ||
| var dynMotionVelocity = m_World.DynamicsWorld.MotionVelocities[m_DynamicBodyIndex]; | ||
| var restoringTorque = armLength * -m_StepInput.Gravity.y * math.rcp(dynMotionVelocity.InverseMass) * math.sin(math.PIHALF - equilibriumAngle); | ||
|
|
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| // spring stiffness to achieve the required restoring torque at the target angle | ||
| var requiredStiffnessCoefficient = restoringTorque / equilibriumAngle; | ||
|
|
||
| // convert spring stiffness to spring frequency: | ||
| var inertia = math.rcp(dynMotionVelocity.InverseInertia); | ||
| var springFrequency = JacobianUtilities.CalculateSpringFrequencyFromSpringConstant(requiredStiffnessCoefficient, inertia.x); | ||
|
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| var rotationalMotor = PhysicsJoint.CreateRotationalMotor(jointAnchor, jointAnchor, targetAngle, float.MaxValue, | ||
| springFrequency, dampingRatio); | ||
| Simulate(rotationalMotor, 600); | ||
|
|
||
| // check that body is at expected angle | ||
| var dynMotionData = m_World.DynamicsWorld.MotionDatas[m_DynamicBodyIndex]; | ||
| var dynRot = dynMotionData.WorldFromMotion.rot; | ||
| ((Quaternion)dynRot).ToAngleAxis(out var angle, out var axis); | ||
| Assert.That((float3)axis, Is.PrettyCloseTo(new float3(-1, 0, 0))); | ||
| Assert.That(angle, Is.EqualTo(equilibriumAngleInDegrees).Within(1)); | ||
| } | ||
|
|
||
| ///<summary> | ||
| /// Creates a hinge joint with limits locked by a soft angular spring, and checks if the hinged body hits the limit. | ||
| /// </summary> | ||
| [Test] | ||
| public void Hinge_HitsLimit([Values(0.0f, 0.1f, 0.3f)] float dampingRatio, [Values(0.1f, 0.5f, 1f)] float springFrequency) | ||
| { | ||
| var armLength = 0.5f; | ||
| var jointAnchor = new BodyFrame(new RigidTransform(quaternion.identity, new float3(0, 0, armLength))); | ||
|
|
||
| // create hinge joint with limits | ||
| var limitAngleInDegrees = 10.0f; | ||
| var limitAngle = math.radians(limitAngleInDegrees); | ||
| var rotationalMotor = PhysicsJoint.CreateRotationalMotor(jointAnchor, jointAnchor, 0, new Math.FloatRange(-limitAngle, limitAngle), float.MaxValue, | ||
| springFrequency, dampingRatio); | ||
|
|
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| Simulate(rotationalMotor, 600); | ||
|
|
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| // check that body is at expected angle | ||
| var dynMotionData = m_World.DynamicsWorld.MotionDatas[m_DynamicBodyIndex]; | ||
| var dynRot = dynMotionData.WorldFromMotion.rot; | ||
| ((Quaternion)dynRot).ToAngleAxis(out var angle, out var axis); | ||
| Assert.That((float3)axis, Is.PrettyCloseTo(new float3(-1, 0, 0))); | ||
| Assert.That(angle, Is.EqualTo(limitAngleInDegrees).Within(1)); | ||
| } | ||
| } | ||
| } |
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Tests/PlayModeTests/Dynamics/Joint/JointVerificationTests.cs.meta
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