136 lines
6.7 KiB
C++
136 lines
6.7 KiB
C++
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/**************************************************************************/
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/* hinge_joint_3d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "hinge_joint_3d.h"
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void HingeJoint3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &HingeJoint3D::set_param);
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ClassDB::bind_method(D_METHOD("get_param", "param"), &HingeJoint3D::get_param);
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ClassDB::bind_method(D_METHOD("set_flag", "flag", "enabled"), &HingeJoint3D::set_flag);
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ClassDB::bind_method(D_METHOD("get_flag", "flag"), &HingeJoint3D::get_flag);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.00,0.99,0.01"), "set_param", "get_param", PARAM_BIAS);
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit/enable"), "set_flag", "get_flag", FLAG_USE_LIMIT);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_LIMIT_UPPER);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_LIMIT_LOWER);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_LIMIT_BIAS);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_SOFTNESS);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_RELAXATION);
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "motor/enable"), "set_flag", "get_flag", FLAG_ENABLE_MOTOR);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/target_velocity", PROPERTY_HINT_RANGE, U"-200,200,0.01,or_greater,or_less,radians_as_degrees,suffix:\u00B0/s"), "set_param", "get_param", PARAM_MOTOR_TARGET_VELOCITY);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/max_impulse", PROPERTY_HINT_RANGE, "0.01,1024,0.01"), "set_param", "get_param", PARAM_MOTOR_MAX_IMPULSE);
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BIND_ENUM_CONSTANT(PARAM_BIAS);
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BIND_ENUM_CONSTANT(PARAM_LIMIT_UPPER);
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BIND_ENUM_CONSTANT(PARAM_LIMIT_LOWER);
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BIND_ENUM_CONSTANT(PARAM_LIMIT_BIAS);
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BIND_ENUM_CONSTANT(PARAM_LIMIT_SOFTNESS);
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BIND_ENUM_CONSTANT(PARAM_LIMIT_RELAXATION);
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BIND_ENUM_CONSTANT(PARAM_MOTOR_TARGET_VELOCITY);
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BIND_ENUM_CONSTANT(PARAM_MOTOR_MAX_IMPULSE);
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BIND_ENUM_CONSTANT(PARAM_MAX);
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BIND_ENUM_CONSTANT(FLAG_USE_LIMIT);
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BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR);
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BIND_ENUM_CONSTANT(FLAG_MAX);
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}
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void HingeJoint3D::set_param(Param p_param, real_t p_value) {
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ERR_FAIL_INDEX(p_param, PARAM_MAX);
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params[p_param] = p_value;
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if (is_configured()) {
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PhysicsServer3D::get_singleton()->hinge_joint_set_param(get_rid(), PhysicsServer3D::HingeJointParam(p_param), p_value);
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}
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update_gizmos();
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}
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real_t HingeJoint3D::get_param(Param p_param) const {
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ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0);
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return params[p_param];
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}
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void HingeJoint3D::set_flag(Flag p_flag, bool p_value) {
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ERR_FAIL_INDEX(p_flag, FLAG_MAX);
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flags[p_flag] = p_value;
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if (is_configured()) {
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PhysicsServer3D::get_singleton()->hinge_joint_set_flag(get_rid(), PhysicsServer3D::HingeJointFlag(p_flag), p_value);
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}
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update_gizmos();
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}
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bool HingeJoint3D::get_flag(Flag p_flag) const {
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ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false);
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return flags[p_flag];
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}
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void HingeJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) {
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Transform3D gt = get_global_transform();
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Transform3D ainv = body_a->get_global_transform().affine_inverse();
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Transform3D local_a = ainv * gt;
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local_a.orthonormalize();
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Transform3D local_b = gt;
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if (body_b) {
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Transform3D binv = body_b->get_global_transform().affine_inverse();
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local_b = binv * gt;
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}
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local_b.orthonormalize();
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PhysicsServer3D::get_singleton()->joint_make_hinge(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b);
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for (int i = 0; i < PARAM_MAX; i++) {
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PhysicsServer3D::get_singleton()->hinge_joint_set_param(p_joint, PhysicsServer3D::HingeJointParam(i), params[i]);
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}
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for (int i = 0; i < FLAG_MAX; i++) {
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set_flag(Flag(i), flags[i]);
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PhysicsServer3D::get_singleton()->hinge_joint_set_flag(p_joint, PhysicsServer3D::HingeJointFlag(i), flags[i]);
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}
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}
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HingeJoint3D::HingeJoint3D() {
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params[PARAM_BIAS] = 0.3;
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params[PARAM_LIMIT_UPPER] = Math_PI * 0.5;
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params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5;
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params[PARAM_LIMIT_BIAS] = 0.3;
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params[PARAM_LIMIT_SOFTNESS] = 0.9;
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params[PARAM_LIMIT_RELAXATION] = 1.0;
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params[PARAM_MOTOR_TARGET_VELOCITY] = 1;
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params[PARAM_MOTOR_MAX_IMPULSE] = 1;
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flags[FLAG_USE_LIMIT] = false;
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flags[FLAG_ENABLE_MOTOR] = false;
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}
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