/*************************************************************************/ /* joint_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef JOINT_3D_H #define JOINT_3D_H #include "scene/3d/node_3d.h" #include "scene/3d/physics_body_3d.h" class Joint3D : public Node3D { GDCLASS(Joint3D, Node3D); RID ba, bb; RID joint; NodePath a; NodePath b; int solver_priority = 1; bool exclude_from_collision = true; String warning; bool configured = false; protected: void _disconnect_signals(); void _body_exit_tree(); void _update_joint(bool p_only_free = false); void _notification(int p_what); virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) = 0; static void _bind_methods(); _FORCE_INLINE_ bool is_configured() const { return configured; } public: virtual TypedArray<String> get_configuration_warnings() const override; void set_node_a(const NodePath &p_node_a); NodePath get_node_a() const; void set_node_b(const NodePath &p_node_b); NodePath get_node_b() const; void set_solver_priority(int p_priority); int get_solver_priority() const; void set_exclude_nodes_from_collision(bool p_enable); bool get_exclude_nodes_from_collision() const; RID get_joint() const { return joint; } Joint3D(); ~Joint3D(); }; /////////////////////////////////////////// class PinJoint3D : public Joint3D { GDCLASS(PinJoint3D, Joint3D); public: enum Param { PARAM_BIAS = PhysicsServer3D::PIN_JOINT_BIAS, PARAM_DAMPING = PhysicsServer3D::PIN_JOINT_DAMPING, PARAM_IMPULSE_CLAMP = PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP }; protected: real_t params[3]; virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; static void _bind_methods(); public: void set_param(Param p_param, real_t p_value); real_t get_param(Param p_param) const; PinJoint3D(); }; VARIANT_ENUM_CAST(PinJoint3D::Param); class HingeJoint3D : public Joint3D { GDCLASS(HingeJoint3D, Joint3D); public: enum Param { PARAM_BIAS = PhysicsServer3D::HINGE_JOINT_BIAS, PARAM_LIMIT_UPPER = PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, PARAM_LIMIT_LOWER = PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, PARAM_LIMIT_BIAS = PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, PARAM_LIMIT_SOFTNESS = PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, PARAM_LIMIT_RELAXATION = PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY, PARAM_MOTOR_MAX_IMPULSE = PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE, PARAM_MAX = PhysicsServer3D::HINGE_JOINT_MAX }; enum Flag { FLAG_USE_LIMIT = PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, FLAG_ENABLE_MOTOR = PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR, FLAG_MAX = PhysicsServer3D::HINGE_JOINT_FLAG_MAX }; protected: real_t params[PARAM_MAX]; bool flags[FLAG_MAX]; virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; static void _bind_methods(); public: void set_param(Param p_param, real_t p_value); real_t get_param(Param p_param) const; void set_flag(Flag p_flag, bool p_value); bool get_flag(Flag p_flag) const; HingeJoint3D(); }; VARIANT_ENUM_CAST(HingeJoint3D::Param); VARIANT_ENUM_CAST(HingeJoint3D::Flag); class SliderJoint3D : public Joint3D { GDCLASS(SliderJoint3D, Joint3D); public: enum Param { PARAM_LINEAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, PARAM_LINEAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, PARAM_LINEAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING, PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING, PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, PARAM_MAX = PhysicsServer3D::SLIDER_JOINT_MAX }; protected: real_t params[PARAM_MAX]; virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; static void _bind_methods(); public: void set_param(Param p_param, real_t p_value); real_t get_param(Param p_param) const; SliderJoint3D(); }; VARIANT_ENUM_CAST(SliderJoint3D::Param); class ConeTwistJoint3D : public Joint3D { GDCLASS(ConeTwistJoint3D, Joint3D); public: enum Param { PARAM_SWING_SPAN, PARAM_TWIST_SPAN, PARAM_BIAS, PARAM_SOFTNESS, PARAM_RELAXATION, PARAM_MAX }; protected: real_t params[PARAM_MAX]; virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; static void _bind_methods(); public: void set_param(Param p_param, real_t p_value); real_t get_param(Param p_param) const; ConeTwistJoint3D(); }; VARIANT_ENUM_CAST(ConeTwistJoint3D::Param); class Generic6DOFJoint3D : public Joint3D { GDCLASS(Generic6DOFJoint3D, Joint3D); public: enum Param { PARAM_LINEAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, PARAM_LINEAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, PARAM_LINEAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, PARAM_LINEAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY, PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT, PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, PARAM_LINEAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, PARAM_ANGULAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, PARAM_ANGULAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_FORCE_LIMIT, PARAM_ANGULAR_ERP = PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, PARAM_MAX = PhysicsServer3D::G6DOF_JOINT_MAX, }; enum Flag { FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, FLAG_ENABLE_LINEAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, FLAG_ENABLE_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR, FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR, FLAG_MAX = PhysicsServer3D::G6DOF_JOINT_FLAG_MAX }; protected: real_t params_x[PARAM_MAX]; bool flags_x[FLAG_MAX]; real_t params_y[PARAM_MAX]; bool flags_y[FLAG_MAX]; real_t params_z[PARAM_MAX]; bool flags_z[FLAG_MAX]; virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; static void _bind_methods(); public: void set_param_x(Param p_param, real_t p_value); real_t get_param_x(Param p_param) const; void set_param_y(Param p_param, real_t p_value); real_t get_param_y(Param p_param) const; void set_param_z(Param p_param, real_t p_value); real_t get_param_z(Param p_param) const; void set_flag_x(Flag p_flag, bool p_enabled); bool get_flag_x(Flag p_flag) const; void set_flag_y(Flag p_flag, bool p_enabled); bool get_flag_y(Flag p_flag) const; void set_flag_z(Flag p_flag, bool p_enabled); bool get_flag_z(Flag p_flag) const; Generic6DOFJoint3D(); }; VARIANT_ENUM_CAST(Generic6DOFJoint3D::Param); VARIANT_ENUM_CAST(Generic6DOFJoint3D::Flag); #endif // JOINT_3D_H