0be6d925dc
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
337 lines
12 KiB
C++
337 lines
12 KiB
C++
/*************************************************************************/
|
|
/* physics_joint_3d.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2020 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 PHYSICS_JOINT_H
|
|
#define PHYSICS_JOINT_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;
|
|
bool exclude_from_collision;
|
|
|
|
protected:
|
|
void _update_joint(bool p_only_free = false);
|
|
|
|
void _notification(int p_what);
|
|
|
|
virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b) = 0;
|
|
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
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();
|
|
};
|
|
|
|
///////////////////////////////////////////
|
|
|
|
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:
|
|
float params[3];
|
|
virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b);
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_param(Param p_param, float p_value);
|
|
float 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:
|
|
float params[PARAM_MAX];
|
|
bool flags[FLAG_MAX];
|
|
virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b);
|
|
static void _bind_methods();
|
|
|
|
void _set_upper_limit(float p_limit);
|
|
float _get_upper_limit() const;
|
|
|
|
void _set_lower_limit(float p_limit);
|
|
float _get_lower_limit() const;
|
|
|
|
public:
|
|
void set_param(Param p_param, float p_value);
|
|
float 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:
|
|
void _set_upper_limit_angular(float p_limit_angular);
|
|
float _get_upper_limit_angular() const;
|
|
|
|
void _set_lower_limit_angular(float p_limit_angular);
|
|
float _get_lower_limit_angular() const;
|
|
|
|
float params[PARAM_MAX];
|
|
virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b);
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_param(Param p_param, float p_value);
|
|
float 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:
|
|
void _set_swing_span(float p_limit_angular);
|
|
float _get_swing_span() const;
|
|
|
|
void _set_twist_span(float p_limit_angular);
|
|
float _get_twist_span() const;
|
|
|
|
float params[PARAM_MAX];
|
|
virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b);
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_param(Param p_param, float p_value);
|
|
float 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:
|
|
void _set_angular_hi_limit_x(float p_limit_angular);
|
|
float _get_angular_hi_limit_x() const;
|
|
|
|
void _set_angular_hi_limit_y(float p_limit_angular);
|
|
float _get_angular_hi_limit_y() const;
|
|
|
|
void _set_angular_hi_limit_z(float p_limit_angular);
|
|
float _get_angular_hi_limit_z() const;
|
|
|
|
void _set_angular_lo_limit_x(float p_limit_angular);
|
|
float _get_angular_lo_limit_x() const;
|
|
|
|
void _set_angular_lo_limit_y(float p_limit_angular);
|
|
float _get_angular_lo_limit_y() const;
|
|
|
|
void _set_angular_lo_limit_z(float p_limit_angular);
|
|
float _get_angular_lo_limit_z() const;
|
|
|
|
float params_x[PARAM_MAX];
|
|
bool flags_x[FLAG_MAX];
|
|
float params_y[PARAM_MAX];
|
|
bool flags_y[FLAG_MAX];
|
|
float params_z[PARAM_MAX];
|
|
bool flags_z[FLAG_MAX];
|
|
|
|
int precision = 1;
|
|
|
|
virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b);
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_param_x(Param p_param, float p_value);
|
|
float get_param_x(Param p_param) const;
|
|
|
|
void set_param_y(Param p_param, float p_value);
|
|
float get_param_y(Param p_param) const;
|
|
|
|
void set_param_z(Param p_param, float p_value);
|
|
float 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;
|
|
|
|
void set_precision(int p_precision);
|
|
int get_precision() const {
|
|
return precision;
|
|
}
|
|
|
|
Generic6DOFJoint3D();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(Generic6DOFJoint3D::Param);
|
|
VARIANT_ENUM_CAST(Generic6DOFJoint3D::Flag);
|
|
|
|
#endif // PHYSICS_JOINT_H
|