420 lines
12 KiB
C++
420 lines
12 KiB
C++
/*************************************************************************/
|
|
/* physics_joint.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* 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/spatial.h"
|
|
#include "scene/3d/physics_body.h"
|
|
|
|
|
|
class Joint : public Spatial {
|
|
|
|
OBJ_TYPE(Joint,Spatial);
|
|
|
|
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(PhysicsBody *body_a,PhysicsBody *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; }
|
|
Joint();
|
|
|
|
};
|
|
|
|
///////////////////////////////////////////
|
|
|
|
|
|
class PinJoint : public Joint {
|
|
|
|
OBJ_TYPE(PinJoint,Joint);
|
|
public:
|
|
|
|
enum Param {
|
|
PARAM_BIAS=PhysicsServer::PIN_JOINT_BIAS,
|
|
PARAM_DAMPING=PhysicsServer::PIN_JOINT_DAMPING,
|
|
PARAM_IMPULSE_CLAMP=PhysicsServer::PIN_JOINT_IMPULSE_CLAMP
|
|
};
|
|
|
|
protected:
|
|
|
|
float params[3];
|
|
virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
|
|
static void _bind_methods();
|
|
public:
|
|
|
|
void set_param(Param p_param,float p_value);
|
|
float get_param(Param p_param) const;
|
|
|
|
PinJoint();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(PinJoint::Param);
|
|
|
|
|
|
class HingeJoint : public Joint {
|
|
|
|
OBJ_TYPE(HingeJoint,Joint);
|
|
public:
|
|
|
|
enum Param {
|
|
PARAM_BIAS=PhysicsServer::HINGE_JOINT_BIAS,
|
|
PARAM_LIMIT_UPPER=PhysicsServer::HINGE_JOINT_LIMIT_UPPER,
|
|
PARAM_LIMIT_LOWER=PhysicsServer::HINGE_JOINT_LIMIT_LOWER,
|
|
PARAM_LIMIT_BIAS=PhysicsServer::HINGE_JOINT_LIMIT_BIAS,
|
|
PARAM_LIMIT_SOFTNESS=PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS,
|
|
PARAM_LIMIT_RELAXATION=PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION,
|
|
PARAM_MOTOR_TARGET_VELOCITY=PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY,
|
|
PARAM_MOTOR_MAX_IMPULSE=PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE,
|
|
PARAM_MAX=PhysicsServer::HINGE_JOINT_MAX
|
|
};
|
|
|
|
enum Flag {
|
|
FLAG_USE_LIMIT=PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT,
|
|
FLAG_ENABLE_MOTOR=PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR,
|
|
FLAG_MAX=PhysicsServer::HINGE_JOINT_FLAG_MAX
|
|
};
|
|
|
|
|
|
|
|
protected:
|
|
|
|
float params[PARAM_MAX];
|
|
bool flags[FLAG_MAX];
|
|
virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *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;
|
|
|
|
HingeJoint();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(HingeJoint::Param);
|
|
VARIANT_ENUM_CAST(HingeJoint::Flag);
|
|
|
|
|
|
class SliderJoint : public Joint {
|
|
|
|
OBJ_TYPE(SliderJoint,Joint);
|
|
public:
|
|
|
|
enum Param {
|
|
PARAM_LINEAR_LIMIT_UPPER=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER,
|
|
PARAM_LINEAR_LIMIT_LOWER=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER,
|
|
PARAM_LINEAR_LIMIT_SOFTNESS=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS,
|
|
PARAM_LINEAR_LIMIT_RESTITUTION=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION,
|
|
PARAM_LINEAR_LIMIT_DAMPING=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING,
|
|
PARAM_LINEAR_MOTION_SOFTNESS=PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS,
|
|
PARAM_LINEAR_MOTION_RESTITUTION=PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION,
|
|
PARAM_LINEAR_MOTION_DAMPING=PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING,
|
|
PARAM_LINEAR_ORTHOGONAL_SOFTNESS=PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS,
|
|
PARAM_LINEAR_ORTHOGONAL_RESTITUTION=PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION,
|
|
PARAM_LINEAR_ORTHOGONAL_DAMPING=PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING,
|
|
|
|
PARAM_ANGULAR_LIMIT_UPPER=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER,
|
|
PARAM_ANGULAR_LIMIT_LOWER=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER,
|
|
PARAM_ANGULAR_LIMIT_SOFTNESS=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS,
|
|
PARAM_ANGULAR_LIMIT_RESTITUTION=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION,
|
|
PARAM_ANGULAR_LIMIT_DAMPING=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING,
|
|
PARAM_ANGULAR_MOTION_SOFTNESS=PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS,
|
|
PARAM_ANGULAR_MOTION_RESTITUTION=PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION,
|
|
PARAM_ANGULAR_MOTION_DAMPING=PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING,
|
|
PARAM_ANGULAR_ORTHOGONAL_SOFTNESS=PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS,
|
|
PARAM_ANGULAR_ORTHOGONAL_RESTITUTION=PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION,
|
|
PARAM_ANGULAR_ORTHOGONAL_DAMPING=PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING,
|
|
PARAM_MAX=PhysicsServer::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(PhysicsBody *body_a, PhysicsBody *body_b);
|
|
static void _bind_methods();
|
|
public:
|
|
|
|
void set_param(Param p_param,float p_value);
|
|
float get_param(Param p_param) const;
|
|
|
|
SliderJoint();
|
|
};
|
|
|
|
|
|
VARIANT_ENUM_CAST(SliderJoint::Param);
|
|
|
|
|
|
|
|
|
|
class ConeTwistJoint : public Joint {
|
|
|
|
OBJ_TYPE(ConeTwistJoint,Joint);
|
|
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(PhysicsBody *body_a, PhysicsBody *body_b);
|
|
static void _bind_methods();
|
|
public:
|
|
|
|
void set_param(Param p_param,float p_value);
|
|
float get_param(Param p_param) const;
|
|
|
|
ConeTwistJoint();
|
|
};
|
|
|
|
|
|
VARIANT_ENUM_CAST(ConeTwistJoint::Param);
|
|
|
|
|
|
class Generic6DOFJoint : public Joint {
|
|
|
|
OBJ_TYPE(Generic6DOFJoint,Joint);
|
|
public:
|
|
|
|
enum Param {
|
|
|
|
PARAM_LINEAR_LOWER_LIMIT=PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT,
|
|
PARAM_LINEAR_UPPER_LIMIT=PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT,
|
|
PARAM_LINEAR_LIMIT_SOFTNESS=PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
|
|
PARAM_LINEAR_RESTITUTION=PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION,
|
|
PARAM_LINEAR_DAMPING=PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING,
|
|
PARAM_ANGULAR_LOWER_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
|
|
PARAM_ANGULAR_UPPER_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
|
|
PARAM_ANGULAR_LIMIT_SOFTNESS=PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
|
|
PARAM_ANGULAR_DAMPING=PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING,
|
|
PARAM_ANGULAR_RESTITUTION=PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION,
|
|
PARAM_ANGULAR_FORCE_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT,
|
|
PARAM_ANGULAR_ERP=PhysicsServer::G6DOF_JOINT_ANGULAR_ERP,
|
|
PARAM_ANGULAR_MOTOR_TARGET_VELOCITY=PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
|
|
PARAM_ANGULAR_MOTOR_FORCE_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
|
|
PARAM_MAX=PhysicsServer::G6DOF_JOINT_MAX,
|
|
};
|
|
|
|
enum Flag {
|
|
FLAG_ENABLE_LINEAR_LIMIT=PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
|
|
FLAG_ENABLE_ANGULAR_LIMIT=PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
|
|
FLAG_ENABLE_MOTOR=PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
|
|
FLAG_MAX=PhysicsServer::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];
|
|
|
|
virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *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;
|
|
|
|
Generic6DOFJoint();
|
|
};
|
|
|
|
|
|
VARIANT_ENUM_CAST(Generic6DOFJoint::Param);
|
|
VARIANT_ENUM_CAST(Generic6DOFJoint::Flag);
|
|
|
|
|
|
#if 0
|
|
class PhysicsJoint : public Spatial {
|
|
|
|
OBJ_TYPE(PhysicsJoint,Spatial);
|
|
OBJ_CATEGORY("3D Physics Nodes");
|
|
|
|
NodePath body_A;
|
|
NodePath body_B;
|
|
bool active;
|
|
bool no_collision;
|
|
|
|
|
|
RID indicator_instance;
|
|
|
|
RID _get_visual_instance_rid() const;
|
|
protected:
|
|
|
|
RID joint;
|
|
RID indicator;
|
|
|
|
bool _set(const StringName& p_name, const Variant& p_value);
|
|
bool _get(const StringName& p_name,Variant &r_ret) const;
|
|
void _get_property_list( List<PropertyInfo> *p_list) const;
|
|
void _notification(int p_what);
|
|
static void _bind_methods();
|
|
|
|
virtual RID create(PhysicsBody*A,PhysicsBody*B)=0;
|
|
virtual void _update_indicator()=0;
|
|
|
|
void _disconnect();
|
|
void _connect();
|
|
public:
|
|
|
|
void set_body_A(const NodePath& p_path);
|
|
void set_body_B(const NodePath& p_path);
|
|
NodePath get_body_A() const;
|
|
NodePath get_body_B() const;
|
|
|
|
void set_active(bool p_active);
|
|
bool is_active() const;
|
|
|
|
void set_disable_collision(bool p_active);
|
|
bool has_disable_collision() const;
|
|
|
|
void reconnect();
|
|
|
|
RID get_rid();
|
|
|
|
PhysicsJoint();
|
|
~PhysicsJoint();
|
|
};
|
|
|
|
|
|
|
|
class PhysicsJointPin : public PhysicsJoint {
|
|
|
|
OBJ_TYPE( PhysicsJointPin, PhysicsJoint );
|
|
|
|
protected:
|
|
|
|
virtual void _update_indicator();
|
|
virtual RID create(PhysicsBody*A,PhysicsBody*B);
|
|
public:
|
|
|
|
|
|
PhysicsJointPin();
|
|
};
|
|
|
|
#endif // PHYSICS_JOINT_H
|
|
#endif
|