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virtualx-engine/scene/3d/physics_joint.cpp
Rémi Verschelde d8223ffa75 Welcome in 2017, dear changelog reader! 
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!

(cherry picked from commit c7bc44d5ad)
2017-01-12 19:15:30 +01:00

1377 lines
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/*************************************************************************/
/* physics_joint.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 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. */
/*************************************************************************/
#include "physics_joint.h"
void Joint::_update_joint(bool p_only_free) {
if (joint.is_valid()) {
if (ba.is_valid() && bb.is_valid()) {
if (exclude_from_collision)
PhysicsServer::get_singleton()->body_add_collision_exception(ba,bb);
else
PhysicsServer::get_singleton()->body_remove_collision_exception(ba,bb);
}
PhysicsServer::get_singleton()->free(joint);
joint=RID();
ba=RID();
bb=RID();
}
if (p_only_free || !is_inside_tree())
return;
Node *node_a = has_node( get_node_a() ) ? get_node( get_node_a() ) : (Node*)NULL;
Node *node_b = has_node( get_node_b() ) ? get_node( get_node_b() ) : (Node*)NULL;
if (!node_a && !node_b)
return;
PhysicsBody *body_a=node_a ? node_a->cast_to<PhysicsBody>() : (PhysicsBody*)NULL;
PhysicsBody *body_b=node_b ? node_b->cast_to<PhysicsBody>() : (PhysicsBody*)NULL;
if (!body_a && !body_b)
return;
if (!body_a) {
SWAP(body_a,body_b);
} else if (body_b) {
//add a collision exception between both
PhysicsServer::get_singleton()->body_add_collision_exception(body_a->get_rid(),body_b->get_rid());
}
joint = _configure_joint(body_a,body_b);
if (joint.is_valid())
PhysicsServer::get_singleton()->joint_set_solver_priority(joint,solver_priority);
if (body_b && joint.is_valid()) {
ba=body_a->get_rid();
bb=body_b->get_rid();
PhysicsServer::get_singleton()->body_add_collision_exception(body_a->get_rid(),body_b->get_rid());
}
}
void Joint::set_node_a(const NodePath& p_node_a) {
if (a==p_node_a)
return;
a=p_node_a;
_update_joint();
}
NodePath Joint::get_node_a() const{
return a;
}
void Joint::set_node_b(const NodePath& p_node_b){
if (b==p_node_b)
return;
b=p_node_b;
_update_joint();
}
NodePath Joint::get_node_b() const{
return b;
}
void Joint::set_solver_priority(int p_priority) {
solver_priority=p_priority;
if (joint.is_valid())
PhysicsServer::get_singleton()->joint_set_solver_priority(joint,solver_priority);
}
int Joint::get_solver_priority() const {
return solver_priority;
}
void Joint::_notification(int p_what) {
switch(p_what) {
case NOTIFICATION_READY: {
_update_joint();
} break;
case NOTIFICATION_EXIT_TREE: {
if (joint.is_valid()) {
_update_joint(true);
//PhysicsServer::get_singleton()->free(joint);
joint=RID();
}
} break;
}
}
void Joint::set_exclude_nodes_from_collision(bool p_enable) {
if (exclude_from_collision==p_enable)
return;
exclude_from_collision=p_enable;
_update_joint();
}
bool Joint::get_exclude_nodes_from_collision() const{
return exclude_from_collision;
}
void Joint::_bind_methods() {
ObjectTypeDB::bind_method( _MD("set_node_a","node"), &Joint::set_node_a );
ObjectTypeDB::bind_method( _MD("get_node_a"), &Joint::get_node_a );
ObjectTypeDB::bind_method( _MD("set_node_b","node"), &Joint::set_node_b );
ObjectTypeDB::bind_method( _MD("get_node_b"), &Joint::get_node_b );
ObjectTypeDB::bind_method( _MD("set_solver_priority","priority"), &Joint::set_solver_priority );
ObjectTypeDB::bind_method( _MD("get_solver_priority"), &Joint::get_solver_priority );
ObjectTypeDB::bind_method( _MD("set_exclude_nodes_from_collision","enable"), &Joint::set_exclude_nodes_from_collision );
ObjectTypeDB::bind_method( _MD("get_exclude_nodes_from_collision"), &Joint::get_exclude_nodes_from_collision );
ADD_PROPERTY( PropertyInfo( Variant::NODE_PATH, "nodes/node_a"), _SCS("set_node_a"),_SCS("get_node_a") );
ADD_PROPERTY( PropertyInfo( Variant::NODE_PATH, "nodes/node_b"), _SCS("set_node_b"),_SCS("get_node_b") );
ADD_PROPERTY( PropertyInfo( Variant::INT, "solver/priority",PROPERTY_HINT_RANGE,"1,8,1"), _SCS("set_solver_priority"),_SCS("get_solver_priority") );
ADD_PROPERTY( PropertyInfo( Variant::BOOL, "collision/exclude_nodes"), _SCS("set_exclude_nodes_from_collision"),_SCS("get_exclude_nodes_from_collision") );
}
Joint::Joint() {
exclude_from_collision=true;
solver_priority=1;
}
///////////////////////////////////
void PinJoint::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_param","param","value"),&PinJoint::set_param);
ObjectTypeDB::bind_method(_MD("get_param","param"),&PinJoint::get_param);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/bias",PROPERTY_HINT_RANGE,"0.01,0.99,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_BIAS );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/damping",PROPERTY_HINT_RANGE,"0.01,8.0,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_DAMPING );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/impulse_clamp",PROPERTY_HINT_RANGE,"0.0,64.0,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_IMPULSE_CLAMP );
BIND_CONSTANT( PARAM_BIAS );
BIND_CONSTANT( PARAM_DAMPING );
BIND_CONSTANT( PARAM_IMPULSE_CLAMP );
}
void PinJoint::set_param(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,3);
params[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->pin_joint_set_param(get_joint(),PhysicsServer::PinJointParam(p_param),p_value);
}
float PinJoint::get_param(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,3,0);
return params[p_param];
}
RID PinJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Vector3 pinpos = get_global_transform().origin;
Vector3 local_a = body_a->get_global_transform().affine_inverse().xform(pinpos);
Vector3 local_b;
if (body_b)
local_b = body_b->get_global_transform().affine_inverse().xform(pinpos);
else
local_b=pinpos;
RID j = PhysicsServer::get_singleton()->joint_create_pin(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<3;i++) {
PhysicsServer::get_singleton()->pin_joint_set_param(j,PhysicsServer::PinJointParam(i),params[i]);
}
return j;
}
PinJoint::PinJoint() {
params[PARAM_BIAS]=0.3;
params[PARAM_DAMPING]=1;
params[PARAM_IMPULSE_CLAMP]=0;
}
/////////////////////////////////////////////////
///////////////////////////////////
void HingeJoint::_set_upper_limit(float p_limit) {
set_param(PARAM_LIMIT_UPPER,Math::deg2rad(p_limit));
}
float HingeJoint::_get_upper_limit() const {
return Math::rad2deg(get_param(PARAM_LIMIT_UPPER));
}
void HingeJoint::_set_lower_limit(float p_limit) {
set_param(PARAM_LIMIT_LOWER,Math::deg2rad(p_limit));
}
float HingeJoint::_get_lower_limit() const {
return Math::rad2deg(get_param(PARAM_LIMIT_LOWER));
}
void HingeJoint::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_param","param","value"),&HingeJoint::set_param);
ObjectTypeDB::bind_method(_MD("get_param","param"),&HingeJoint::get_param);
ObjectTypeDB::bind_method(_MD("set_flag","flag","enabled"),&HingeJoint::set_flag);
ObjectTypeDB::bind_method(_MD("get_flag","flag"),&HingeJoint::get_flag);
ObjectTypeDB::bind_method(_MD("_set_upper_limit","upper_limit"),&HingeJoint::_set_upper_limit);
ObjectTypeDB::bind_method(_MD("_get_upper_limit"),&HingeJoint::_get_upper_limit);
ObjectTypeDB::bind_method(_MD("_set_lower_limit","lower_limit"),&HingeJoint::_set_lower_limit);
ObjectTypeDB::bind_method(_MD("_get_lower_limit"),&HingeJoint::_get_lower_limit);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/bias",PROPERTY_HINT_RANGE,"0.01,0.99,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_BIAS );
ADD_PROPERTYI( PropertyInfo(Variant::BOOL,"angular_limit/enable"),_SCS("set_flag"),_SCS("get_flag"), FLAG_USE_LIMIT );
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/upper",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_upper_limit"),_SCS("_get_upper_limit") );
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/lower",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_lower_limit"),_SCS("_get_lower_limit") );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/bias",PROPERTY_HINT_RANGE,"0.01,0.99,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LIMIT_BIAS );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LIMIT_SOFTNESS );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/relaxation",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LIMIT_RELAXATION );
ADD_PROPERTYI( PropertyInfo(Variant::BOOL,"motor/enable"),_SCS("set_flag"),_SCS("get_flag"), FLAG_ENABLE_MOTOR );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"motor/target_velocity",PROPERTY_HINT_RANGE,"0.01,4096,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_MOTOR_TARGET_VELOCITY );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"motor/max_impulse",PROPERTY_HINT_RANGE,"0.01,1024,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_MOTOR_MAX_IMPULSE);
BIND_CONSTANT( PARAM_BIAS );
BIND_CONSTANT( PARAM_LIMIT_UPPER );
BIND_CONSTANT( PARAM_LIMIT_LOWER );
BIND_CONSTANT( PARAM_LIMIT_BIAS );
BIND_CONSTANT( PARAM_LIMIT_SOFTNESS );
BIND_CONSTANT( PARAM_LIMIT_RELAXATION );
BIND_CONSTANT( PARAM_MOTOR_TARGET_VELOCITY );
BIND_CONSTANT( PARAM_MOTOR_MAX_IMPULSE );
BIND_CONSTANT( PARAM_MAX );
BIND_CONSTANT( FLAG_USE_LIMIT );
BIND_CONSTANT( FLAG_ENABLE_MOTOR );
BIND_CONSTANT( FLAG_MAX );
}
void HingeJoint::set_param(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->hinge_joint_set_param(get_joint(),PhysicsServer::HingeJointParam(p_param),p_value);
update_gizmo();
}
float HingeJoint::get_param(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params[p_param];
}
void HingeJoint::set_flag(Flag p_flag,bool p_value){
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
flags[p_flag]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->hinge_joint_set_flag(get_joint(),PhysicsServer::HingeJointFlag(p_flag),p_value);
update_gizmo();
}
bool HingeJoint::get_flag(Flag p_flag) const{
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
return flags[p_flag];
}
RID HingeJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Transform gt = get_global_transform();
Transform ainv = body_a->get_global_transform().affine_inverse();
Transform local_a = ainv * gt;
local_a.orthonormalize();
Transform local_b = gt;
if (body_b) {
Transform binv = body_b->get_global_transform().affine_inverse();
local_b = binv * gt;
}
local_b.orthonormalize();
RID j = PhysicsServer::get_singleton()->joint_create_hinge(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<PARAM_MAX;i++) {
PhysicsServer::get_singleton()->hinge_joint_set_param(j,PhysicsServer::HingeJointParam(i),params[i]);
}
for(int i=0;i<FLAG_MAX;i++) {
set_flag(Flag(i),flags[i]);
PhysicsServer::get_singleton()->hinge_joint_set_flag(j,PhysicsServer::HingeJointFlag(i),flags[i]);
}
return j;
}
HingeJoint::HingeJoint() {
params[PARAM_BIAS]=0.3;
params[PARAM_LIMIT_UPPER]=Math_PI*0.5;
params[PARAM_LIMIT_LOWER]=-Math_PI*0.5;
params[PARAM_LIMIT_BIAS]=0.3;
params[PARAM_LIMIT_SOFTNESS]=0.9;
params[PARAM_LIMIT_RELAXATION]=1.0;
params[PARAM_MOTOR_TARGET_VELOCITY]=1;
params[PARAM_MOTOR_MAX_IMPULSE]=1;
flags[FLAG_USE_LIMIT]=false;
flags[FLAG_ENABLE_MOTOR]=false;
}
/////////////////////////////////////////////////
//////////////////////////////////
void SliderJoint::_set_upper_limit_angular(float p_limit_angular) {
set_param(PARAM_ANGULAR_LIMIT_UPPER,Math::deg2rad(p_limit_angular));
}
float SliderJoint::_get_upper_limit_angular() const {
return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_UPPER));
}
void SliderJoint::_set_lower_limit_angular(float p_limit_angular) {
set_param(PARAM_ANGULAR_LIMIT_LOWER,Math::deg2rad(p_limit_angular));
}
float SliderJoint::_get_lower_limit_angular() const {
return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_LOWER));
}
void SliderJoint::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_param","param","value"),&SliderJoint::set_param);
ObjectTypeDB::bind_method(_MD("get_param","param"),&SliderJoint::get_param);
ObjectTypeDB::bind_method(_MD("_set_upper_limit_angular","upper_limit_angular"),&SliderJoint::_set_upper_limit_angular);
ObjectTypeDB::bind_method(_MD("_get_upper_limit_angular"),&SliderJoint::_get_upper_limit_angular);
ObjectTypeDB::bind_method(_MD("_set_lower_limit_angular","lower_limit_angular"),&SliderJoint::_set_lower_limit_angular);
ObjectTypeDB::bind_method(_MD("_get_lower_limit_angular"),&SliderJoint::_get_lower_limit_angular);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/upper_distance",PROPERTY_HINT_RANGE,"-1024,1024,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_UPPER);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/lower_distance",PROPERTY_HINT_RANGE,"-1024,1024,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_LOWER);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_DAMPING);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_motion/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_MOTION_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_motion/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_MOTION_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_motion/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_MOTION_DAMPING);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_ortho/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_ORTHOGONAL_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_ortho/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_ORTHOGONAL_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_ortho/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_ORTHOGONAL_DAMPING);
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_upper_limit_angular"),_SCS("_get_upper_limit_angular") );
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_lower_limit_angular"),_SCS("_get_lower_limit_angular") );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_LIMIT_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_LIMIT_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_LIMIT_DAMPING);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_motion/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_MOTION_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_motion/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_MOTION_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_motion/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_MOTION_DAMPING);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_ortho/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_ORTHOGONAL_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_ortho/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_ORTHOGONAL_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_ortho/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_ORTHOGONAL_DAMPING);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_UPPER);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_LOWER);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_SOFTNESS);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_RESTITUTION);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_DAMPING);
BIND_CONSTANT( PARAM_LINEAR_MOTION_SOFTNESS);
BIND_CONSTANT( PARAM_LINEAR_MOTION_RESTITUTION);
BIND_CONSTANT( PARAM_LINEAR_MOTION_DAMPING);
BIND_CONSTANT( PARAM_LINEAR_ORTHOGONAL_SOFTNESS);
BIND_CONSTANT( PARAM_LINEAR_ORTHOGONAL_RESTITUTION);
BIND_CONSTANT( PARAM_LINEAR_ORTHOGONAL_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_UPPER);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_LOWER);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_SOFTNESS);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_RESTITUTION);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_MOTION_SOFTNESS);
BIND_CONSTANT( PARAM_ANGULAR_MOTION_RESTITUTION);
BIND_CONSTANT( PARAM_ANGULAR_MOTION_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_ORTHOGONAL_SOFTNESS);
BIND_CONSTANT( PARAM_ANGULAR_ORTHOGONAL_RESTITUTION);
BIND_CONSTANT( PARAM_ANGULAR_ORTHOGONAL_DAMPING);
BIND_CONSTANT( PARAM_MAX);
}
void SliderJoint::set_param(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->slider_joint_set_param(get_joint(),PhysicsServer::SliderJointParam(p_param),p_value);
update_gizmo();
}
float SliderJoint::get_param(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params[p_param];
}
RID SliderJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Transform gt = get_global_transform();
Transform ainv = body_a->get_global_transform().affine_inverse();
Transform local_a = ainv * gt;
local_a.orthonormalize();
Transform local_b = gt;
if (body_b) {
Transform binv = body_b->get_global_transform().affine_inverse();
local_b = binv * gt;
}
local_b.orthonormalize();
RID j = PhysicsServer::get_singleton()->joint_create_slider(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<PARAM_MAX;i++) {
PhysicsServer::get_singleton()->slider_joint_set_param(j,PhysicsServer::SliderJointParam(i),params[i]);
}
return j;
}
SliderJoint::SliderJoint() {
params[ PARAM_LINEAR_LIMIT_UPPER ]=1.0;
params[ PARAM_LINEAR_LIMIT_LOWER ]=-1.0;
params[ PARAM_LINEAR_LIMIT_SOFTNESS ]=1.0;
params[ PARAM_LINEAR_LIMIT_RESTITUTION]=0.7;
params[ PARAM_LINEAR_LIMIT_DAMPING]=1.0;
params[ PARAM_LINEAR_MOTION_SOFTNESS ]=1.0;
params[ PARAM_LINEAR_MOTION_RESTITUTION]=0.7;
params[ PARAM_LINEAR_MOTION_DAMPING]=0;//1.0;
params[ PARAM_LINEAR_ORTHOGONAL_SOFTNESS ]=1.0;
params[ PARAM_LINEAR_ORTHOGONAL_RESTITUTION]=0.7;
params[ PARAM_LINEAR_ORTHOGONAL_DAMPING]=1.0;
params[ PARAM_ANGULAR_LIMIT_UPPER ]=0 ;
params[ PARAM_ANGULAR_LIMIT_LOWER ]=0 ;
params[ PARAM_ANGULAR_LIMIT_SOFTNESS ]=1.0;
params[ PARAM_ANGULAR_LIMIT_RESTITUTION]=0.7;
params[ PARAM_ANGULAR_LIMIT_DAMPING]=0;//1.0;
params[ PARAM_ANGULAR_MOTION_SOFTNESS ]=1.0;
params[ PARAM_ANGULAR_MOTION_RESTITUTION]=0.7;
params[ PARAM_ANGULAR_MOTION_DAMPING]=1.0;
params[ PARAM_ANGULAR_ORTHOGONAL_SOFTNESS ]=1.0;
params[ PARAM_ANGULAR_ORTHOGONAL_RESTITUTION]=0.7;
params[ PARAM_ANGULAR_ORTHOGONAL_DAMPING]=1.0;
}
//////////////////////////////////
void ConeTwistJoint::_set_swing_span(float p_limit_angular) {
set_param(PARAM_SWING_SPAN,Math::deg2rad(p_limit_angular));
}
float ConeTwistJoint::_get_swing_span() const {
return Math::rad2deg(get_param(PARAM_SWING_SPAN));
}
void ConeTwistJoint::_set_twist_span(float p_limit_angular) {
set_param(PARAM_TWIST_SPAN,Math::deg2rad(p_limit_angular));
}
float ConeTwistJoint::_get_twist_span() const {
return Math::rad2deg(get_param(PARAM_TWIST_SPAN));
}
void ConeTwistJoint::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_param","param","value"),&ConeTwistJoint::set_param);
ObjectTypeDB::bind_method(_MD("get_param","param"),&ConeTwistJoint::get_param);
ObjectTypeDB::bind_method(_MD("_set_swing_span","swing_span"),&ConeTwistJoint::_set_swing_span);
ObjectTypeDB::bind_method(_MD("_get_swing_span"),&ConeTwistJoint::_get_swing_span);
ObjectTypeDB::bind_method(_MD("_set_twist_span","twist_span"),&ConeTwistJoint::_set_twist_span);
ObjectTypeDB::bind_method(_MD("_get_twist_span"),&ConeTwistJoint::_get_twist_span);
ADD_PROPERTY( PropertyInfo(Variant::REAL,"swing_span",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_swing_span"),_SCS("_get_swing_span") );
ADD_PROPERTY( PropertyInfo(Variant::REAL,"twist_span",PROPERTY_HINT_RANGE,"-40000,40000,0.1"),_SCS("_set_twist_span"),_SCS("_get_twist_span") );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"bias",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_BIAS );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"relaxation",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_RELAXATION);
BIND_CONSTANT( PARAM_SWING_SPAN );
BIND_CONSTANT( PARAM_TWIST_SPAN );
BIND_CONSTANT( PARAM_BIAS );
BIND_CONSTANT( PARAM_SOFTNESS );
BIND_CONSTANT( PARAM_RELAXATION );
BIND_CONSTANT( PARAM_MAX );
}
void ConeTwistJoint::set_param(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->cone_twist_joint_set_param(get_joint(),PhysicsServer::ConeTwistJointParam(p_param),p_value);
update_gizmo();
}
float ConeTwistJoint::get_param(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params[p_param];
}
RID ConeTwistJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Transform gt = get_global_transform();
//Vector3 cone_twistpos = gt.origin;
//Vector3 cone_twistdir = gt.basis.get_axis(2);
Transform ainv = body_a->get_global_transform().affine_inverse();
Transform local_a = ainv * gt;
local_a.orthonormalize();
Transform local_b = gt;
if (body_b) {
Transform binv = body_b->get_global_transform().affine_inverse();
local_b = binv * gt;
}
local_b.orthonormalize();
RID j = PhysicsServer::get_singleton()->joint_create_cone_twist(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<PARAM_MAX;i++) {
PhysicsServer::get_singleton()->cone_twist_joint_set_param(j,PhysicsServer::ConeTwistJointParam(i),params[i]);
}
return j;
}
ConeTwistJoint::ConeTwistJoint() {
params[ PARAM_SWING_SPAN ]=Math_PI*0.25;
params[ PARAM_TWIST_SPAN ]=Math_PI;
params[ PARAM_BIAS ]=0.3;
params[ PARAM_SOFTNESS ]=0.8;
params[ PARAM_RELAXATION ]=1.0;
}
/////////////////////////////////////////////////////////////////////
void Generic6DOFJoint::_set_angular_hi_limit_x(float p_limit_angular) {
set_param_x(PARAM_ANGULAR_UPPER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_hi_limit_x() const{
return Math::rad2deg(get_param_x(PARAM_ANGULAR_UPPER_LIMIT));
}
void Generic6DOFJoint::_set_angular_lo_limit_x(float p_limit_angular) {
set_param_x(PARAM_ANGULAR_LOWER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_lo_limit_x() const{
return Math::rad2deg(get_param_x(PARAM_ANGULAR_LOWER_LIMIT));
}
void Generic6DOFJoint::_set_angular_hi_limit_y(float p_limit_angular) {
set_param_y(PARAM_ANGULAR_UPPER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_hi_limit_y() const{
return Math::rad2deg(get_param_y(PARAM_ANGULAR_UPPER_LIMIT));
}
void Generic6DOFJoint::_set_angular_lo_limit_y(float p_limit_angular) {
set_param_y(PARAM_ANGULAR_LOWER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_lo_limit_y() const{
return Math::rad2deg(get_param_y(PARAM_ANGULAR_LOWER_LIMIT));
}
void Generic6DOFJoint::_set_angular_hi_limit_z(float p_limit_angular) {
set_param_z(PARAM_ANGULAR_UPPER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_hi_limit_z() const{
return Math::rad2deg(get_param_z(PARAM_ANGULAR_UPPER_LIMIT));
}
void Generic6DOFJoint::_set_angular_lo_limit_z(float p_limit_angular) {
set_param_z(PARAM_ANGULAR_LOWER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_lo_limit_z() const{
return Math::rad2deg(get_param_z(PARAM_ANGULAR_LOWER_LIMIT));
}
void Generic6DOFJoint::_bind_methods(){
ObjectTypeDB::bind_method(_MD("_set_angular_hi_limit_x","angle"),&Generic6DOFJoint::_set_angular_hi_limit_x);
ObjectTypeDB::bind_method(_MD("_get_angular_hi_limit_x"),&Generic6DOFJoint::_get_angular_hi_limit_x);
ObjectTypeDB::bind_method(_MD("_set_angular_lo_limit_x","angle"),&Generic6DOFJoint::_set_angular_lo_limit_x);
ObjectTypeDB::bind_method(_MD("_get_angular_lo_limit_x"),&Generic6DOFJoint::_get_angular_lo_limit_x);
ObjectTypeDB::bind_method(_MD("_set_angular_hi_limit_y","angle"),&Generic6DOFJoint::_set_angular_hi_limit_y);
ObjectTypeDB::bind_method(_MD("_get_angular_hi_limit_y"),&Generic6DOFJoint::_get_angular_hi_limit_y);
ObjectTypeDB::bind_method(_MD("_set_angular_lo_limit_y","angle"),&Generic6DOFJoint::_set_angular_lo_limit_y);
ObjectTypeDB::bind_method(_MD("_get_angular_lo_limit_y"),&Generic6DOFJoint::_get_angular_lo_limit_y);
ObjectTypeDB::bind_method(_MD("_set_angular_hi_limit_z","angle"),&Generic6DOFJoint::_set_angular_hi_limit_z);
ObjectTypeDB::bind_method(_MD("_get_angular_hi_limit_z"),&Generic6DOFJoint::_get_angular_hi_limit_z);
ObjectTypeDB::bind_method(_MD("_set_angular_lo_limit_z","angle"),&Generic6DOFJoint::_set_angular_lo_limit_z);
ObjectTypeDB::bind_method(_MD("_get_angular_lo_limit_z"),&Generic6DOFJoint::_get_angular_lo_limit_z);
ObjectTypeDB::bind_method(_MD("set_param_x","param","value"),&Generic6DOFJoint::set_param_x);
ObjectTypeDB::bind_method(_MD("get_param_x","param"),&Generic6DOFJoint::get_param_x);
ObjectTypeDB::bind_method(_MD("set_param_y","param","value"),&Generic6DOFJoint::set_param_y);
ObjectTypeDB::bind_method(_MD("get_param_y","param"),&Generic6DOFJoint::get_param_y);
ObjectTypeDB::bind_method(_MD("set_param_z","param","value"),&Generic6DOFJoint::set_param_z);
ObjectTypeDB::bind_method(_MD("get_param_z","param"),&Generic6DOFJoint::get_param_z);
ObjectTypeDB::bind_method(_MD("set_flag_x","flag","value"),&Generic6DOFJoint::set_flag_x);
ObjectTypeDB::bind_method(_MD("get_flag_x","flag"),&Generic6DOFJoint::get_flag_x);
ObjectTypeDB::bind_method(_MD("set_flag_y","flag","value"),&Generic6DOFJoint::set_flag_y);
ObjectTypeDB::bind_method(_MD("get_flag_y","flag"),&Generic6DOFJoint::get_flag_y);
ObjectTypeDB::bind_method(_MD("set_flag_z","flag","value"),&Generic6DOFJoint::set_flag_z);
ObjectTypeDB::bind_method(_MD("get_flag_z","flag"),&Generic6DOFJoint::get_flag_z);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"linear_limit_x/enabled"),_SCS("set_flag_x"),_SCS("get_flag_x"),FLAG_ENABLE_LINEAR_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/upper_distance"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_UPPER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/lower_distance"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_LOWER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_limit_x/enabled"),_SCS("set_flag_x"),_SCS("get_flag_x"),FLAG_ENABLE_ANGULAR_LIMIT);
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_x/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_hi_limit_x"),_SCS("_get_angular_hi_limit_x"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_x/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_lo_limit_x"),_SCS("_get_angular_lo_limit_x"));
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/force_limit"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/erp"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_ERP);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_motor_x/enabled"),_SCS("set_flag_x"),_SCS("get_flag_x"),FLAG_ENABLE_MOTOR);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_x/target_velocity"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_x/force_limit"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"linear_limit_y/enabled"),_SCS("set_flag_y"),_SCS("get_flag_y"),FLAG_ENABLE_LINEAR_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/upper_distance"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_UPPER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/lower_distance"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_LOWER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_limit_y/enabled"),_SCS("set_flag_y"),_SCS("get_flag_y"),FLAG_ENABLE_ANGULAR_LIMIT);
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_y/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_hi_limit_y"),_SCS("_get_angular_hi_limit_y"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_y/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_lo_limit_y"),_SCS("_get_angular_lo_limit_y"));
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/force_limit"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/erp"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_ERP);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_motor_y/enabled"),_SCS("set_flag_y"),_SCS("get_flag_y"),FLAG_ENABLE_MOTOR);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_y/target_velocity"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_y/force_limit"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"linear_limit_z/enabled"),_SCS("set_flag_z"),_SCS("get_flag_z"),FLAG_ENABLE_LINEAR_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/upper_distance"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_UPPER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/lower_distance"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_LOWER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_limit_z/enabled"),_SCS("set_flag_z"),_SCS("get_flag_z"),FLAG_ENABLE_ANGULAR_LIMIT);
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_z/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_hi_limit_z"),_SCS("_get_angular_hi_limit_z"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_z/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_lo_limit_z"),_SCS("_get_angular_lo_limit_z"));
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/force_limit"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/erp"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_ERP);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_motor_z/enabled"),_SCS("set_flag_z"),_SCS("get_flag_z"),FLAG_ENABLE_MOTOR);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_z/target_velocity"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_z/force_limit"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
BIND_CONSTANT( PARAM_LINEAR_LOWER_LIMIT);
BIND_CONSTANT( PARAM_LINEAR_UPPER_LIMIT);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_SOFTNESS);
BIND_CONSTANT( PARAM_LINEAR_RESTITUTION);
BIND_CONSTANT( PARAM_LINEAR_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_LOWER_LIMIT);
BIND_CONSTANT( PARAM_ANGULAR_UPPER_LIMIT);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_SOFTNESS);
BIND_CONSTANT( PARAM_ANGULAR_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_RESTITUTION);
BIND_CONSTANT( PARAM_ANGULAR_FORCE_LIMIT);
BIND_CONSTANT( PARAM_ANGULAR_ERP);
BIND_CONSTANT( PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
BIND_CONSTANT( PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
BIND_CONSTANT( PARAM_MAX);
BIND_CONSTANT( FLAG_ENABLE_LINEAR_LIMIT);
BIND_CONSTANT( FLAG_ENABLE_ANGULAR_LIMIT);
BIND_CONSTANT( FLAG_ENABLE_MOTOR);
BIND_CONSTANT( FLAG_MAX );
}
void Generic6DOFJoint::set_param_x(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params_x[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(),Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisParam(p_param),p_value);
update_gizmo();
}
float Generic6DOFJoint::get_param_x(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params_x[p_param];
}
void Generic6DOFJoint::set_param_y(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params_y[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(),Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisParam(p_param),p_value);
update_gizmo();
}
float Generic6DOFJoint::get_param_y(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params_y[p_param];
}
void Generic6DOFJoint::set_param_z(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params_z[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(),Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisParam(p_param),p_value);
update_gizmo();
}
float Generic6DOFJoint::get_param_z(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params_z[p_param];
}
void Generic6DOFJoint::set_flag_x(Flag p_flag,bool p_enabled){
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
flags_x[p_flag]=p_enabled;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(),Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisFlag(p_flag),p_enabled);
update_gizmo();
}
bool Generic6DOFJoint::get_flag_x(Flag p_flag) const{
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
return flags_x[p_flag];
}
void Generic6DOFJoint::set_flag_y(Flag p_flag,bool p_enabled){
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
flags_y[p_flag]=p_enabled;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(),Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisFlag(p_flag),p_enabled);
update_gizmo();
}
bool Generic6DOFJoint::get_flag_y(Flag p_flag) const{
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
return flags_y[p_flag];
}
void Generic6DOFJoint::set_flag_z(Flag p_flag,bool p_enabled){
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
flags_z[p_flag]=p_enabled;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(),Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisFlag(p_flag),p_enabled);
update_gizmo();
}
bool Generic6DOFJoint::get_flag_z(Flag p_flag) const{
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
return flags_z[p_flag];
}
RID Generic6DOFJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Transform gt = get_global_transform();
//Vector3 cone_twistpos = gt.origin;
//Vector3 cone_twistdir = gt.basis.get_axis(2);
Transform ainv = body_a->get_global_transform().affine_inverse();
Transform local_a = ainv * gt;
local_a.orthonormalize();
Transform local_b = gt;
if (body_b) {
Transform binv = body_b->get_global_transform().affine_inverse();
local_b = binv * gt;
}
local_b.orthonormalize();
RID j = PhysicsServer::get_singleton()->joint_create_generic_6dof(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<PARAM_MAX;i++) {
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j,Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisParam(i),params_x[i]);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j,Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisParam(i),params_y[i]);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j,Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisParam(i),params_z[i]);
}
for(int i=0;i<FLAG_MAX;i++) {
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j,Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisFlag(i),flags_x[i]);
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j,Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisFlag(i),flags_y[i]);
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j,Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisFlag(i),flags_z[i]);
}
return j;
}
Generic6DOFJoint::Generic6DOFJoint() {
set_param_x( PARAM_LINEAR_LOWER_LIMIT,0);
set_param_x( PARAM_LINEAR_UPPER_LIMIT,0);
set_param_x( PARAM_LINEAR_LIMIT_SOFTNESS,0.7);
set_param_x( PARAM_LINEAR_RESTITUTION,0.5);
set_param_x( PARAM_LINEAR_DAMPING,1.0);
set_param_x( PARAM_ANGULAR_LOWER_LIMIT,0);
set_param_x( PARAM_ANGULAR_UPPER_LIMIT,0);
set_param_x( PARAM_ANGULAR_LIMIT_SOFTNESS,0.5f);
set_param_x( PARAM_ANGULAR_DAMPING,1.0f);
set_param_x( PARAM_ANGULAR_RESTITUTION,0);
set_param_x( PARAM_ANGULAR_FORCE_LIMIT,0);
set_param_x( PARAM_ANGULAR_ERP,0.5);
set_param_x( PARAM_ANGULAR_MOTOR_TARGET_VELOCITY,0);
set_param_x( PARAM_ANGULAR_MOTOR_FORCE_LIMIT,300);
set_flag_x( FLAG_ENABLE_ANGULAR_LIMIT,true);
set_flag_x( FLAG_ENABLE_LINEAR_LIMIT,true);
set_flag_x( FLAG_ENABLE_MOTOR,false);
set_param_y( PARAM_LINEAR_LOWER_LIMIT,0);
set_param_y( PARAM_LINEAR_UPPER_LIMIT,0);
set_param_y( PARAM_LINEAR_LIMIT_SOFTNESS,0.7);
set_param_y( PARAM_LINEAR_RESTITUTION,0.5);
set_param_y( PARAM_LINEAR_DAMPING,1.0);
set_param_y( PARAM_ANGULAR_LOWER_LIMIT,0);
set_param_y( PARAM_ANGULAR_UPPER_LIMIT,0);
set_param_y( PARAM_ANGULAR_LIMIT_SOFTNESS,0.5f);
set_param_y( PARAM_ANGULAR_DAMPING,1.0f);
set_param_y( PARAM_ANGULAR_RESTITUTION,0);
set_param_y( PARAM_ANGULAR_FORCE_LIMIT,0);
set_param_y( PARAM_ANGULAR_ERP,0.5);
set_param_y( PARAM_ANGULAR_MOTOR_TARGET_VELOCITY,0);
set_param_y( PARAM_ANGULAR_MOTOR_FORCE_LIMIT,300);
set_flag_y( FLAG_ENABLE_ANGULAR_LIMIT,true);
set_flag_y( FLAG_ENABLE_LINEAR_LIMIT,true);
set_flag_y( FLAG_ENABLE_MOTOR,false);
set_param_z( PARAM_LINEAR_LOWER_LIMIT,0);
set_param_z( PARAM_LINEAR_UPPER_LIMIT,0);
set_param_z( PARAM_LINEAR_LIMIT_SOFTNESS,0.7);
set_param_z( PARAM_LINEAR_RESTITUTION,0.5);
set_param_z( PARAM_LINEAR_DAMPING,1.0);
set_param_z( PARAM_ANGULAR_LOWER_LIMIT,0);
set_param_z( PARAM_ANGULAR_UPPER_LIMIT,0);
set_param_z( PARAM_ANGULAR_LIMIT_SOFTNESS,0.5f);
set_param_z( PARAM_ANGULAR_DAMPING,1.0f);
set_param_z( PARAM_ANGULAR_RESTITUTION,0);
set_param_z( PARAM_ANGULAR_FORCE_LIMIT,0);
set_param_z( PARAM_ANGULAR_ERP,0.5);
set_param_z( PARAM_ANGULAR_MOTOR_TARGET_VELOCITY,0);
set_param_z( PARAM_ANGULAR_MOTOR_FORCE_LIMIT,300);
set_flag_z( FLAG_ENABLE_ANGULAR_LIMIT,true);
set_flag_z( FLAG_ENABLE_LINEAR_LIMIT,true);
set_flag_z( FLAG_ENABLE_MOTOR,false);
}
#if 0
void PhysicsJoint::_set(const String& p_name, const Variant& p_value) {
if (p_name=="body_A")
set_body_A(p_value);
else if (p_name=="body_B")
set_body_B(p_value);
else if (p_name=="active")
set_active(p_value);
else if (p_name=="no_collision")
set_disable_collision(p_value);
}
Variant PhysicsJoint::_get(const String& p_name) const {
if (p_name=="body_A")
return get_body_A();
else if (p_name=="body_B")
return get_body_B();
else if (p_name=="active")
return is_active();
else if (p_name=="no_collision")
return has_disable_collision();
return Variant();
}
void PhysicsJoint::_get_property_list( List<PropertyInfo> *p_list) const {
p_list->push_back( PropertyInfo( Variant::NODE_PATH, "body_A" ) );
p_list->push_back( PropertyInfo( Variant::NODE_PATH, "body_B" ) );
p_list->push_back( PropertyInfo( Variant::BOOL, "active" ) );
p_list->push_back( PropertyInfo( Variant::BOOL, "no_collision" ) );
}
void PhysicsJoint::_notification(int p_what) {
switch(p_what) {
case NOTIFICATION_PARENT_CONFIGURED: {
_connect();
if (get_root_node()->get_editor() && !indicator.is_valid()) {
indicator=VisualServer::get_singleton()->poly_create();
RID mat=VisualServer::get_singleton()->fixed_material_create();
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_UNSHADED, true );
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_ONTOP, true );
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_WIREFRAME, true );
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_DOUBLE_SIDED, true );
VisualServer::get_singleton()->material_set_line_width( mat, 3 );
VisualServer::get_singleton()->poly_set_material(indicator,mat,true);
_update_indicator();
}
if (indicator.is_valid()) {
indicator_instance=VisualServer::get_singleton()->instance_create(indicator,get_world()->get_scenario());
VisualServer::get_singleton()->instance_attach_object_instance_ID( indicator_instance,get_instance_ID() );
}
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
if (indicator_instance.is_valid()) {
VisualServer::get_singleton()->instance_set_transform(indicator_instance,get_global_transform());
}
} break;
case NOTIFICATION_EXIT_SCENE: {
if (indicator_instance.is_valid()) {
VisualServer::get_singleton()->free(indicator_instance);
}
_disconnect();
} break;
}
}
RID PhysicsJoint::_get_visual_instance_rid() const {
return indicator_instance;
}
void PhysicsJoint::_bind_methods() {
ObjectTypeDB::bind_method(_MD("_get_visual_instance_rid"),&PhysicsJoint::_get_visual_instance_rid);
ObjectTypeDB::bind_method(_MD("set_body_A","path"),&PhysicsJoint::set_body_A);
ObjectTypeDB::bind_method(_MD("set_body_B"),&PhysicsJoint::set_body_B);
ObjectTypeDB::bind_method(_MD("get_body_A","path"),&PhysicsJoint::get_body_A);
ObjectTypeDB::bind_method(_MD("get_body_B"),&PhysicsJoint::get_body_B);
ObjectTypeDB::bind_method(_MD("set_active","active"),&PhysicsJoint::set_active);
ObjectTypeDB::bind_method(_MD("is_active"),&PhysicsJoint::is_active);
ObjectTypeDB::bind_method(_MD("set_disable_collision","disable"),&PhysicsJoint::set_disable_collision);
ObjectTypeDB::bind_method(_MD("has_disable_collision"),&PhysicsJoint::has_disable_collision);
ObjectTypeDB::bind_method("reconnect",&PhysicsJoint::reconnect);
ObjectTypeDB::bind_method(_MD("get_rid"),&PhysicsJoint::get_rid);
}
void PhysicsJoint::set_body_A(const NodePath& p_path) {
_disconnect();
body_A=p_path;
_connect();
_change_notify("body_A");
}
void PhysicsJoint::set_body_B(const NodePath& p_path) {
_disconnect();
body_B=p_path;
_connect();
_change_notify("body_B");
}
NodePath PhysicsJoint::get_body_A() const {
return body_A;
}
NodePath PhysicsJoint::get_body_B() const {
return body_B;
}
void PhysicsJoint::set_active(bool p_active) {
active=p_active;
if (is_inside_scene()) {
PhysicsServer::get_singleton()->joint_set_active(joint,active);
}
_change_notify("active");
}
void PhysicsJoint::set_disable_collision(bool p_active) {
if (no_collision==p_active)
return;
_disconnect();
no_collision=p_active;
_connect();
_change_notify("no_collision");
}
bool PhysicsJoint::has_disable_collision() const {
return no_collision;
}
bool PhysicsJoint::is_active() const {
return active;
}
void PhysicsJoint::_disconnect() {
if (!is_inside_scene())
return;
if (joint.is_valid())
PhysicsServer::get_singleton()->free(joint);
joint=RID();
Node *nA = get_node(body_A);
Node *nB = get_node(body_B);
PhysicsBody *A = nA?nA->cast_to<PhysicsBody>():NULL;
PhysicsBody *B = nA?nB->cast_to<PhysicsBody>():NULL;
if (!A ||!B)
return;
if (no_collision)
PhysicsServer::get_singleton()->body_remove_collision_exception(A->get_body(),B->get_body());
}
void PhysicsJoint::_connect() {
if (!is_inside_scene())
return;
ERR_FAIL_COND(joint.is_valid());
Node *nA = get_node(body_A);
Node *nB = get_node(body_B);
PhysicsBody *A = nA?nA->cast_to<PhysicsBody>():NULL;
PhysicsBody *B = nA?nB->cast_to<PhysicsBody>():NULL;
if (!A && !B)
return;
if (B && !A)
SWAP(B,A);
joint = create(A,B);
if (A<B)
SWAP(A,B);
if (no_collision)
PhysicsServer::get_singleton()->body_add_collision_exception(A->get_body(),B->get_body());
}
void PhysicsJoint::reconnect() {
_disconnect();
_connect();
}
RID PhysicsJoint::get_rid() {
return joint;
}
PhysicsJoint::PhysicsJoint() {
active=true;
no_collision=true;
}
PhysicsJoint::~PhysicsJoint() {
if (indicator.is_valid()) {
VisualServer::get_singleton()->free(indicator);
}
}
/* PIN */
void PhysicsJointPin::_update_indicator() {
VisualServer::get_singleton()->poly_clear(indicator);
Vector<Color> colors;
colors.push_back( Color(0.3,0.9,0.2,0.7) );
colors.push_back( Color(0.3,0.9,0.2,0.7) );
Vector<Vector3> points;
points.resize(2);
points[0]=Vector3(Vector3(-0.2,0,0));
points[1]=Vector3(Vector3(0.2,0,0));
VisualServer::get_singleton()->poly_add_primitive(indicator,points,Vector<Vector3>(),colors,Vector<Vector3>());
points[0]=Vector3(Vector3(0,-0.2,0));
points[1]=Vector3(Vector3(0,0.2,0));
VisualServer::get_singleton()->poly_add_primitive(indicator,points,Vector<Vector3>(),colors,Vector<Vector3>());
points[0]=Vector3(Vector3(0,0,-0.2));
points[1]=Vector3(Vector3(0,0,0.2));
VisualServer::get_singleton()->poly_add_primitive(indicator,points,Vector<Vector3>(),colors,Vector<Vector3>());
}
RID PhysicsJointPin::create(PhysicsBody*A,PhysicsBody*B) {
RID body_A = A->get_body();
RID body_B = B?B->get_body():RID();
ERR_FAIL_COND_V( !body_A.is_valid(), RID() );
Vector3 pin_pos = get_global_transform().origin;
if (body_B.is_valid())
return PhysicsServer::get_singleton()->joint_create_double_pin_global(body_A,pin_pos,body_B,pin_pos);
else
return PhysicsServer::get_singleton()->joint_create_pin(body_A,A->get_global_transform().xform_inv(pin_pos),pin_pos);
}
PhysicsJointPin::PhysicsJointPin() {
}
#endif
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