d8223ffa75
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)
420 lines
12 KiB
C++
420 lines
12 KiB
C++
/*************************************************************************/
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/* physics_joint.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 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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#ifndef PHYSICS_JOINT_H
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#define PHYSICS_JOINT_H
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#include "scene/3d/spatial.h"
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#include "scene/3d/physics_body.h"
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class Joint : public Spatial {
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OBJ_TYPE(Joint,Spatial);
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RID ba,bb;
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RID joint;
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NodePath a;
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NodePath b;
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int solver_priority;
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bool exclude_from_collision;
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protected:
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void _update_joint(bool p_only_free=false);
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void _notification(int p_what);
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virtual RID _configure_joint(PhysicsBody *body_a,PhysicsBody *body_b)=0;
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static void _bind_methods();
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public:
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void set_node_a(const NodePath& p_node_a);
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NodePath get_node_a() const;
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void set_node_b(const NodePath& p_node_b);
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NodePath get_node_b() const;
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void set_solver_priority(int p_priority);
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int get_solver_priority() const;
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void set_exclude_nodes_from_collision(bool p_enable);
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bool get_exclude_nodes_from_collision() const;
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RID get_joint() const { return joint; }
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Joint();
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};
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///////////////////////////////////////////
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class PinJoint : public Joint {
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OBJ_TYPE(PinJoint,Joint);
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public:
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enum Param {
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PARAM_BIAS=PhysicsServer::PIN_JOINT_BIAS,
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PARAM_DAMPING=PhysicsServer::PIN_JOINT_DAMPING,
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PARAM_IMPULSE_CLAMP=PhysicsServer::PIN_JOINT_IMPULSE_CLAMP
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};
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protected:
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float params[3];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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public:
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void set_param(Param p_param,float p_value);
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float get_param(Param p_param) const;
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PinJoint();
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};
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VARIANT_ENUM_CAST(PinJoint::Param);
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class HingeJoint : public Joint {
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OBJ_TYPE(HingeJoint,Joint);
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public:
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enum Param {
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PARAM_BIAS=PhysicsServer::HINGE_JOINT_BIAS,
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PARAM_LIMIT_UPPER=PhysicsServer::HINGE_JOINT_LIMIT_UPPER,
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PARAM_LIMIT_LOWER=PhysicsServer::HINGE_JOINT_LIMIT_LOWER,
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PARAM_LIMIT_BIAS=PhysicsServer::HINGE_JOINT_LIMIT_BIAS,
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PARAM_LIMIT_SOFTNESS=PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS,
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PARAM_LIMIT_RELAXATION=PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION,
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PARAM_MOTOR_TARGET_VELOCITY=PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY,
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PARAM_MOTOR_MAX_IMPULSE=PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE,
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PARAM_MAX=PhysicsServer::HINGE_JOINT_MAX
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};
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enum Flag {
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FLAG_USE_LIMIT=PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT,
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FLAG_ENABLE_MOTOR=PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR,
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FLAG_MAX=PhysicsServer::HINGE_JOINT_FLAG_MAX
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};
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protected:
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float params[PARAM_MAX];
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bool flags[FLAG_MAX];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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void _set_upper_limit(float p_limit);
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float _get_upper_limit() const;
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void _set_lower_limit(float p_limit);
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float _get_lower_limit() const;
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public:
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void set_param(Param p_param,float p_value);
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float get_param(Param p_param) const;
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void set_flag(Flag p_flag,bool p_value);
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bool get_flag(Flag p_flag) const;
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HingeJoint();
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};
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VARIANT_ENUM_CAST(HingeJoint::Param);
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VARIANT_ENUM_CAST(HingeJoint::Flag);
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class SliderJoint : public Joint {
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OBJ_TYPE(SliderJoint,Joint);
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public:
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enum Param {
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PARAM_LINEAR_LIMIT_UPPER=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER,
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PARAM_LINEAR_LIMIT_LOWER=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER,
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PARAM_LINEAR_LIMIT_SOFTNESS=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS,
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PARAM_LINEAR_LIMIT_RESTITUTION=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION,
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PARAM_LINEAR_LIMIT_DAMPING=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING,
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PARAM_LINEAR_MOTION_SOFTNESS=PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS,
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PARAM_LINEAR_MOTION_RESTITUTION=PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION,
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PARAM_LINEAR_MOTION_DAMPING=PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING,
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PARAM_LINEAR_ORTHOGONAL_SOFTNESS=PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS,
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PARAM_LINEAR_ORTHOGONAL_RESTITUTION=PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION,
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PARAM_LINEAR_ORTHOGONAL_DAMPING=PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING,
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PARAM_ANGULAR_LIMIT_UPPER=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER,
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PARAM_ANGULAR_LIMIT_LOWER=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER,
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PARAM_ANGULAR_LIMIT_SOFTNESS=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS,
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PARAM_ANGULAR_LIMIT_RESTITUTION=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION,
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PARAM_ANGULAR_LIMIT_DAMPING=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING,
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PARAM_ANGULAR_MOTION_SOFTNESS=PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS,
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PARAM_ANGULAR_MOTION_RESTITUTION=PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION,
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PARAM_ANGULAR_MOTION_DAMPING=PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING,
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PARAM_ANGULAR_ORTHOGONAL_SOFTNESS=PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS,
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PARAM_ANGULAR_ORTHOGONAL_RESTITUTION=PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION,
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PARAM_ANGULAR_ORTHOGONAL_DAMPING=PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING,
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PARAM_MAX=PhysicsServer::SLIDER_JOINT_MAX
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};
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protected:
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void _set_upper_limit_angular(float p_limit_angular);
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float _get_upper_limit_angular() const;
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void _set_lower_limit_angular(float p_limit_angular);
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float _get_lower_limit_angular() const;
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float params[PARAM_MAX];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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public:
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void set_param(Param p_param,float p_value);
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float get_param(Param p_param) const;
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SliderJoint();
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};
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VARIANT_ENUM_CAST(SliderJoint::Param);
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class ConeTwistJoint : public Joint {
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OBJ_TYPE(ConeTwistJoint,Joint);
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public:
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enum Param {
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PARAM_SWING_SPAN,
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PARAM_TWIST_SPAN,
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PARAM_BIAS,
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PARAM_SOFTNESS,
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PARAM_RELAXATION,
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PARAM_MAX
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};
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protected:
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void _set_swing_span(float p_limit_angular);
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float _get_swing_span() const;
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void _set_twist_span(float p_limit_angular);
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float _get_twist_span() const;
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float params[PARAM_MAX];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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public:
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void set_param(Param p_param,float p_value);
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float get_param(Param p_param) const;
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ConeTwistJoint();
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};
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VARIANT_ENUM_CAST(ConeTwistJoint::Param);
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class Generic6DOFJoint : public Joint {
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OBJ_TYPE(Generic6DOFJoint,Joint);
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public:
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enum Param {
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PARAM_LINEAR_LOWER_LIMIT=PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT,
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PARAM_LINEAR_UPPER_LIMIT=PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT,
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PARAM_LINEAR_LIMIT_SOFTNESS=PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
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PARAM_LINEAR_RESTITUTION=PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION,
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PARAM_LINEAR_DAMPING=PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING,
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PARAM_ANGULAR_LOWER_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
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PARAM_ANGULAR_UPPER_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
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PARAM_ANGULAR_LIMIT_SOFTNESS=PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
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PARAM_ANGULAR_DAMPING=PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING,
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PARAM_ANGULAR_RESTITUTION=PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION,
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PARAM_ANGULAR_FORCE_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT,
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PARAM_ANGULAR_ERP=PhysicsServer::G6DOF_JOINT_ANGULAR_ERP,
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PARAM_ANGULAR_MOTOR_TARGET_VELOCITY=PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
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PARAM_ANGULAR_MOTOR_FORCE_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
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PARAM_MAX=PhysicsServer::G6DOF_JOINT_MAX,
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};
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enum Flag {
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FLAG_ENABLE_LINEAR_LIMIT=PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
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FLAG_ENABLE_ANGULAR_LIMIT=PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
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FLAG_ENABLE_MOTOR=PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
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FLAG_MAX=PhysicsServer::G6DOF_JOINT_FLAG_MAX
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};
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protected:
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void _set_angular_hi_limit_x(float p_limit_angular);
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float _get_angular_hi_limit_x() const;
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void _set_angular_hi_limit_y(float p_limit_angular);
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float _get_angular_hi_limit_y() const;
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void _set_angular_hi_limit_z(float p_limit_angular);
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float _get_angular_hi_limit_z() const;
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void _set_angular_lo_limit_x(float p_limit_angular);
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float _get_angular_lo_limit_x() const;
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void _set_angular_lo_limit_y(float p_limit_angular);
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float _get_angular_lo_limit_y() const;
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void _set_angular_lo_limit_z(float p_limit_angular);
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float _get_angular_lo_limit_z() const;
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float params_x[PARAM_MAX];
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bool flags_x[FLAG_MAX];
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float params_y[PARAM_MAX];
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bool flags_y[FLAG_MAX];
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float params_z[PARAM_MAX];
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bool flags_z[FLAG_MAX];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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public:
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void set_param_x(Param p_param,float p_value);
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float get_param_x(Param p_param) const;
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void set_param_y(Param p_param,float p_value);
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float get_param_y(Param p_param) const;
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void set_param_z(Param p_param,float p_value);
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float get_param_z(Param p_param) const;
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void set_flag_x(Flag p_flag,bool p_enabled);
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bool get_flag_x(Flag p_flag) const;
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void set_flag_y(Flag p_flag,bool p_enabled);
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bool get_flag_y(Flag p_flag) const;
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void set_flag_z(Flag p_flag,bool p_enabled);
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bool get_flag_z(Flag p_flag) const;
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Generic6DOFJoint();
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};
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VARIANT_ENUM_CAST(Generic6DOFJoint::Param);
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VARIANT_ENUM_CAST(Generic6DOFJoint::Flag);
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#if 0
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class PhysicsJoint : public Spatial {
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OBJ_TYPE(PhysicsJoint,Spatial);
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OBJ_CATEGORY("3D Physics Nodes");
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NodePath body_A;
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NodePath body_B;
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bool active;
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bool no_collision;
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RID indicator_instance;
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RID _get_visual_instance_rid() const;
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protected:
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RID joint;
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RID indicator;
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bool _set(const StringName& p_name, const Variant& p_value);
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bool _get(const StringName& p_name,Variant &r_ret) const;
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void _get_property_list( List<PropertyInfo> *p_list) const;
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void _notification(int p_what);
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static void _bind_methods();
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virtual RID create(PhysicsBody*A,PhysicsBody*B)=0;
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virtual void _update_indicator()=0;
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void _disconnect();
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void _connect();
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public:
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void set_body_A(const NodePath& p_path);
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void set_body_B(const NodePath& p_path);
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NodePath get_body_A() const;
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NodePath get_body_B() const;
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void set_active(bool p_active);
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bool is_active() const;
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void set_disable_collision(bool p_active);
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bool has_disable_collision() const;
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void reconnect();
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RID get_rid();
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PhysicsJoint();
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~PhysicsJoint();
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};
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class PhysicsJointPin : public PhysicsJoint {
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OBJ_TYPE( PhysicsJointPin, PhysicsJoint );
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protected:
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virtual void _update_indicator();
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virtual RID create(PhysicsBody*A,PhysicsBody*B);
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public:
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PhysicsJointPin();
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};
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#endif // PHYSICS_JOINT_H
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#endif
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