97 lines
4.8 KiB
C++
97 lines
4.8 KiB
C++
/**************************************************************************/
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/* cone_twist_joint_3d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 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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#include "cone_twist_joint_3d.h"
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#include "scene/scene_string_names.h"
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void ConeTwistJoint3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &ConeTwistJoint3D::set_param);
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ClassDB::bind_method(D_METHOD("get_param", "param"), &ConeTwistJoint3D::get_param);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "swing_span", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_SWING_SPAN);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_TWIST_SPAN);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_BIAS);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_SOFTNESS);
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ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_RELAXATION);
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BIND_ENUM_CONSTANT(PARAM_SWING_SPAN);
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BIND_ENUM_CONSTANT(PARAM_TWIST_SPAN);
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BIND_ENUM_CONSTANT(PARAM_BIAS);
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BIND_ENUM_CONSTANT(PARAM_SOFTNESS);
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BIND_ENUM_CONSTANT(PARAM_RELAXATION);
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BIND_ENUM_CONSTANT(PARAM_MAX);
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}
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void ConeTwistJoint3D::set_param(Param p_param, real_t p_value) {
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ERR_FAIL_INDEX(p_param, PARAM_MAX);
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params[p_param] = p_value;
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if (is_configured()) {
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PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(get_rid(), PhysicsServer3D::ConeTwistJointParam(p_param), p_value);
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}
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update_gizmos();
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}
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real_t ConeTwistJoint3D::get_param(Param p_param) const {
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ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0);
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return params[p_param];
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}
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void ConeTwistJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) {
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Transform3D gt = get_global_transform();
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Transform3D ainv = body_a->get_global_transform().affine_inverse();
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Transform3D local_a = ainv * gt;
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local_a.orthonormalize();
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Transform3D local_b = gt;
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if (body_b) {
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Transform3D binv = body_b->get_global_transform().affine_inverse();
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local_b = binv * gt;
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}
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local_b.orthonormalize();
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PhysicsServer3D::get_singleton()->joint_make_cone_twist(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b);
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for (int i = 0; i < PARAM_MAX; i++) {
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PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(p_joint, PhysicsServer3D::ConeTwistJointParam(i), params[i]);
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}
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}
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ConeTwistJoint3D::ConeTwistJoint3D() {
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params[PARAM_SWING_SPAN] = Math_PI * 0.25;
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params[PARAM_TWIST_SPAN] = Math_PI;
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params[PARAM_BIAS] = 0.3;
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params[PARAM_SOFTNESS] = 0.8;
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params[PARAM_RELAXATION] = 1.0;
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}
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