116 lines
4.8 KiB
C++
116 lines
4.8 KiB
C++
/*************************************************************************/
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/* hinge_joint_3d_sw.h */
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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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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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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/*
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Adapted to Godot from the Bullet library.
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*/
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#ifndef HINGE_JOINT_SW_H
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#define HINGE_JOINT_SW_H
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#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
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#include "servers/physics_3d/joints_3d_sw.h"
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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class HingeJoint3DSW : public Joint3DSW {
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union {
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struct {
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Body3DSW *A;
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Body3DSW *B;
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};
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Body3DSW *_arr[2];
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};
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JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
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JacobianEntry3DSW m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
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Transform3D m_rbAFrame; // constraint axii. Assumes z is hinge axis.
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Transform3D m_rbBFrame;
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real_t m_motorTargetVelocity;
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real_t m_maxMotorImpulse;
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real_t m_limitSoftness;
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real_t m_biasFactor;
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real_t m_relaxationFactor;
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real_t m_lowerLimit;
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real_t m_upperLimit;
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real_t m_kHinge;
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real_t m_limitSign;
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real_t m_correction;
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real_t m_accLimitImpulse;
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real_t tau;
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bool m_useLimit;
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bool m_angularOnly;
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bool m_enableAngularMotor;
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bool m_solveLimit;
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real_t m_appliedImpulse;
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public:
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virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_HINGE; }
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virtual bool setup(real_t p_step) override;
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virtual void solve(real_t p_step) override;
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real_t get_hinge_angle();
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void set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value);
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real_t get_param(PhysicsServer3D::HingeJointParam p_param) const;
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void set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value);
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bool get_flag(PhysicsServer3D::HingeJointFlag p_flag) const;
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HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB);
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HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB);
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};
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#endif // HINGE_JOINT_SW_H
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