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virtualx-engine/editor/plugins/gizmos/joint_3d_gizmo_plugin.cpp

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/**************************************************************************/
/* joint_3d_gizmo_plugin.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 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 "joint_3d_gizmo_plugin.h"
#include "editor/editor_node.h"
#include "editor/editor_settings.h"
#include "editor/plugins/node_3d_editor_plugin.h"
#include "scene/3d/joint_3d.h"
#define BODY_A_RADIUS 0.25
#define BODY_B_RADIUS 0.27
Basis JointGizmosDrawer::look_body(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) {
const Vector3 &p_eye(p_joint_transform.origin);
const Vector3 &p_target(p_body_transform.origin);
Vector3 v_x, v_y, v_z;
// Look the body with X
v_x = p_target - p_eye;
v_x.normalize();
v_z = v_x.cross(Vector3(0, 1, 0));
v_z.normalize();
v_y = v_z.cross(v_x);
v_y.normalize();
Basis base;
base.set_columns(v_x, v_y, v_z);
// Absorb current joint transform
base = p_joint_transform.basis.inverse() * base;
return base;
}
Basis JointGizmosDrawer::look_body_toward(Vector3::Axis p_axis, const Transform3D &joint_transform, const Transform3D &body_transform) {
switch (p_axis) {
case Vector3::AXIS_X:
return look_body_toward_x(joint_transform, body_transform);
case Vector3::AXIS_Y:
return look_body_toward_y(joint_transform, body_transform);
case Vector3::AXIS_Z:
return look_body_toward_z(joint_transform, body_transform);
default:
return Basis();
}
}
Basis JointGizmosDrawer::look_body_toward_x(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) {
const Vector3 &p_eye(p_joint_transform.origin);
const Vector3 &p_target(p_body_transform.origin);
const Vector3 p_front(p_joint_transform.basis.get_column(0));
Vector3 v_x, v_y, v_z;
// Look the body with X
v_x = p_target - p_eye;
v_x.normalize();
v_y = p_front.cross(v_x);
v_y.normalize();
v_z = v_y.cross(p_front);
v_z.normalize();
// Clamp X to FRONT axis
v_x = p_front;
v_x.normalize();
Basis base;
base.set_columns(v_x, v_y, v_z);
// Absorb current joint transform
base = p_joint_transform.basis.inverse() * base;
return base;
}
Basis JointGizmosDrawer::look_body_toward_y(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) {
const Vector3 &p_eye(p_joint_transform.origin);
const Vector3 &p_target(p_body_transform.origin);
const Vector3 p_up(p_joint_transform.basis.get_column(1));
Vector3 v_x, v_y, v_z;
// Look the body with X
v_x = p_target - p_eye;
v_x.normalize();
v_z = v_x.cross(p_up);
v_z.normalize();
v_x = p_up.cross(v_z);
v_x.normalize();
// Clamp Y to UP axis
v_y = p_up;
v_y.normalize();
Basis base;
base.set_columns(v_x, v_y, v_z);
// Absorb current joint transform
base = p_joint_transform.basis.inverse() * base;
return base;
}
Basis JointGizmosDrawer::look_body_toward_z(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) {
const Vector3 &p_eye(p_joint_transform.origin);
const Vector3 &p_target(p_body_transform.origin);
const Vector3 p_lateral(p_joint_transform.basis.get_column(2));
Vector3 v_x, v_y, v_z;
// Look the body with X
v_x = p_target - p_eye;
v_x.normalize();
v_z = p_lateral;
v_z.normalize();
v_y = v_z.cross(v_x);
v_y.normalize();
// Clamp X to Z axis
v_x = v_y.cross(v_z);
v_x.normalize();
Basis base;
base.set_columns(v_x, v_y, v_z);
// Absorb current joint transform
base = p_joint_transform.basis.inverse() * base;
return base;
}
void JointGizmosDrawer::draw_circle(Vector3::Axis p_axis, real_t p_radius, const Transform3D &p_offset, const Basis &p_base, real_t p_limit_lower, real_t p_limit_upper, Vector<Vector3> &r_points, bool p_inverse) {
if (p_limit_lower == p_limit_upper) {
r_points.push_back(p_offset.translated_local(Vector3()).origin);
r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(0.5, 0, 0))).origin);
} else {
if (p_limit_lower > p_limit_upper) {
p_limit_lower = -Math_PI;
p_limit_upper = Math_PI;
}
const int points = 32;
for (int i = 0; i < points; i++) {
real_t s = p_limit_lower + i * (p_limit_upper - p_limit_lower) / points;
real_t n = p_limit_lower + (i + 1) * (p_limit_upper - p_limit_lower) / points;
Vector3 from;
Vector3 to;
switch (p_axis) {
case Vector3::AXIS_X:
if (p_inverse) {
from = p_base.xform(Vector3(0, Math::sin(s), Math::cos(s))) * p_radius;
to = p_base.xform(Vector3(0, Math::sin(n), Math::cos(n))) * p_radius;
} else {
from = p_base.xform(Vector3(0, -Math::sin(s), Math::cos(s))) * p_radius;
to = p_base.xform(Vector3(0, -Math::sin(n), Math::cos(n))) * p_radius;
}
break;
case Vector3::AXIS_Y:
if (p_inverse) {
from = p_base.xform(Vector3(Math::cos(s), 0, -Math::sin(s))) * p_radius;
to = p_base.xform(Vector3(Math::cos(n), 0, -Math::sin(n))) * p_radius;
} else {
from = p_base.xform(Vector3(Math::cos(s), 0, Math::sin(s))) * p_radius;
to = p_base.xform(Vector3(Math::cos(n), 0, Math::sin(n))) * p_radius;
}
break;
case Vector3::AXIS_Z:
from = p_base.xform(Vector3(Math::cos(s), Math::sin(s), 0)) * p_radius;
to = p_base.xform(Vector3(Math::cos(n), Math::sin(n), 0)) * p_radius;
break;
}
if (i == points - 1) {
r_points.push_back(p_offset.translated_local(to).origin);
r_points.push_back(p_offset.translated_local(Vector3()).origin);
}
if (i == 0) {
r_points.push_back(p_offset.translated_local(from).origin);
r_points.push_back(p_offset.translated_local(Vector3()).origin);
}
r_points.push_back(p_offset.translated_local(from).origin);
r_points.push_back(p_offset.translated_local(to).origin);
}
r_points.push_back(p_offset.translated_local(Vector3(0, p_radius * 1.5, 0)).origin);
r_points.push_back(p_offset.translated_local(Vector3()).origin);
}
}
void JointGizmosDrawer::draw_cone(const Transform3D &p_offset, const Basis &p_base, real_t p_swing, real_t p_twist, Vector<Vector3> &r_points) {
float r = 1.0;
float w = r * Math::sin(p_swing);
float d = r * Math::cos(p_swing);
//swing
for (int i = 0; i < 360; i += 10) {
float ra = Math::deg_to_rad((float)i);
float rb = Math::deg_to_rad((float)i + 10);
Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * w;
Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * w;
r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(d, a.x, a.y))).origin);
r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(d, b.x, b.y))).origin);
if (i % 90 == 0) {
r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(d, a.x, a.y))).origin);
r_points.push_back(p_offset.translated_local(p_base.xform(Vector3())).origin);
}
}
r_points.push_back(p_offset.translated_local(p_base.xform(Vector3())).origin);
r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(1, 0, 0))).origin);
/// Twist
float ts = Math::rad_to_deg(p_twist);
ts = MIN(ts, 720);
for (int i = 0; i < int(ts); i += 5) {
float ra = Math::deg_to_rad((float)i);
float rb = Math::deg_to_rad((float)i + 5);
float c = i / 720.0;
float cn = (i + 5) / 720.0;
Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * w * c;
Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * w * cn;
r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(c, a.x, a.y))).origin);
r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(cn, b.x, b.y))).origin);
}
}
////
Joint3DGizmoPlugin::Joint3DGizmoPlugin() {
create_material("joint_material", EDITOR_GET("editors/3d_gizmos/gizmo_colors/joint"));
create_material("joint_body_a_material", EDITOR_DEF_RST("editors/3d_gizmos/gizmo_colors/joint_body_a", Color(0.6, 0.8, 1)));
create_material("joint_body_b_material", EDITOR_DEF_RST("editors/3d_gizmos/gizmo_colors/joint_body_b", Color(0.6, 0.9, 1)));
update_timer = memnew(Timer);
update_timer->set_name("JointGizmoUpdateTimer");
update_timer->set_wait_time(1.0 / 120.0);
update_timer->connect("timeout", callable_mp(this, &Joint3DGizmoPlugin::incremental_update_gizmos));
update_timer->set_autostart(true);
EditorNode::get_singleton()->call_deferred(SNAME("add_child"), update_timer);
}
void Joint3DGizmoPlugin::incremental_update_gizmos() {
if (!current_gizmos.is_empty()) {
update_idx++;
update_idx = update_idx % current_gizmos.size();
redraw(current_gizmos[update_idx]);
}
}
bool Joint3DGizmoPlugin::has_gizmo(Node3D *p_spatial) {
return Object::cast_to<Joint3D>(p_spatial) != nullptr;
}
String Joint3DGizmoPlugin::get_gizmo_name() const {
return "Joint3D";
}
int Joint3DGizmoPlugin::get_priority() const {
return -1;
}
void Joint3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
Joint3D *joint = Object::cast_to<Joint3D>(p_gizmo->get_node_3d());
p_gizmo->clear();
Node3D *node_body_a = nullptr;
if (!joint->get_node_a().is_empty()) {
node_body_a = Object::cast_to<Node3D>(joint->get_node(joint->get_node_a()));
}
Node3D *node_body_b = nullptr;
if (!joint->get_node_b().is_empty()) {
node_body_b = Object::cast_to<Node3D>(joint->get_node(joint->get_node_b()));
}
if (!node_body_a && !node_body_b) {
return;
}
Ref<Material> common_material = get_material("joint_material", p_gizmo);
Ref<Material> body_a_material = get_material("joint_body_a_material", p_gizmo);
Ref<Material> body_b_material = get_material("joint_body_b_material", p_gizmo);
Vector<Vector3> points;
Vector<Vector3> body_a_points;
Vector<Vector3> body_b_points;
if (Object::cast_to<PinJoint3D>(joint)) {
CreatePinJointGizmo(Transform3D(), points);
p_gizmo->add_collision_segments(points);
p_gizmo->add_lines(points, common_material);
}
HingeJoint3D *hinge = Object::cast_to<HingeJoint3D>(joint);
if (hinge) {
CreateHingeJointGizmo(
Transform3D(),
hinge->get_global_transform(),
node_body_a ? node_body_a->get_global_transform() : Transform3D(),
node_body_b ? node_body_b->get_global_transform() : Transform3D(),
hinge->get_param(HingeJoint3D::PARAM_LIMIT_LOWER),
hinge->get_param(HingeJoint3D::PARAM_LIMIT_UPPER),
hinge->get_flag(HingeJoint3D::FLAG_USE_LIMIT),
points,
node_body_a ? &body_a_points : nullptr,
node_body_b ? &body_b_points : nullptr);
p_gizmo->add_collision_segments(points);
p_gizmo->add_collision_segments(body_a_points);
p_gizmo->add_collision_segments(body_b_points);
p_gizmo->add_lines(points, common_material);
p_gizmo->add_lines(body_a_points, body_a_material);
p_gizmo->add_lines(body_b_points, body_b_material);
}
SliderJoint3D *slider = Object::cast_to<SliderJoint3D>(joint);
if (slider) {
CreateSliderJointGizmo(
Transform3D(),
slider->get_global_transform(),
node_body_a ? node_body_a->get_global_transform() : Transform3D(),
node_body_b ? node_body_b->get_global_transform() : Transform3D(),
slider->get_param(SliderJoint3D::PARAM_ANGULAR_LIMIT_LOWER),
slider->get_param(SliderJoint3D::PARAM_ANGULAR_LIMIT_UPPER),
slider->get_param(SliderJoint3D::PARAM_LINEAR_LIMIT_LOWER),
slider->get_param(SliderJoint3D::PARAM_LINEAR_LIMIT_UPPER),
points,
node_body_a ? &body_a_points : nullptr,
node_body_b ? &body_b_points : nullptr);
p_gizmo->add_collision_segments(points);
p_gizmo->add_collision_segments(body_a_points);
p_gizmo->add_collision_segments(body_b_points);
p_gizmo->add_lines(points, common_material);
p_gizmo->add_lines(body_a_points, body_a_material);
p_gizmo->add_lines(body_b_points, body_b_material);
}
ConeTwistJoint3D *cone = Object::cast_to<ConeTwistJoint3D>(joint);
if (cone) {
CreateConeTwistJointGizmo(
Transform3D(),
cone->get_global_transform(),
node_body_a ? node_body_a->get_global_transform() : Transform3D(),
node_body_b ? node_body_b->get_global_transform() : Transform3D(),
cone->get_param(ConeTwistJoint3D::PARAM_SWING_SPAN),
cone->get_param(ConeTwistJoint3D::PARAM_TWIST_SPAN),
node_body_a ? &body_a_points : nullptr,
node_body_b ? &body_b_points : nullptr);
p_gizmo->add_collision_segments(body_a_points);
p_gizmo->add_collision_segments(body_b_points);
p_gizmo->add_lines(body_a_points, body_a_material);
p_gizmo->add_lines(body_b_points, body_b_material);
}
Generic6DOFJoint3D *gen = Object::cast_to<Generic6DOFJoint3D>(joint);
if (gen) {
CreateGeneric6DOFJointGizmo(
Transform3D(),
gen->get_global_transform(),
node_body_a ? node_body_a->get_global_transform() : Transform3D(),
node_body_b ? node_body_b->get_global_transform() : Transform3D(),
gen->get_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_LOWER_LIMIT),
gen->get_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_UPPER_LIMIT),
gen->get_param_x(Generic6DOFJoint3D::PARAM_LINEAR_LOWER_LIMIT),
gen->get_param_x(Generic6DOFJoint3D::PARAM_LINEAR_UPPER_LIMIT),
gen->get_flag_x(Generic6DOFJoint3D::FLAG_ENABLE_ANGULAR_LIMIT),
gen->get_flag_x(Generic6DOFJoint3D::FLAG_ENABLE_LINEAR_LIMIT),
gen->get_param_y(Generic6DOFJoint3D::PARAM_ANGULAR_LOWER_LIMIT),
gen->get_param_y(Generic6DOFJoint3D::PARAM_ANGULAR_UPPER_LIMIT),
gen->get_param_y(Generic6DOFJoint3D::PARAM_LINEAR_LOWER_LIMIT),
gen->get_param_y(Generic6DOFJoint3D::PARAM_LINEAR_UPPER_LIMIT),
gen->get_flag_y(Generic6DOFJoint3D::FLAG_ENABLE_ANGULAR_LIMIT),
gen->get_flag_y(Generic6DOFJoint3D::FLAG_ENABLE_LINEAR_LIMIT),
gen->get_param_z(Generic6DOFJoint3D::PARAM_ANGULAR_LOWER_LIMIT),
gen->get_param_z(Generic6DOFJoint3D::PARAM_ANGULAR_UPPER_LIMIT),
gen->get_param_z(Generic6DOFJoint3D::PARAM_LINEAR_LOWER_LIMIT),
gen->get_param_z(Generic6DOFJoint3D::PARAM_LINEAR_UPPER_LIMIT),
gen->get_flag_z(Generic6DOFJoint3D::FLAG_ENABLE_ANGULAR_LIMIT),
gen->get_flag_z(Generic6DOFJoint3D::FLAG_ENABLE_LINEAR_LIMIT),
points,
node_body_a ? &body_a_points : nullptr,
node_body_a ? &body_b_points : nullptr);
p_gizmo->add_collision_segments(points);
p_gizmo->add_collision_segments(body_a_points);
p_gizmo->add_collision_segments(body_b_points);
p_gizmo->add_lines(points, common_material);
p_gizmo->add_lines(body_a_points, body_a_material);
p_gizmo->add_lines(body_b_points, body_b_material);
}
}
void Joint3DGizmoPlugin::CreatePinJointGizmo(const Transform3D &p_offset, Vector<Vector3> &r_cursor_points) {
float cs = 0.25;
r_cursor_points.push_back(p_offset.translated_local(Vector3(+cs, 0, 0)).origin);
r_cursor_points.push_back(p_offset.translated_local(Vector3(-cs, 0, 0)).origin);
r_cursor_points.push_back(p_offset.translated_local(Vector3(0, +cs, 0)).origin);
r_cursor_points.push_back(p_offset.translated_local(Vector3(0, -cs, 0)).origin);
r_cursor_points.push_back(p_offset.translated_local(Vector3(0, 0, +cs)).origin);
r_cursor_points.push_back(p_offset.translated_local(Vector3(0, 0, -cs)).origin);
}
void Joint3DGizmoPlugin::CreateHingeJointGizmo(const Transform3D &p_offset, const Transform3D &p_trs_joint, const Transform3D &p_trs_body_a, const Transform3D &p_trs_body_b, real_t p_limit_lower, real_t p_limit_upper, bool p_use_limit, Vector<Vector3> &r_common_points, Vector<Vector3> *r_body_a_points, Vector<Vector3> *r_body_b_points) {
r_common_points.push_back(p_offset.translated_local(Vector3(0, 0, 0.5)).origin);
r_common_points.push_back(p_offset.translated_local(Vector3(0, 0, -0.5)).origin);
if (!p_use_limit) {
p_limit_upper = -1;
p_limit_lower = 0;
}
if (r_body_a_points) {
JointGizmosDrawer::draw_circle(Vector3::AXIS_Z,
BODY_A_RADIUS,
p_offset,
JointGizmosDrawer::look_body_toward_z(p_trs_joint, p_trs_body_a),
p_limit_lower,
p_limit_upper,
*r_body_a_points);
}
if (r_body_b_points) {
JointGizmosDrawer::draw_circle(Vector3::AXIS_Z,
BODY_B_RADIUS,
p_offset,
JointGizmosDrawer::look_body_toward_z(p_trs_joint, p_trs_body_b),
p_limit_lower,
p_limit_upper,
*r_body_b_points);
}
}
void Joint3DGizmoPlugin::CreateSliderJointGizmo(const Transform3D &p_offset, const Transform3D &p_trs_joint, const Transform3D &p_trs_body_a, const Transform3D &p_trs_body_b, real_t p_angular_limit_lower, real_t p_angular_limit_upper, real_t p_linear_limit_lower, real_t p_linear_limit_upper, Vector<Vector3> &r_points, Vector<Vector3> *r_body_a_points, Vector<Vector3> *r_body_b_points) {
p_linear_limit_lower = -p_linear_limit_lower;
p_linear_limit_upper = -p_linear_limit_upper;
float cs = 0.25;
r_points.push_back(p_offset.translated_local(Vector3(0, 0, 0.5)).origin);
r_points.push_back(p_offset.translated_local(Vector3(0, 0, -0.5)).origin);
if (p_linear_limit_lower >= p_linear_limit_upper) {
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, 0, 0)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, 0, 0)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, -cs, -cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, -cs, cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, -cs, cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, cs, cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, cs, cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, cs, -cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, cs, -cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, -cs, -cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, -cs, -cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, -cs, cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, -cs, cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, cs, cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, cs, cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, cs, -cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, cs, -cs)).origin);
r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, -cs, -cs)).origin);
} else {
r_points.push_back(p_offset.translated_local(Vector3(+cs * 2, 0, 0)).origin);
r_points.push_back(p_offset.translated_local(Vector3(-cs * 2, 0, 0)).origin);
}
if (r_body_a_points) {
JointGizmosDrawer::draw_circle(
Vector3::AXIS_X,
BODY_A_RADIUS,
p_offset,
JointGizmosDrawer::look_body_toward(Vector3::AXIS_X, p_trs_joint, p_trs_body_a),
p_angular_limit_lower,
p_angular_limit_upper,
*r_body_a_points);
}
if (r_body_b_points) {
JointGizmosDrawer::draw_circle(
Vector3::AXIS_X,
BODY_B_RADIUS,
p_offset,
JointGizmosDrawer::look_body_toward(Vector3::AXIS_X, p_trs_joint, p_trs_body_b),
p_angular_limit_lower,
p_angular_limit_upper,
*r_body_b_points,
true);
}
}
void Joint3DGizmoPlugin::CreateConeTwistJointGizmo(const Transform3D &p_offset, const Transform3D &p_trs_joint, const Transform3D &p_trs_body_a, const Transform3D &p_trs_body_b, real_t p_swing, real_t p_twist, Vector<Vector3> *r_body_a_points, Vector<Vector3> *r_body_b_points) {
if (r_body_a_points) {
JointGizmosDrawer::draw_cone(
p_offset,
JointGizmosDrawer::look_body(p_trs_joint, p_trs_body_a),
p_swing,
p_twist,
*r_body_a_points);
}
if (r_body_b_points) {
JointGizmosDrawer::draw_cone(
p_offset,
JointGizmosDrawer::look_body(p_trs_joint, p_trs_body_b),
p_swing,
p_twist,
*r_body_b_points);
}
}
void Joint3DGizmoPlugin::CreateGeneric6DOFJointGizmo(
const Transform3D &p_offset,
const Transform3D &p_trs_joint,
const Transform3D &p_trs_body_a,
const Transform3D &p_trs_body_b,
real_t p_angular_limit_lower_x,
real_t p_angular_limit_upper_x,
real_t p_linear_limit_lower_x,
real_t p_linear_limit_upper_x,
bool p_enable_angular_limit_x,
bool p_enable_linear_limit_x,
real_t p_angular_limit_lower_y,
real_t p_angular_limit_upper_y,
real_t p_linear_limit_lower_y,
real_t p_linear_limit_upper_y,
bool p_enable_angular_limit_y,
bool p_enable_linear_limit_y,
real_t p_angular_limit_lower_z,
real_t p_angular_limit_upper_z,
real_t p_linear_limit_lower_z,
real_t p_linear_limit_upper_z,
bool p_enable_angular_limit_z,
bool p_enable_linear_limit_z,
Vector<Vector3> &r_points,
Vector<Vector3> *r_body_a_points,
Vector<Vector3> *r_body_b_points) {
float cs = 0.25;
for (int ax = 0; ax < 3; ax++) {
float ll = 0;
float ul = 0;
float lll = 0;
float lul = 0;
int a1 = 0;
int a2 = 0;
int a3 = 0;
bool enable_ang = false;
bool enable_lin = false;
switch (ax) {
case 0:
ll = p_angular_limit_lower_x;
ul = p_angular_limit_upper_x;
lll = -p_linear_limit_lower_x;
lul = -p_linear_limit_upper_x;
enable_ang = p_enable_angular_limit_x;
enable_lin = p_enable_linear_limit_x;
a1 = 0;
a2 = 1;
a3 = 2;
break;
case 1:
ll = p_angular_limit_lower_y;
ul = p_angular_limit_upper_y;
lll = -p_linear_limit_lower_y;
lul = -p_linear_limit_upper_y;
enable_ang = p_enable_angular_limit_y;
enable_lin = p_enable_linear_limit_y;
a1 = 1;
a2 = 2;
a3 = 0;
break;
case 2:
ll = p_angular_limit_lower_z;
ul = p_angular_limit_upper_z;
lll = -p_linear_limit_lower_z;
lul = -p_linear_limit_upper_z;
enable_ang = p_enable_angular_limit_z;
enable_lin = p_enable_linear_limit_z;
a1 = 2;
a2 = 0;
a3 = 1;
break;
}
#define ADD_VTX(x, y, z) \
{ \
Vector3 v; \
v[a1] = (x); \
v[a2] = (y); \
v[a3] = (z); \
r_points.push_back(p_offset.translated_local(v).origin); \
}
if (enable_lin && lll >= lul) {
ADD_VTX(lul, 0, 0);
ADD_VTX(lll, 0, 0);
ADD_VTX(lul, -cs, -cs);
ADD_VTX(lul, -cs, cs);
ADD_VTX(lul, -cs, cs);
ADD_VTX(lul, cs, cs);
ADD_VTX(lul, cs, cs);
ADD_VTX(lul, cs, -cs);
ADD_VTX(lul, cs, -cs);
ADD_VTX(lul, -cs, -cs);
ADD_VTX(lll, -cs, -cs);
ADD_VTX(lll, -cs, cs);
ADD_VTX(lll, -cs, cs);
ADD_VTX(lll, cs, cs);
ADD_VTX(lll, cs, cs);
ADD_VTX(lll, cs, -cs);
ADD_VTX(lll, cs, -cs);
ADD_VTX(lll, -cs, -cs);
} else {
ADD_VTX(+cs * 2, 0, 0);
ADD_VTX(-cs * 2, 0, 0);
}
if (!enable_ang) {
ll = 0;
ul = -1;
}
if (r_body_a_points) {
JointGizmosDrawer::draw_circle(
static_cast<Vector3::Axis>(ax),
BODY_A_RADIUS,
p_offset,
JointGizmosDrawer::look_body_toward(static_cast<Vector3::Axis>(ax), p_trs_joint, p_trs_body_a),
ll,
ul,
*r_body_a_points,
true);
}
if (r_body_b_points) {
JointGizmosDrawer::draw_circle(
static_cast<Vector3::Axis>(ax),
BODY_B_RADIUS,
p_offset,
JointGizmosDrawer::look_body_toward(static_cast<Vector3::Axis>(ax), p_trs_joint, p_trs_body_b),
ll,
ul,
*r_body_b_points);
}
}
#undef ADD_VTX
}
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