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virtualx-engine/scene/3d/joint_3d.h
Rémi Verschelde d95794ec8a
One Copyright Update to rule them all 
As many open source projects have started doing it, we're removing the
current year from the copyright notice, so that we don't need to bump
it every year.

It seems like only the first year of publication is technically
relevant for copyright notices, and even that seems to be something
that many companies stopped listing altogether (in a version controlled
codebase, the commits are a much better source of date of publication
than a hardcoded copyright statement).

We also now list Godot Engine contributors first as we're collectively
the current maintainers of the project, and we clarify that the
"exclusive" copyright of the co-founders covers the timespan before
opensourcing (their further contributions are included as part of Godot
Engine contributors).

Also fixed "cf." Frenchism - it's meant as "refer to / see".
2023-01-05 13:25:55 +01:00

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/**************************************************************************/
/* joint_3d.h */
/**************************************************************************/
/* 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. */
/**************************************************************************/
#ifndef JOINT_3D_H
#define JOINT_3D_H
#include "scene/3d/node_3d.h"
#include "scene/3d/physics_body_3d.h"
class Joint3D : public Node3D {
GDCLASS(Joint3D, Node3D);
RID ba, bb;
RID joint;
NodePath a;
NodePath b;
int solver_priority = 1;
bool exclude_from_collision = true;
String warning;
bool configured = false;
protected:
void _disconnect_signals();
void _body_exit_tree();
void _update_joint(bool p_only_free = false);
void _notification(int p_what);
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) = 0;
static void _bind_methods();
_FORCE_INLINE_ bool is_configured() const { return configured; }
public:
virtual PackedStringArray get_configuration_warnings() const override;
void set_node_a(const NodePath &p_node_a);
NodePath get_node_a() const;
void set_node_b(const NodePath &p_node_b);
NodePath get_node_b() const;
void set_solver_priority(int p_priority);
int get_solver_priority() const;
void set_exclude_nodes_from_collision(bool p_enable);
bool get_exclude_nodes_from_collision() const;
RID get_joint() const { return joint; }
Joint3D();
~Joint3D();
};
///////////////////////////////////////////
class PinJoint3D : public Joint3D {
GDCLASS(PinJoint3D, Joint3D);
public:
enum Param {
PARAM_BIAS = PhysicsServer3D::PIN_JOINT_BIAS,
PARAM_DAMPING = PhysicsServer3D::PIN_JOINT_DAMPING,
PARAM_IMPULSE_CLAMP = PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP
};
protected:
real_t params[3];
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
static void _bind_methods();
public:
void set_param(Param p_param, real_t p_value);
real_t get_param(Param p_param) const;
PinJoint3D();
};
VARIANT_ENUM_CAST(PinJoint3D::Param);
class HingeJoint3D : public Joint3D {
GDCLASS(HingeJoint3D, Joint3D);
public:
enum Param {
PARAM_BIAS = PhysicsServer3D::HINGE_JOINT_BIAS,
PARAM_LIMIT_UPPER = PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER,
PARAM_LIMIT_LOWER = PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER,
PARAM_LIMIT_BIAS = PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS,
PARAM_LIMIT_SOFTNESS = PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS,
PARAM_LIMIT_RELAXATION = PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION,
PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY,
PARAM_MOTOR_MAX_IMPULSE = PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE,
PARAM_MAX = PhysicsServer3D::HINGE_JOINT_MAX
};
enum Flag {
FLAG_USE_LIMIT = PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT,
FLAG_ENABLE_MOTOR = PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR,
FLAG_MAX = PhysicsServer3D::HINGE_JOINT_FLAG_MAX
};
protected:
real_t params[PARAM_MAX];
bool flags[FLAG_MAX];
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
static void _bind_methods();
public:
void set_param(Param p_param, real_t p_value);
real_t get_param(Param p_param) const;
void set_flag(Flag p_flag, bool p_value);
bool get_flag(Flag p_flag) const;
HingeJoint3D();
};
VARIANT_ENUM_CAST(HingeJoint3D::Param);
VARIANT_ENUM_CAST(HingeJoint3D::Flag);
class SliderJoint3D : public Joint3D {
GDCLASS(SliderJoint3D, Joint3D);
public:
enum Param {
PARAM_LINEAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER,
PARAM_LINEAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER,
PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS,
PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION,
PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING,
PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS,
PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION,
PARAM_LINEAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING,
PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS,
PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION,
PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING,
PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER,
PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER,
PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS,
PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION,
PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING,
PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS,
PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION,
PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING,
PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS,
PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION,
PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING,
PARAM_MAX = PhysicsServer3D::SLIDER_JOINT_MAX
};
protected:
real_t params[PARAM_MAX];
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
static void _bind_methods();
public:
void set_param(Param p_param, real_t p_value);
real_t get_param(Param p_param) const;
SliderJoint3D();
};
VARIANT_ENUM_CAST(SliderJoint3D::Param);
class ConeTwistJoint3D : public Joint3D {
GDCLASS(ConeTwistJoint3D, Joint3D);
public:
enum Param {
PARAM_SWING_SPAN,
PARAM_TWIST_SPAN,
PARAM_BIAS,
PARAM_SOFTNESS,
PARAM_RELAXATION,
PARAM_MAX
};
protected:
real_t params[PARAM_MAX];
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
static void _bind_methods();
public:
void set_param(Param p_param, real_t p_value);
real_t get_param(Param p_param) const;
ConeTwistJoint3D();
};
VARIANT_ENUM_CAST(ConeTwistJoint3D::Param);
class Generic6DOFJoint3D : public Joint3D {
GDCLASS(Generic6DOFJoint3D, Joint3D);
public:
enum Param {
PARAM_LINEAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT,
PARAM_LINEAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT,
PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
PARAM_LINEAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION,
PARAM_LINEAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING,
PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS,
PARAM_LINEAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING,
PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT,
PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
PARAM_ANGULAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING,
PARAM_ANGULAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION,
PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_FORCE_LIMIT,
PARAM_ANGULAR_ERP = PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP,
PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
PARAM_MAX = PhysicsServer3D::G6DOF_JOINT_MAX,
};
enum Flag {
FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
FLAG_ENABLE_LINEAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING,
FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING,
FLAG_ENABLE_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
FLAG_MAX = PhysicsServer3D::G6DOF_JOINT_FLAG_MAX
};
protected:
real_t params_x[PARAM_MAX];
bool flags_x[FLAG_MAX];
real_t params_y[PARAM_MAX];
bool flags_y[FLAG_MAX];
real_t params_z[PARAM_MAX];
bool flags_z[FLAG_MAX];
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
static void _bind_methods();
public:
void set_param_x(Param p_param, real_t p_value);
real_t get_param_x(Param p_param) const;
void set_param_y(Param p_param, real_t p_value);
real_t get_param_y(Param p_param) const;
void set_param_z(Param p_param, real_t p_value);
real_t get_param_z(Param p_param) const;
void set_flag_x(Flag p_flag, bool p_enabled);
bool get_flag_x(Flag p_flag) const;
void set_flag_y(Flag p_flag, bool p_enabled);
bool get_flag_y(Flag p_flag) const;
void set_flag_z(Flag p_flag, bool p_enabled);
bool get_flag_z(Flag p_flag) const;
Generic6DOFJoint3D();
};
VARIANT_ENUM_CAST(Generic6DOFJoint3D::Param);
VARIANT_ENUM_CAST(Generic6DOFJoint3D::Flag);
#endif // JOINT_3D_H
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