249 lines
11 KiB
C++
249 lines
11 KiB
C++
/*************************************************************************/
|
|
/* slider_joint_sw.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
|
|
/* */
|
|
/* 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. */
|
|
/*************************************************************************/
|
|
|
|
/*
|
|
Adapted to Godot from the Bullet library.
|
|
*/
|
|
|
|
#ifndef SLIDER_JOINT_SW_H
|
|
#define SLIDER_JOINT_SW_H
|
|
|
|
#include "servers/physics/joints/jacobian_entry_sw.h"
|
|
#include "servers/physics/joints_sw.h"
|
|
|
|
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
/*
|
|
Added by Roman Ponomarev (rponom@gmail.com)
|
|
April 04, 2008
|
|
|
|
*/
|
|
|
|
#define SLIDER_CONSTRAINT_DEF_SOFTNESS (real_t(1.0))
|
|
#define SLIDER_CONSTRAINT_DEF_DAMPING (real_t(1.0))
|
|
#define SLIDER_CONSTRAINT_DEF_RESTITUTION (real_t(0.7))
|
|
|
|
//-----------------------------------------------------------------------------
|
|
|
|
class SliderJointSW : public JointSW {
|
|
protected:
|
|
union {
|
|
struct {
|
|
BodySW *A;
|
|
BodySW *B;
|
|
};
|
|
|
|
BodySW *_arr[2];
|
|
};
|
|
|
|
Transform m_frameInA;
|
|
Transform m_frameInB;
|
|
|
|
// linear limits
|
|
real_t m_lowerLinLimit;
|
|
real_t m_upperLinLimit;
|
|
// angular limits
|
|
real_t m_lowerAngLimit;
|
|
real_t m_upperAngLimit;
|
|
// softness, restitution and damping for different cases
|
|
// DirLin - moving inside linear limits
|
|
// LimLin - hitting linear limit
|
|
// DirAng - moving inside angular limits
|
|
// LimAng - hitting angular limit
|
|
// OrthoLin, OrthoAng - against constraint axis
|
|
real_t m_softnessDirLin;
|
|
real_t m_restitutionDirLin;
|
|
real_t m_dampingDirLin;
|
|
real_t m_softnessDirAng;
|
|
real_t m_restitutionDirAng;
|
|
real_t m_dampingDirAng;
|
|
real_t m_softnessLimLin;
|
|
real_t m_restitutionLimLin;
|
|
real_t m_dampingLimLin;
|
|
real_t m_softnessLimAng;
|
|
real_t m_restitutionLimAng;
|
|
real_t m_dampingLimAng;
|
|
real_t m_softnessOrthoLin;
|
|
real_t m_restitutionOrthoLin;
|
|
real_t m_dampingOrthoLin;
|
|
real_t m_softnessOrthoAng;
|
|
real_t m_restitutionOrthoAng;
|
|
real_t m_dampingOrthoAng;
|
|
|
|
// for interlal use
|
|
bool m_solveLinLim;
|
|
bool m_solveAngLim;
|
|
|
|
JacobianEntrySW m_jacLin[3];
|
|
real_t m_jacLinDiagABInv[3];
|
|
|
|
JacobianEntrySW m_jacAng[3];
|
|
|
|
real_t m_timeStep;
|
|
Transform m_calculatedTransformA;
|
|
Transform m_calculatedTransformB;
|
|
|
|
Vector3 m_sliderAxis;
|
|
Vector3 m_realPivotAInW;
|
|
Vector3 m_realPivotBInW;
|
|
Vector3 m_projPivotInW;
|
|
Vector3 m_delta;
|
|
Vector3 m_depth;
|
|
Vector3 m_relPosA;
|
|
Vector3 m_relPosB;
|
|
|
|
real_t m_linPos;
|
|
|
|
real_t m_angDepth;
|
|
real_t m_kAngle;
|
|
|
|
bool m_poweredLinMotor;
|
|
real_t m_targetLinMotorVelocity;
|
|
real_t m_maxLinMotorForce;
|
|
real_t m_accumulatedLinMotorImpulse;
|
|
|
|
bool m_poweredAngMotor;
|
|
real_t m_targetAngMotorVelocity;
|
|
real_t m_maxAngMotorForce;
|
|
real_t m_accumulatedAngMotorImpulse;
|
|
|
|
//------------------------
|
|
void initParams();
|
|
|
|
public:
|
|
// constructors
|
|
SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB);
|
|
//SliderJointSW();
|
|
// overrides
|
|
|
|
// access
|
|
const BodySW *getRigidBodyA() const { return A; }
|
|
const BodySW *getRigidBodyB() const { return B; }
|
|
const Transform &getCalculatedTransformA() const { return m_calculatedTransformA; }
|
|
const Transform &getCalculatedTransformB() const { return m_calculatedTransformB; }
|
|
const Transform &getFrameOffsetA() const { return m_frameInA; }
|
|
const Transform &getFrameOffsetB() const { return m_frameInB; }
|
|
Transform &getFrameOffsetA() { return m_frameInA; }
|
|
Transform &getFrameOffsetB() { return m_frameInB; }
|
|
real_t getLowerLinLimit() { return m_lowerLinLimit; }
|
|
void setLowerLinLimit(real_t lowerLimit) { m_lowerLinLimit = lowerLimit; }
|
|
real_t getUpperLinLimit() { return m_upperLinLimit; }
|
|
void setUpperLinLimit(real_t upperLimit) { m_upperLinLimit = upperLimit; }
|
|
real_t getLowerAngLimit() { return m_lowerAngLimit; }
|
|
void setLowerAngLimit(real_t lowerLimit) { m_lowerAngLimit = lowerLimit; }
|
|
real_t getUpperAngLimit() { return m_upperAngLimit; }
|
|
void setUpperAngLimit(real_t upperLimit) { m_upperAngLimit = upperLimit; }
|
|
|
|
real_t getSoftnessDirLin() { return m_softnessDirLin; }
|
|
real_t getRestitutionDirLin() { return m_restitutionDirLin; }
|
|
real_t getDampingDirLin() { return m_dampingDirLin; }
|
|
real_t getSoftnessDirAng() { return m_softnessDirAng; }
|
|
real_t getRestitutionDirAng() { return m_restitutionDirAng; }
|
|
real_t getDampingDirAng() { return m_dampingDirAng; }
|
|
real_t getSoftnessLimLin() { return m_softnessLimLin; }
|
|
real_t getRestitutionLimLin() { return m_restitutionLimLin; }
|
|
real_t getDampingLimLin() { return m_dampingLimLin; }
|
|
real_t getSoftnessLimAng() { return m_softnessLimAng; }
|
|
real_t getRestitutionLimAng() { return m_restitutionLimAng; }
|
|
real_t getDampingLimAng() { return m_dampingLimAng; }
|
|
real_t getSoftnessOrthoLin() { return m_softnessOrthoLin; }
|
|
real_t getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
|
|
real_t getDampingOrthoLin() { return m_dampingOrthoLin; }
|
|
real_t getSoftnessOrthoAng() { return m_softnessOrthoAng; }
|
|
real_t getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
|
|
real_t getDampingOrthoAng() { return m_dampingOrthoAng; }
|
|
void setSoftnessDirLin(real_t softnessDirLin) { m_softnessDirLin = softnessDirLin; }
|
|
void setRestitutionDirLin(real_t restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
|
|
void setDampingDirLin(real_t dampingDirLin) { m_dampingDirLin = dampingDirLin; }
|
|
void setSoftnessDirAng(real_t softnessDirAng) { m_softnessDirAng = softnessDirAng; }
|
|
void setRestitutionDirAng(real_t restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
|
|
void setDampingDirAng(real_t dampingDirAng) { m_dampingDirAng = dampingDirAng; }
|
|
void setSoftnessLimLin(real_t softnessLimLin) { m_softnessLimLin = softnessLimLin; }
|
|
void setRestitutionLimLin(real_t restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
|
|
void setDampingLimLin(real_t dampingLimLin) { m_dampingLimLin = dampingLimLin; }
|
|
void setSoftnessLimAng(real_t softnessLimAng) { m_softnessLimAng = softnessLimAng; }
|
|
void setRestitutionLimAng(real_t restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
|
|
void setDampingLimAng(real_t dampingLimAng) { m_dampingLimAng = dampingLimAng; }
|
|
void setSoftnessOrthoLin(real_t softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
|
|
void setRestitutionOrthoLin(real_t restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
|
|
void setDampingOrthoLin(real_t dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
|
|
void setSoftnessOrthoAng(real_t softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
|
|
void setRestitutionOrthoAng(real_t restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
|
|
void setDampingOrthoAng(real_t dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
|
|
void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
|
|
bool getPoweredLinMotor() { return m_poweredLinMotor; }
|
|
void setTargetLinMotorVelocity(real_t targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
|
|
real_t getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
|
|
void setMaxLinMotorForce(real_t maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
|
|
real_t getMaxLinMotorForce() { return m_maxLinMotorForce; }
|
|
void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
|
|
bool getPoweredAngMotor() { return m_poweredAngMotor; }
|
|
void setTargetAngMotorVelocity(real_t targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
|
|
real_t getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
|
|
void setMaxAngMotorForce(real_t maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
|
|
real_t getMaxAngMotorForce() { return m_maxAngMotorForce; }
|
|
real_t getLinearPos() { return m_linPos; }
|
|
|
|
// access for ODE solver
|
|
bool getSolveLinLimit() { return m_solveLinLim; }
|
|
real_t getLinDepth() { return m_depth[0]; }
|
|
bool getSolveAngLimit() { return m_solveAngLim; }
|
|
real_t getAngDepth() { return m_angDepth; }
|
|
// shared code used by ODE solver
|
|
void calculateTransforms(void);
|
|
void testLinLimits(void);
|
|
void testAngLimits(void);
|
|
// access for PE Solver
|
|
Vector3 getAncorInA(void);
|
|
Vector3 getAncorInB(void);
|
|
|
|
void set_param(PhysicsServer::SliderJointParam p_param, real_t p_value);
|
|
real_t get_param(PhysicsServer::SliderJointParam p_param) const;
|
|
|
|
bool setup(real_t p_step);
|
|
void solve(real_t p_step);
|
|
|
|
virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_SLIDER; }
|
|
};
|
|
|
|
#endif // SLIDER_JOINT_SW_H
|