306 lines
10 KiB
C++
306 lines
10 KiB
C++
/**************************************************************************/
|
|
/* physical_bone_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 PHYSICAL_BONE_3D_H
|
|
#define PHYSICAL_BONE_3D_H
|
|
|
|
#include "scene/3d/physics/physics_body_3d.h"
|
|
#include "scene/3d/skeleton_3d.h"
|
|
|
|
class PhysicalBone3D : public PhysicsBody3D {
|
|
GDCLASS(PhysicalBone3D, PhysicsBody3D);
|
|
|
|
public:
|
|
enum DampMode {
|
|
DAMP_MODE_COMBINE,
|
|
DAMP_MODE_REPLACE,
|
|
};
|
|
|
|
enum JointType {
|
|
JOINT_TYPE_NONE,
|
|
JOINT_TYPE_PIN,
|
|
JOINT_TYPE_CONE,
|
|
JOINT_TYPE_HINGE,
|
|
JOINT_TYPE_SLIDER,
|
|
JOINT_TYPE_6DOF
|
|
};
|
|
|
|
struct JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
|
|
|
|
/// "j" is used to set the parameter inside the PhysicsServer3D
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
virtual ~JointData() {}
|
|
};
|
|
|
|
struct PinJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t bias = 0.3;
|
|
real_t damping = 1.0;
|
|
real_t impulse_clamp = 0.0;
|
|
};
|
|
|
|
struct ConeJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t swing_span = Math_PI * 0.25;
|
|
real_t twist_span = Math_PI;
|
|
real_t bias = 0.3;
|
|
real_t softness = 0.8;
|
|
real_t relaxation = 1.;
|
|
};
|
|
|
|
struct HingeJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
bool angular_limit_enabled = false;
|
|
real_t angular_limit_upper = Math_PI * 0.5;
|
|
real_t angular_limit_lower = -Math_PI * 0.5;
|
|
real_t angular_limit_bias = 0.3;
|
|
real_t angular_limit_softness = 0.9;
|
|
real_t angular_limit_relaxation = 1.;
|
|
};
|
|
|
|
struct SliderJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t linear_limit_upper = 1.0;
|
|
real_t linear_limit_lower = -1.0;
|
|
real_t linear_limit_softness = 1.0;
|
|
real_t linear_limit_restitution = 0.7;
|
|
real_t linear_limit_damping = 1.0;
|
|
real_t angular_limit_upper = 0.0;
|
|
real_t angular_limit_lower = 0.0;
|
|
real_t angular_limit_softness = 1.0;
|
|
real_t angular_limit_restitution = 0.7;
|
|
real_t angular_limit_damping = 1.0;
|
|
};
|
|
|
|
struct SixDOFJointData : public JointData {
|
|
struct SixDOFAxisData {
|
|
bool linear_limit_enabled = true;
|
|
real_t linear_limit_upper = 0.0;
|
|
real_t linear_limit_lower = 0.0;
|
|
real_t linear_limit_softness = 0.7;
|
|
real_t linear_restitution = 0.5;
|
|
real_t linear_damping = 1.0;
|
|
bool linear_spring_enabled = false;
|
|
real_t linear_spring_stiffness = 0.0;
|
|
real_t linear_spring_damping = 0.0;
|
|
real_t linear_equilibrium_point = 0.0;
|
|
bool angular_limit_enabled = true;
|
|
real_t angular_limit_upper = 0.0;
|
|
real_t angular_limit_lower = 0.0;
|
|
real_t angular_limit_softness = 0.5;
|
|
real_t angular_restitution = 0.0;
|
|
real_t angular_damping = 1.0;
|
|
real_t erp = 0.5;
|
|
bool angular_spring_enabled = false;
|
|
real_t angular_spring_stiffness = 0.0;
|
|
real_t angular_spring_damping = 0.0;
|
|
real_t angular_equilibrium_point = 0.0;
|
|
};
|
|
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
SixDOFAxisData axis_data[3];
|
|
|
|
SixDOFJointData() {}
|
|
};
|
|
|
|
private:
|
|
#ifdef TOOLS_ENABLED
|
|
// if false gizmo move body
|
|
bool gizmo_move_joint = false;
|
|
#endif
|
|
|
|
JointData *joint_data = nullptr;
|
|
Transform3D joint_offset;
|
|
RID joint;
|
|
|
|
Skeleton3D *parent_skeleton = nullptr;
|
|
Transform3D body_offset;
|
|
Transform3D body_offset_inverse;
|
|
bool simulate_physics = false;
|
|
bool _internal_simulate_physics = false;
|
|
int bone_id = -1;
|
|
|
|
String bone_name;
|
|
real_t bounce = 0.0;
|
|
real_t mass = 1.0;
|
|
real_t friction = 1.0;
|
|
Vector3 linear_velocity;
|
|
Vector3 angular_velocity;
|
|
real_t gravity_scale = 1.0;
|
|
bool can_sleep = true;
|
|
|
|
bool custom_integrator = false;
|
|
|
|
DampMode linear_damp_mode = DAMP_MODE_COMBINE;
|
|
DampMode angular_damp_mode = DAMP_MODE_COMBINE;
|
|
|
|
real_t linear_damp = 0.0;
|
|
real_t angular_damp = 0.0;
|
|
|
|
protected:
|
|
bool _set(const StringName &p_name, const Variant &p_value);
|
|
bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
void _notification(int p_what);
|
|
GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
|
|
static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
|
|
void _body_state_changed(PhysicsDirectBodyState3D *p_state);
|
|
|
|
static void _bind_methods();
|
|
|
|
private:
|
|
void _sync_body_state(PhysicsDirectBodyState3D *p_state);
|
|
static Skeleton3D *find_skeleton_parent(Node *p_parent);
|
|
|
|
void _update_joint_offset();
|
|
void _fix_joint_offset();
|
|
void _reload_joint();
|
|
|
|
public:
|
|
void _on_bone_parent_changed();
|
|
|
|
void set_linear_velocity(const Vector3 &p_velocity);
|
|
Vector3 get_linear_velocity() const override;
|
|
|
|
void set_angular_velocity(const Vector3 &p_velocity);
|
|
Vector3 get_angular_velocity() const override;
|
|
|
|
void set_use_custom_integrator(bool p_enable);
|
|
bool is_using_custom_integrator();
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
void _set_gizmo_move_joint(bool p_move_joint);
|
|
virtual Transform3D get_global_gizmo_transform() const override;
|
|
virtual Transform3D get_local_gizmo_transform() const override;
|
|
#endif
|
|
|
|
const JointData *get_joint_data() const;
|
|
Skeleton3D *find_skeleton_parent();
|
|
|
|
int get_bone_id() const {
|
|
return bone_id;
|
|
}
|
|
|
|
void set_joint_type(JointType p_joint_type);
|
|
JointType get_joint_type() const;
|
|
|
|
void set_joint_offset(const Transform3D &p_offset);
|
|
const Transform3D &get_joint_offset() const;
|
|
|
|
void set_joint_rotation(const Vector3 &p_euler_rad);
|
|
Vector3 get_joint_rotation() const;
|
|
|
|
void set_body_offset(const Transform3D &p_offset);
|
|
const Transform3D &get_body_offset() const;
|
|
|
|
void set_simulate_physics(bool p_simulate);
|
|
bool get_simulate_physics();
|
|
bool is_simulating_physics();
|
|
|
|
void set_bone_name(const String &p_name);
|
|
const String &get_bone_name() const;
|
|
|
|
void set_mass(real_t p_mass);
|
|
real_t get_mass() const;
|
|
|
|
void set_friction(real_t p_friction);
|
|
real_t get_friction() const;
|
|
|
|
void set_bounce(real_t p_bounce);
|
|
real_t get_bounce() const;
|
|
|
|
void set_gravity_scale(real_t p_gravity_scale);
|
|
real_t get_gravity_scale() const;
|
|
|
|
void set_linear_damp_mode(DampMode p_mode);
|
|
DampMode get_linear_damp_mode() const;
|
|
|
|
void set_angular_damp_mode(DampMode p_mode);
|
|
DampMode get_angular_damp_mode() const;
|
|
|
|
void set_linear_damp(real_t p_linear_damp);
|
|
real_t get_linear_damp() const;
|
|
|
|
void set_angular_damp(real_t p_angular_damp);
|
|
real_t get_angular_damp() const;
|
|
|
|
void set_can_sleep(bool p_active);
|
|
bool is_able_to_sleep() const;
|
|
|
|
void apply_central_impulse(const Vector3 &p_impulse);
|
|
void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
|
|
|
|
void reset_physics_simulation_state();
|
|
void reset_to_rest_position();
|
|
|
|
PhysicalBone3D();
|
|
~PhysicalBone3D();
|
|
|
|
private:
|
|
void update_bone_id();
|
|
void update_offset();
|
|
|
|
void _start_physics_simulation();
|
|
void _stop_physics_simulation();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(PhysicalBone3D::JointType);
|
|
VARIANT_ENUM_CAST(PhysicalBone3D::DampMode);
|
|
|
|
#endif // PHYSICAL_BONE_3D_H
|