Merge pull request #23668 from sdfgeoff/fix_angular_constraints

Exposing more of bullets 6DOF spring constraints

2 files changed, 60 insertions, 0 deletions

diff --git a/scene/3d/physics_joint.cpp b/scene/3d/physics_joint.cpp
index a30fc0ac3e..1adf1c5d79 100644
--- a/scene/3d/physics_joint.cpp
+++ b/scene/3d/physics_joint.cpp
@@ -716,6 +716,11 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_x/damping"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT);
+
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_LIMIT);
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_x", "_get_angular_hi_limit_x");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_x", "_get_angular_lo_limit_x");
@@ -727,6 +732,10 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_x/damping"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT);
 
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_LIMIT);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/upper_distance"), "set_param_y", "get_param_y", PARAM_LINEAR_UPPER_LIMIT);
@@ -737,6 +746,10 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_y/damping"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT);
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_LIMIT);
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_y", "_get_angular_hi_limit_y");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_y", "_get_angular_lo_limit_y");
@@ -748,6 +761,10 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_y/damping"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT);
 
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_LIMIT);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/upper_distance"), "set_param_z", "get_param_z", PARAM_LINEAR_UPPER_LIMIT);
@@ -758,6 +775,11 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_z/damping"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_z/equilibrium_point"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT);
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_LIMIT);
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_z", "_get_angular_hi_limit_z");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_z", "_get_angular_lo_limit_z");
@@ -769,6 +791,10 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/damping"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/equilibrium_point"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT);
 
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_LOWER_LIMIT);
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_UPPER_LIMIT);
@@ -790,6 +816,8 @@ void Generic6DOFJoint::_bind_methods() {
 
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_LIMIT);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_LIMIT);
+	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_SPRING);
+	BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_SPRING);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_MOTOR);
 	BIND_ENUM_CONSTANT(FLAG_MAX);
@@ -923,6 +951,9 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_x(PARAM_LINEAR_DAMPING, 1.0);
 	set_param_x(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_x(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
+	set_param_x(PARAM_LINEAR_SPRING_STIFFNESS, 0.01);
+	set_param_x(PARAM_LINEAR_SPRING_DAMPING, 0.01);
+	set_param_x(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0);
 	set_param_x(PARAM_ANGULAR_LOWER_LIMIT, 0);
 	set_param_x(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_x(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -932,9 +963,14 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_x(PARAM_ANGULAR_ERP, 0.5);
 	set_param_x(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_x(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300);
+	set_param_x(PARAM_ANGULAR_SPRING_STIFFNESS, 0);
+	set_param_x(PARAM_ANGULAR_SPRING_DAMPING, 0);
+	set_param_x(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0);
 
 	set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true);
+	set_flag_x(FLAG_ENABLE_ANGULAR_SPRING, false);
+	set_flag_x(FLAG_ENABLE_LINEAR_SPRING, false);
 	set_flag_x(FLAG_ENABLE_MOTOR, false);
 	set_flag_x(FLAG_ENABLE_LINEAR_MOTOR, false);
 
@@ -945,6 +981,9 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_y(PARAM_LINEAR_DAMPING, 1.0);
 	set_param_y(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_y(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
+	set_param_y(PARAM_LINEAR_SPRING_STIFFNESS, 0.01);
+	set_param_y(PARAM_LINEAR_SPRING_DAMPING, 0.01);
+	set_param_y(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0);
 	set_param_y(PARAM_ANGULAR_LOWER_LIMIT, 0);
 	set_param_y(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_y(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -954,9 +993,14 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_y(PARAM_ANGULAR_ERP, 0.5);
 	set_param_y(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_y(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300);
+	set_param_y(PARAM_ANGULAR_SPRING_STIFFNESS, 0);
+	set_param_y(PARAM_ANGULAR_SPRING_DAMPING, 0);
+	set_param_y(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0);
 
 	set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true);
+	set_flag_y(FLAG_ENABLE_ANGULAR_SPRING, false);
+	set_flag_y(FLAG_ENABLE_LINEAR_SPRING, false);
 	set_flag_y(FLAG_ENABLE_MOTOR, false);
 	set_flag_y(FLAG_ENABLE_LINEAR_MOTOR, false);
 
@@ -967,6 +1011,9 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_z(PARAM_LINEAR_DAMPING, 1.0);
 	set_param_z(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_z(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
+	set_param_z(PARAM_LINEAR_SPRING_STIFFNESS, 0.01);
+	set_param_z(PARAM_LINEAR_SPRING_DAMPING, 0.01);
+	set_param_z(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0);
 	set_param_z(PARAM_ANGULAR_LOWER_LIMIT, 0);
 	set_param_z(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_z(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -976,9 +1023,14 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_z(PARAM_ANGULAR_ERP, 0.5);
 	set_param_z(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_z(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300);
+	set_param_z(PARAM_ANGULAR_SPRING_STIFFNESS, 0);
+	set_param_z(PARAM_ANGULAR_SPRING_DAMPING, 0);
+	set_param_z(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0);
 
 	set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true);
+	set_flag_z(FLAG_ENABLE_ANGULAR_SPRING, false);
+	set_flag_z(FLAG_ENABLE_LINEAR_SPRING, false);
 	set_flag_z(FLAG_ENABLE_MOTOR, false);
 	set_flag_z(FLAG_ENABLE_LINEAR_MOTOR, false);
 }
diff --git a/scene/3d/physics_joint.h b/scene/3d/physics_joint.h
index 37870d6f30..ee4ca28658 100644
--- a/scene/3d/physics_joint.h
+++ b/scene/3d/physics_joint.h
@@ -251,6 +251,9 @@ public:
 		PARAM_LINEAR_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING,
 		PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
 		PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
+		PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS,
+		PARAM_LINEAR_SPRING_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING,
+		PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT,
 		PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
 		PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
 		PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
@@ -260,12 +263,17 @@ public:
 		PARAM_ANGULAR_ERP = PhysicsServer::G6DOF_JOINT_ANGULAR_ERP,
 		PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
 		PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
+		PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
+		PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
+		PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
 		PARAM_MAX = PhysicsServer::G6DOF_JOINT_MAX,
 	};
 
 	enum Flag {
 		FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
 		FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
+		FLAG_ENABLE_LINEAR_SPRING = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING,
+		FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING,
 		FLAG_ENABLE_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
 		FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
 		FLAG_MAX = PhysicsServer::G6DOF_JOINT_FLAG_MAX