Merge pull request #17559 from simedis/joint_motors

Implemented interface for bullet linear motors

2 files changed, 24 insertions, 0 deletions

diff --git a/scene/3d/physics_joint.cpp b/scene/3d/physics_joint.cpp
index 2e9f1a241a..b2d10006f7 100644
--- a/scene/3d/physics_joint.cpp
+++ b/scene/3d/physics_joint.cpp
@@ -716,6 +716,9 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_LIMIT_SOFTNESS);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_RESTITUTION);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_DAMPING);
+	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, "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");
@@ -734,6 +737,9 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_LIMIT_SOFTNESS);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_RESTITUTION);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_DAMPING);
+	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, "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");
@@ -752,6 +758,9 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_LIMIT_SOFTNESS);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_RESTITUTION);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_DAMPING);
+	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, "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 +778,8 @@ void Generic6DOFJoint::_bind_methods() {
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS);
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_RESTITUTION);
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_DAMPING);
+	BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
+	BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTOR_FORCE_LIMIT);
 	BIND_ENUM_CONSTANT(PARAM_ANGULAR_LOWER_LIMIT);
 	BIND_ENUM_CONSTANT(PARAM_ANGULAR_UPPER_LIMIT);
 	BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS);
@@ -783,6 +794,7 @@ void Generic6DOFJoint::_bind_methods() {
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_LIMIT);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_LIMIT);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR);
+	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_MOTOR);
 	BIND_ENUM_CONSTANT(FLAG_MAX);
 }
 
@@ -912,6 +924,8 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_x(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7);
 	set_param_x(PARAM_LINEAR_RESTITUTION, 0.5);
 	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_ANGULAR_LOWER_LIMIT, 0);
 	set_param_x(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_x(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -925,12 +939,15 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true);
 	set_flag_x(FLAG_ENABLE_MOTOR, false);
+	set_flag_x(FLAG_ENABLE_LINEAR_MOTOR, false);
 
 	set_param_y(PARAM_LINEAR_LOWER_LIMIT, 0);
 	set_param_y(PARAM_LINEAR_UPPER_LIMIT, 0);
 	set_param_y(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7);
 	set_param_y(PARAM_LINEAR_RESTITUTION, 0.5);
 	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_ANGULAR_LOWER_LIMIT, 0);
 	set_param_y(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_y(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -944,12 +961,15 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true);
 	set_flag_y(FLAG_ENABLE_MOTOR, false);
+	set_flag_y(FLAG_ENABLE_LINEAR_MOTOR, false);
 
 	set_param_z(PARAM_LINEAR_LOWER_LIMIT, 0);
 	set_param_z(PARAM_LINEAR_UPPER_LIMIT, 0);
 	set_param_z(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7);
 	set_param_z(PARAM_LINEAR_RESTITUTION, 0.5);
 	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_ANGULAR_LOWER_LIMIT, 0);
 	set_param_z(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_z(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -963,4 +983,5 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true);
 	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 000109ac55..37870d6f30 100644
--- a/scene/3d/physics_joint.h
+++ b/scene/3d/physics_joint.h
@@ -249,6 +249,8 @@ public:
 		PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
 		PARAM_LINEAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION,
 		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_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,
@@ -265,6 +267,7 @@ public:
 		FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
 		FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
 		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
 	};