diff options
Diffstat (limited to 'scene/3d/physics_body.h')
| -rw-r--r-- | scene/3d/physics_body.h | 264 |
1 files changed, 264 insertions, 0 deletions
diff --git a/scene/3d/physics_body.h b/scene/3d/physics_body.h index ffdc9ab309..17d2769c79 100644 --- a/scene/3d/physics_body.h +++ b/scene/3d/physics_body.h @@ -33,6 +33,7 @@ #include "scene/3d/collision_object.h" #include "servers/physics_server.h" +#include "skeleton.h" #include "vset.h" class PhysicsBody : public CollisionObject { @@ -342,4 +343,267 @@ public: KinematicCollision(); }; +class PhysicalBone : public PhysicsBody { + + GDCLASS(PhysicalBone, PhysicsBody); + +public: + 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 PhysicsServer + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + }; + + 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 = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t bias; + real_t damping; + real_t impulse_clamp; + + PinJointData() : + bias(0.3), + damping(1.), + impulse_clamp(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 = RID()); + 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; + real_t twist_span; + real_t bias; + real_t softness; + real_t relaxation; + + ConeJointData() : + swing_span(Math_PI * 0.25), + twist_span(Math_PI), + bias(0.3), + softness(0.8), + 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 = RID()); + 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; + real_t angular_limit_upper; + real_t angular_limit_lower; + real_t angular_limit_bias; + real_t angular_limit_softness; + real_t angular_limit_relaxation; + + HingeJointData() : + angular_limit_enabled(false), + angular_limit_upper(Math_PI * 0.5), + angular_limit_lower(-Math_PI * 0.5), + angular_limit_bias(0.3), + angular_limit_softness(0.9), + 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 = RID()); + 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; + real_t linear_limit_lower; + real_t linear_limit_softness; + real_t linear_limit_restitution; + real_t linear_limit_damping; + real_t angular_limit_upper; + real_t angular_limit_lower; + real_t angular_limit_softness; + real_t angular_limit_restitution; + real_t angular_limit_damping; + + SliderJointData() : + linear_limit_upper(1.), + linear_limit_lower(-1.), + linear_limit_softness(1.), + linear_limit_restitution(0.7), + linear_limit_damping(1.), + angular_limit_upper(0), + angular_limit_lower(0), + angular_limit_softness(1.), + angular_limit_restitution(0.7), + angular_limit_damping(1.) {} + }; + + struct SixDOFJointData : public JointData { + struct SixDOFAxisData { + bool linear_limit_enabled; + real_t linear_limit_upper; + real_t linear_limit_lower; + real_t linear_limit_softness; + real_t linear_restitution; + real_t linear_damping; + bool angular_limit_enabled; + real_t angular_limit_upper; + real_t angular_limit_lower; + real_t angular_limit_softness; + real_t angular_restitution; + real_t angular_damping; + real_t erp; + + SixDOFAxisData() : + linear_limit_enabled(true), + linear_limit_upper(0), + linear_limit_lower(0), + linear_limit_softness(0.7), + linear_restitution(0.5), + linear_damping(1.), + angular_limit_enabled(true), + angular_limit_upper(0), + angular_limit_lower(0), + angular_limit_softness(0.5), + angular_restitution(0), + angular_damping(1.), + erp(0.5) {} + }; + + virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + 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; +#endif + + JointData *joint_data; + Transform joint_offset; + RID joint; + + Skeleton *parent_skeleton; + Transform body_offset; + Transform body_offset_inverse; + bool static_body; + bool _internal_static_body; + bool simulate_physics; + bool _internal_simulate_physics; + int bone_id; + + String bone_name; + real_t bounce; + real_t mass; + real_t friction; + real_t gravity_scale; + +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); + void _direct_state_changed(Object *p_state); + + static void _bind_methods(); + +private: + static Skeleton *find_skeleton_parent(Node *p_parent); + void _fix_joint_offset(); + void _reload_joint(); + +public: + void _on_bone_parent_changed(); + void _set_gizmo_move_joint(bool p_move_joint); + +public: +#ifdef TOOLS_ENABLED + virtual Transform get_global_gizmo_transform() const; + virtual Transform get_local_gizmo_transform() const; +#endif + + const JointData *get_joint_data() const; + Skeleton *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 Transform &p_offset); + const Transform &get_joint_offset() const; + + void set_body_offset(const Transform &p_offset); + const Transform &get_body_offset() const; + + void set_static_body(bool p_static); + bool is_static_body(); + + 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_weight(real_t p_weight); + real_t get_weight() 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; + + PhysicalBone(); + ~PhysicalBone(); + +private: + void update_bone_id(); + void update_offset(); + void reset_to_rest_position(); + + void _reset_physics_simulation_state(); + void _reset_staticness_state(); + + void _start_physics_simulation(); + void _stop_physics_simulation(); +}; + +VARIANT_ENUM_CAST(PhysicalBone::JointType); + #endif // PHYSICS_BODY__H |