diff options
Diffstat (limited to 'scene/3d/physics_joint.cpp')
| -rw-r--r-- | scene/3d/physics_joint.cpp | 67 |
1 files changed, 66 insertions, 1 deletions
diff --git a/scene/3d/physics_joint.cpp b/scene/3d/physics_joint.cpp index a30fc0ac3e..8fd86c940c 100644 --- a/scene/3d/physics_joint.cpp +++ b/scene/3d/physics_joint.cpp @@ -707,6 +707,9 @@ void Generic6DOFJoint::_bind_methods() { ClassDB::bind_method(D_METHOD("set_flag_z", "flag", "value"), &Generic6DOFJoint::set_flag_z); ClassDB::bind_method(D_METHOD("get_flag_z", "flag"), &Generic6DOFJoint::get_flag_z); + ClassDB::bind_method(D_METHOD("set_precision", "precision"), &Generic6DOFJoint::set_precision); + ClassDB::bind_method(D_METHOD("get_precision"), &Generic6DOFJoint::get_precision); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_LIMIT); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/upper_distance"), "set_param_x", "get_param_x", PARAM_LINEAR_UPPER_LIMIT); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/lower_distance"), "set_param_x", "get_param_x", PARAM_LINEAR_LOWER_LIMIT); @@ -716,6 +719,11 @@ 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 +735,10 @@ 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 +749,10 @@ 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 +764,10 @@ 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 +778,10 @@ 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::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 +793,12 @@ 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); + + ADD_PROPERTY(PropertyInfo(Variant::INT, "precision", PROPERTY_HINT_RANGE, "1,99999,1"), "set_precision", "get_precision"); BIND_ENUM_CONSTANT(PARAM_LINEAR_LOWER_LIMIT); BIND_ENUM_CONSTANT(PARAM_LINEAR_UPPER_LIMIT); @@ -790,6 +820,8 @@ 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); @@ -880,6 +912,14 @@ bool Generic6DOFJoint::get_flag_z(Flag p_flag) const { return flags_z[p_flag]; } +void Generic6DOFJoint::set_precision(int p_precision) { + precision = p_precision; + + PhysicsServer::get_singleton()->generic_6dof_joint_set_precision( + get_joint(), + precision); +} + RID Generic6DOFJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) { Transform gt = get_global_transform(); @@ -914,7 +954,8 @@ RID Generic6DOFJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) return j; } -Generic6DOFJoint::Generic6DOFJoint() { +Generic6DOFJoint::Generic6DOFJoint() : + precision(1) { set_param_x(PARAM_LINEAR_LOWER_LIMIT, 0); set_param_x(PARAM_LINEAR_UPPER_LIMIT, 0); @@ -923,6 +964,9 @@ 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 +976,14 @@ 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 +994,9 @@ 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 +1006,14 @@ 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 +1024,9 @@ 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 +1036,14 @@ 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); } |