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Diffstat (limited to 'scene/3d/physics_joint.cpp')
| -rw-r--r-- | scene/3d/physics_joint.cpp | 1049 |
1 files changed, 0 insertions, 1049 deletions
diff --git a/scene/3d/physics_joint.cpp b/scene/3d/physics_joint.cpp deleted file mode 100644 index eacc6bcc0f..0000000000 --- a/scene/3d/physics_joint.cpp +++ /dev/null @@ -1,1049 +0,0 @@ -/*************************************************************************/ -/* physics_joint.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ -/* */ -/* 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. */ -/*************************************************************************/ - -#include "physics_joint.h" - -void Joint::_update_joint(bool p_only_free) { - - if (joint.is_valid()) { - if (ba.is_valid() && bb.is_valid()) - PhysicsServer::get_singleton()->body_remove_collision_exception(ba, bb); - - PhysicsServer::get_singleton()->free(joint); - joint = RID(); - ba = RID(); - bb = RID(); - } - - if (p_only_free || !is_inside_tree()) - return; - - Node *node_a = has_node(get_node_a()) ? get_node(get_node_a()) : (Node *)NULL; - Node *node_b = has_node(get_node_b()) ? get_node(get_node_b()) : (Node *)NULL; - - PhysicsBody *body_a = Object::cast_to<PhysicsBody>(node_a); - PhysicsBody *body_b = Object::cast_to<PhysicsBody>(node_b); - - if (!body_a && body_b) - SWAP(body_a, body_b); - - if (!body_a) - return; - - joint = _configure_joint(body_a, body_b); - - if (!joint.is_valid()) - return; - - PhysicsServer::get_singleton()->joint_set_solver_priority(joint, solver_priority); - - ba = body_a->get_rid(); - if (body_b) - bb = body_b->get_rid(); - - PhysicsServer::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); -} - -void Joint::set_node_a(const NodePath &p_node_a) { - - if (a == p_node_a) - return; - - a = p_node_a; - _update_joint(); -} - -NodePath Joint::get_node_a() const { - - return a; -} - -void Joint::set_node_b(const NodePath &p_node_b) { - - if (b == p_node_b) - return; - b = p_node_b; - _update_joint(); -} -NodePath Joint::get_node_b() const { - - return b; -} - -void Joint::set_solver_priority(int p_priority) { - - solver_priority = p_priority; - if (joint.is_valid()) - PhysicsServer::get_singleton()->joint_set_solver_priority(joint, solver_priority); -} - -int Joint::get_solver_priority() const { - - return solver_priority; -} - -void Joint::_notification(int p_what) { - - switch (p_what) { - - case NOTIFICATION_READY: { - _update_joint(); - } break; - case NOTIFICATION_EXIT_TREE: { - if (joint.is_valid()) { - _update_joint(true); - } - } break; - } -} - -void Joint::set_exclude_nodes_from_collision(bool p_enable) { - - if (exclude_from_collision == p_enable) - return; - exclude_from_collision = p_enable; - _update_joint(); -} - -bool Joint::get_exclude_nodes_from_collision() const { - - return exclude_from_collision; -} - -void Joint::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_node_a", "node"), &Joint::set_node_a); - ClassDB::bind_method(D_METHOD("get_node_a"), &Joint::get_node_a); - - ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint::set_node_b); - ClassDB::bind_method(D_METHOD("get_node_b"), &Joint::get_node_b); - - ClassDB::bind_method(D_METHOD("set_solver_priority", "priority"), &Joint::set_solver_priority); - ClassDB::bind_method(D_METHOD("get_solver_priority"), &Joint::get_solver_priority); - - ClassDB::bind_method(D_METHOD("set_exclude_nodes_from_collision", "enable"), &Joint::set_exclude_nodes_from_collision); - ClassDB::bind_method(D_METHOD("get_exclude_nodes_from_collision"), &Joint::get_exclude_nodes_from_collision); - - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "nodes/node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "CollisionObject"), "set_node_a", "get_node_a"); - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "nodes/node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "CollisionObject"), "set_node_b", "get_node_b"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "solver/priority", PROPERTY_HINT_RANGE, "1,8,1"), "set_solver_priority", "get_solver_priority"); - - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collision/exclude_nodes"), "set_exclude_nodes_from_collision", "get_exclude_nodes_from_collision"); -} - -Joint::Joint() { - - exclude_from_collision = true; - solver_priority = 1; - set_notify_transform(true); -} - -/////////////////////////////////// - -void PinJoint::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &PinJoint::set_param); - ClassDB::bind_method(D_METHOD("get_param", "param"), &PinJoint::get_param); - - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"), "set_param", "get_param", PARAM_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01"), "set_param", "get_param", PARAM_IMPULSE_CLAMP); - - BIND_ENUM_CONSTANT(PARAM_BIAS); - BIND_ENUM_CONSTANT(PARAM_DAMPING); - BIND_ENUM_CONSTANT(PARAM_IMPULSE_CLAMP); -} - -void PinJoint::set_param(Param p_param, float p_value) { - - ERR_FAIL_INDEX(p_param, 3); - params[p_param] = p_value; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->pin_joint_set_param(get_joint(), PhysicsServer::PinJointParam(p_param), p_value); -} -float PinJoint::get_param(Param p_param) const { - - ERR_FAIL_INDEX_V(p_param, 3, 0); - return params[p_param]; -} - -RID PinJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) { - - Vector3 pinpos = get_global_transform().origin; - Vector3 local_a = body_a->get_global_transform().affine_inverse().xform(pinpos); - Vector3 local_b; - - if (body_b) - local_b = body_b->get_global_transform().affine_inverse().xform(pinpos); - else - local_b = pinpos; - - RID j = PhysicsServer::get_singleton()->joint_create_pin(body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); - for (int i = 0; i < 3; i++) { - PhysicsServer::get_singleton()->pin_joint_set_param(j, PhysicsServer::PinJointParam(i), params[i]); - } - return j; -} - -PinJoint::PinJoint() { - - params[PARAM_BIAS] = 0.3; - params[PARAM_DAMPING] = 1; - params[PARAM_IMPULSE_CLAMP] = 0; -} - -///////////////////////////////////////////////// - -/////////////////////////////////// - -void HingeJoint::_set_upper_limit(float p_limit) { - - set_param(PARAM_LIMIT_UPPER, Math::deg2rad(p_limit)); -} - -float HingeJoint::_get_upper_limit() const { - - return Math::rad2deg(get_param(PARAM_LIMIT_UPPER)); -} - -void HingeJoint::_set_lower_limit(float p_limit) { - - set_param(PARAM_LIMIT_LOWER, Math::deg2rad(p_limit)); -} - -float HingeJoint::_get_lower_limit() const { - - return Math::rad2deg(get_param(PARAM_LIMIT_LOWER)); -} - -void HingeJoint::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &HingeJoint::set_param); - ClassDB::bind_method(D_METHOD("get_param", "param"), &HingeJoint::get_param); - - ClassDB::bind_method(D_METHOD("set_flag", "flag", "enabled"), &HingeJoint::set_flag); - ClassDB::bind_method(D_METHOD("get_flag", "flag"), &HingeJoint::get_flag); - - ClassDB::bind_method(D_METHOD("_set_upper_limit", "upper_limit"), &HingeJoint::_set_upper_limit); - ClassDB::bind_method(D_METHOD("_get_upper_limit"), &HingeJoint::_get_upper_limit); - - ClassDB::bind_method(D_METHOD("_set_lower_limit", "lower_limit"), &HingeJoint::_set_lower_limit); - ClassDB::bind_method(D_METHOD("_get_lower_limit"), &HingeJoint::_get_lower_limit); - - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/bias", PROPERTY_HINT_RANGE, "0.00,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit/enable"), "set_flag", "get_flag", FLAG_USE_LIMIT); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_upper_limit", "_get_upper_limit"); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_lower_limit", "_get_lower_limit"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_LIMIT_BIAS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit/relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_RELAXATION); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "motor/enable"), "set_flag", "get_flag", FLAG_ENABLE_MOTOR); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "motor/target_velocity", PROPERTY_HINT_RANGE, "-200,200,0.01,or_greater,or_lesser"), "set_param", "get_param", PARAM_MOTOR_TARGET_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "motor/max_impulse", PROPERTY_HINT_RANGE, "0.01,1024,0.01"), "set_param", "get_param", PARAM_MOTOR_MAX_IMPULSE); - - BIND_ENUM_CONSTANT(PARAM_BIAS); - BIND_ENUM_CONSTANT(PARAM_LIMIT_UPPER); - BIND_ENUM_CONSTANT(PARAM_LIMIT_LOWER); - BIND_ENUM_CONSTANT(PARAM_LIMIT_BIAS); - BIND_ENUM_CONSTANT(PARAM_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LIMIT_RELAXATION); - BIND_ENUM_CONSTANT(PARAM_MOTOR_TARGET_VELOCITY); - BIND_ENUM_CONSTANT(PARAM_MOTOR_MAX_IMPULSE); - BIND_ENUM_CONSTANT(PARAM_MAX); - - BIND_ENUM_CONSTANT(FLAG_USE_LIMIT); - BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); - BIND_ENUM_CONSTANT(FLAG_MAX); -} - -void HingeJoint::set_param(Param p_param, float p_value) { - - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params[p_param] = p_value; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->hinge_joint_set_param(get_joint(), PhysicsServer::HingeJointParam(p_param), p_value); - - update_gizmo(); -} -float HingeJoint::get_param(Param p_param) const { - - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params[p_param]; -} - -void HingeJoint::set_flag(Flag p_flag, bool p_value) { - - ERR_FAIL_INDEX(p_flag, FLAG_MAX); - flags[p_flag] = p_value; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->hinge_joint_set_flag(get_joint(), PhysicsServer::HingeJointFlag(p_flag), p_value); - - update_gizmo(); -} -bool HingeJoint::get_flag(Flag p_flag) const { - - ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); - return flags[p_flag]; -} - -RID HingeJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) { - - Transform gt = get_global_transform(); - Transform ainv = body_a->get_global_transform().affine_inverse(); - - Transform local_a = ainv * gt; - local_a.orthonormalize(); - Transform local_b = gt; - - if (body_b) { - Transform binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - RID j = PhysicsServer::get_singleton()->joint_create_hinge(body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); - for (int i = 0; i < PARAM_MAX; i++) { - PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HingeJointParam(i), params[i]); - } - for (int i = 0; i < FLAG_MAX; i++) { - set_flag(Flag(i), flags[i]); - PhysicsServer::get_singleton()->hinge_joint_set_flag(j, PhysicsServer::HingeJointFlag(i), flags[i]); - } - return j; -} - -HingeJoint::HingeJoint() { - - params[PARAM_BIAS] = 0.3; - params[PARAM_LIMIT_UPPER] = Math_PI * 0.5; - params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5; - params[PARAM_LIMIT_BIAS] = 0.3; - params[PARAM_LIMIT_SOFTNESS] = 0.9; - params[PARAM_LIMIT_RELAXATION] = 1.0; - params[PARAM_MOTOR_TARGET_VELOCITY] = 1; - params[PARAM_MOTOR_MAX_IMPULSE] = 1; - - flags[FLAG_USE_LIMIT] = false; - flags[FLAG_ENABLE_MOTOR] = false; -} - -///////////////////////////////////////////////// - -////////////////////////////////// - -void SliderJoint::_set_upper_limit_angular(float p_limit_angular) { - - set_param(PARAM_ANGULAR_LIMIT_UPPER, Math::deg2rad(p_limit_angular)); -} - -float SliderJoint::_get_upper_limit_angular() const { - - return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_UPPER)); -} - -void SliderJoint::_set_lower_limit_angular(float p_limit_angular) { - - set_param(PARAM_ANGULAR_LIMIT_LOWER, Math::deg2rad(p_limit_angular)); -} - -float SliderJoint::_get_lower_limit_angular() const { - - return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_LOWER)); -} - -void SliderJoint::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &SliderJoint::set_param); - ClassDB::bind_method(D_METHOD("get_param", "param"), &SliderJoint::get_param); - - ClassDB::bind_method(D_METHOD("_set_upper_limit_angular", "upper_limit_angular"), &SliderJoint::_set_upper_limit_angular); - ClassDB::bind_method(D_METHOD("_get_upper_limit_angular"), &SliderJoint::_get_upper_limit_angular); - - ClassDB::bind_method(D_METHOD("_set_lower_limit_angular", "lower_limit_angular"), &SliderJoint::_set_lower_limit_angular); - ClassDB::bind_method(D_METHOD("_get_lower_limit_angular"), &SliderJoint::_get_lower_limit_angular); - - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit/upper_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_UPPER); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit/lower_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_LOWER); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_DAMPING); - - ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_upper_limit_angular", "_get_upper_limit_angular"); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_lower_limit_angular", "_get_lower_limit_angular"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_DAMPING); - - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_UPPER); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_LOWER); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_DAMPING); - BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_DAMPING); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_DAMPING); - - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_UPPER); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_LOWER); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_DAMPING); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_DAMPING); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_DAMPING); - - BIND_ENUM_CONSTANT(PARAM_MAX); -} - -void SliderJoint::set_param(Param p_param, float p_value) { - - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params[p_param] = p_value; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(get_joint(), PhysicsServer::SliderJointParam(p_param), p_value); - update_gizmo(); -} -float SliderJoint::get_param(Param p_param) const { - - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params[p_param]; -} - -RID SliderJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) { - - Transform gt = get_global_transform(); - Transform ainv = body_a->get_global_transform().affine_inverse(); - - Transform local_a = ainv * gt; - local_a.orthonormalize(); - Transform local_b = gt; - - if (body_b) { - Transform binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - RID j = PhysicsServer::get_singleton()->joint_create_slider(body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); - for (int i = 0; i < PARAM_MAX; i++) { - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SliderJointParam(i), params[i]); - } - - return j; -} - -SliderJoint::SliderJoint() { - - params[PARAM_LINEAR_LIMIT_UPPER] = 1.0; - params[PARAM_LINEAR_LIMIT_LOWER] = -1.0; - params[PARAM_LINEAR_LIMIT_SOFTNESS] = 1.0; - params[PARAM_LINEAR_LIMIT_RESTITUTION] = 0.7; - params[PARAM_LINEAR_LIMIT_DAMPING] = 1.0; - params[PARAM_LINEAR_MOTION_SOFTNESS] = 1.0; - params[PARAM_LINEAR_MOTION_RESTITUTION] = 0.7; - params[PARAM_LINEAR_MOTION_DAMPING] = 0; //1.0; - params[PARAM_LINEAR_ORTHOGONAL_SOFTNESS] = 1.0; - params[PARAM_LINEAR_ORTHOGONAL_RESTITUTION] = 0.7; - params[PARAM_LINEAR_ORTHOGONAL_DAMPING] = 1.0; - - params[PARAM_ANGULAR_LIMIT_UPPER] = 0; - params[PARAM_ANGULAR_LIMIT_LOWER] = 0; - params[PARAM_ANGULAR_LIMIT_SOFTNESS] = 1.0; - params[PARAM_ANGULAR_LIMIT_RESTITUTION] = 0.7; - params[PARAM_ANGULAR_LIMIT_DAMPING] = 0; //1.0; - params[PARAM_ANGULAR_MOTION_SOFTNESS] = 1.0; - params[PARAM_ANGULAR_MOTION_RESTITUTION] = 0.7; - params[PARAM_ANGULAR_MOTION_DAMPING] = 1.0; - params[PARAM_ANGULAR_ORTHOGONAL_SOFTNESS] = 1.0; - params[PARAM_ANGULAR_ORTHOGONAL_RESTITUTION] = 0.7; - params[PARAM_ANGULAR_ORTHOGONAL_DAMPING] = 1.0; -} - -////////////////////////////////// - -void ConeTwistJoint::_set_swing_span(float p_limit_angular) { - - set_param(PARAM_SWING_SPAN, Math::deg2rad(p_limit_angular)); -} - -float ConeTwistJoint::_get_swing_span() const { - - return Math::rad2deg(get_param(PARAM_SWING_SPAN)); -} - -void ConeTwistJoint::_set_twist_span(float p_limit_angular) { - - set_param(PARAM_TWIST_SPAN, Math::deg2rad(p_limit_angular)); -} - -float ConeTwistJoint::_get_twist_span() const { - - return Math::rad2deg(get_param(PARAM_TWIST_SPAN)); -} - -void ConeTwistJoint::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &ConeTwistJoint::set_param); - ClassDB::bind_method(D_METHOD("get_param", "param"), &ConeTwistJoint::get_param); - - ClassDB::bind_method(D_METHOD("_set_swing_span", "swing_span"), &ConeTwistJoint::_set_swing_span); - ClassDB::bind_method(D_METHOD("_get_swing_span"), &ConeTwistJoint::_get_swing_span); - - ClassDB::bind_method(D_METHOD("_set_twist_span", "twist_span"), &ConeTwistJoint::_set_twist_span); - ClassDB::bind_method(D_METHOD("_get_twist_span"), &ConeTwistJoint::_get_twist_span); - - ADD_PROPERTY(PropertyInfo(Variant::REAL, "swing_span", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_swing_span", "_get_swing_span"); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1"), "_set_twist_span", "_get_twist_span"); - - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_BIAS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_RELAXATION); - - BIND_ENUM_CONSTANT(PARAM_SWING_SPAN); - BIND_ENUM_CONSTANT(PARAM_TWIST_SPAN); - BIND_ENUM_CONSTANT(PARAM_BIAS); - BIND_ENUM_CONSTANT(PARAM_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_RELAXATION); - BIND_ENUM_CONSTANT(PARAM_MAX); -} - -void ConeTwistJoint::set_param(Param p_param, float p_value) { - - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params[p_param] = p_value; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->cone_twist_joint_set_param(get_joint(), PhysicsServer::ConeTwistJointParam(p_param), p_value); - - update_gizmo(); -} -float ConeTwistJoint::get_param(Param p_param) const { - - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params[p_param]; -} - -RID ConeTwistJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) { - - Transform gt = get_global_transform(); - //Vector3 cone_twistpos = gt.origin; - //Vector3 cone_twistdir = gt.basis.get_axis(2); - - Transform ainv = body_a->get_global_transform().affine_inverse(); - - Transform local_a = ainv * gt; - local_a.orthonormalize(); - Transform local_b = gt; - - if (body_b) { - Transform binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - RID j = PhysicsServer::get_singleton()->joint_create_cone_twist(body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); - for (int i = 0; i < PARAM_MAX; i++) { - PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::ConeTwistJointParam(i), params[i]); - } - - return j; -} - -ConeTwistJoint::ConeTwistJoint() { - - params[PARAM_SWING_SPAN] = Math_PI * 0.25; - params[PARAM_TWIST_SPAN] = Math_PI; - params[PARAM_BIAS] = 0.3; - params[PARAM_SOFTNESS] = 0.8; - params[PARAM_RELAXATION] = 1.0; -} - -///////////////////////////////////////////////////////////////////// - -void Generic6DOFJoint::_set_angular_hi_limit_x(float p_limit_angular) { - - set_param_x(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -float Generic6DOFJoint::_get_angular_hi_limit_x() const { - - return Math::rad2deg(get_param_x(PARAM_ANGULAR_UPPER_LIMIT)); -} - -void Generic6DOFJoint::_set_angular_lo_limit_x(float p_limit_angular) { - - set_param_x(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -float Generic6DOFJoint::_get_angular_lo_limit_x() const { - - return Math::rad2deg(get_param_x(PARAM_ANGULAR_LOWER_LIMIT)); -} - -void Generic6DOFJoint::_set_angular_hi_limit_y(float p_limit_angular) { - - set_param_y(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -float Generic6DOFJoint::_get_angular_hi_limit_y() const { - - return Math::rad2deg(get_param_y(PARAM_ANGULAR_UPPER_LIMIT)); -} - -void Generic6DOFJoint::_set_angular_lo_limit_y(float p_limit_angular) { - - set_param_y(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -float Generic6DOFJoint::_get_angular_lo_limit_y() const { - - return Math::rad2deg(get_param_y(PARAM_ANGULAR_LOWER_LIMIT)); -} - -void Generic6DOFJoint::_set_angular_hi_limit_z(float p_limit_angular) { - - set_param_z(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -float Generic6DOFJoint::_get_angular_hi_limit_z() const { - - return Math::rad2deg(get_param_z(PARAM_ANGULAR_UPPER_LIMIT)); -} - -void Generic6DOFJoint::_set_angular_lo_limit_z(float p_limit_angular) { - - set_param_z(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -float Generic6DOFJoint::_get_angular_lo_limit_z() const { - - return Math::rad2deg(get_param_z(PARAM_ANGULAR_LOWER_LIMIT)); -} - -void Generic6DOFJoint::_bind_methods() { - - ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_x", "angle"), &Generic6DOFJoint::_set_angular_hi_limit_x); - ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_x"), &Generic6DOFJoint::_get_angular_hi_limit_x); - - ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_x", "angle"), &Generic6DOFJoint::_set_angular_lo_limit_x); - ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_x"), &Generic6DOFJoint::_get_angular_lo_limit_x); - - ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_y", "angle"), &Generic6DOFJoint::_set_angular_hi_limit_y); - ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_y"), &Generic6DOFJoint::_get_angular_hi_limit_y); - - ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_y", "angle"), &Generic6DOFJoint::_set_angular_lo_limit_y); - ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_y"), &Generic6DOFJoint::_get_angular_lo_limit_y); - - ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_z", "angle"), &Generic6DOFJoint::_set_angular_hi_limit_z); - ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_z"), &Generic6DOFJoint::_get_angular_hi_limit_z); - - ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_z", "angle"), &Generic6DOFJoint::_set_angular_lo_limit_z); - ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_z"), &Generic6DOFJoint::_get_angular_lo_limit_z); - - ClassDB::bind_method(D_METHOD("set_param_x", "param", "value"), &Generic6DOFJoint::set_param_x); - ClassDB::bind_method(D_METHOD("get_param_x", "param"), &Generic6DOFJoint::get_param_x); - - ClassDB::bind_method(D_METHOD("set_param_y", "param", "value"), &Generic6DOFJoint::set_param_y); - ClassDB::bind_method(D_METHOD("get_param_y", "param"), &Generic6DOFJoint::get_param_y); - - ClassDB::bind_method(D_METHOD("set_param_z", "param", "value"), &Generic6DOFJoint::set_param_z); - ClassDB::bind_method(D_METHOD("get_param_z", "param"), &Generic6DOFJoint::get_param_z); - - ClassDB::bind_method(D_METHOD("set_flag_x", "flag", "value"), &Generic6DOFJoint::set_flag_x); - ClassDB::bind_method(D_METHOD("get_flag_x", "flag"), &Generic6DOFJoint::get_flag_x); - - ClassDB::bind_method(D_METHOD("set_flag_y", "flag", "value"), &Generic6DOFJoint::set_flag_y); - ClassDB::bind_method(D_METHOD("get_flag_y", "flag"), &Generic6DOFJoint::get_flag_y); - - 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); - 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, "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"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_x/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_ANGULAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_x/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_ANGULAR_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_x/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_ANGULAR_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_x/force_limit"), "set_param_x", "get_param_x", PARAM_ANGULAR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_x/erp"), "set_param_x", "get_param_x", PARAM_ANGULAR_ERP); - 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); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/lower_distance"), "set_param_y", "get_param_y", PARAM_LINEAR_LOWER_LIMIT); - 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, "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"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_y/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_ANGULAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_y/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_ANGULAR_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_y/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_ANGULAR_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_y/force_limit"), "set_param_y", "get_param_y", PARAM_ANGULAR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_y/erp"), "set_param_y", "get_param_y", PARAM_ANGULAR_ERP); - 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); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/lower_distance"), "set_param_z", "get_param_z", PARAM_LINEAR_LOWER_LIMIT); - 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, "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"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_z/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_ANGULAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_z/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_ANGULAR_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_z/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_ANGULAR_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_z/force_limit"), "set_param_z", "get_param_z", PARAM_ANGULAR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit_z/erp"), "set_param_z", "get_param_z", PARAM_ANGULAR_ERP); - 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); - 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); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_DAMPING); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_FORCE_LIMIT); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ERP); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTOR_FORCE_LIMIT); - BIND_ENUM_CONSTANT(PARAM_MAX); - - 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); -} - -void Generic6DOFJoint::set_param_x(Param p_param, float p_value) { - - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params_x[p_param] = p_value; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_X, PhysicsServer::G6DOFJointAxisParam(p_param), p_value); - - update_gizmo(); -} -float Generic6DOFJoint::get_param_x(Param p_param) const { - - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params_x[p_param]; -} - -void Generic6DOFJoint::set_param_y(Param p_param, float p_value) { - - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params_y[p_param] = p_value; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Y, PhysicsServer::G6DOFJointAxisParam(p_param), p_value); - update_gizmo(); -} -float Generic6DOFJoint::get_param_y(Param p_param) const { - - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params_y[p_param]; -} - -void Generic6DOFJoint::set_param_z(Param p_param, float p_value) { - - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params_z[p_param] = p_value; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Z, PhysicsServer::G6DOFJointAxisParam(p_param), p_value); - update_gizmo(); -} -float Generic6DOFJoint::get_param_z(Param p_param) const { - - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params_z[p_param]; -} - -void Generic6DOFJoint::set_flag_x(Flag p_flag, bool p_enabled) { - - ERR_FAIL_INDEX(p_flag, FLAG_MAX); - flags_x[p_flag] = p_enabled; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_X, PhysicsServer::G6DOFJointAxisFlag(p_flag), p_enabled); - update_gizmo(); -} -bool Generic6DOFJoint::get_flag_x(Flag p_flag) const { - - ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); - return flags_x[p_flag]; -} - -void Generic6DOFJoint::set_flag_y(Flag p_flag, bool p_enabled) { - - ERR_FAIL_INDEX(p_flag, FLAG_MAX); - flags_y[p_flag] = p_enabled; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Y, PhysicsServer::G6DOFJointAxisFlag(p_flag), p_enabled); - update_gizmo(); -} -bool Generic6DOFJoint::get_flag_y(Flag p_flag) const { - - ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); - return flags_y[p_flag]; -} - -void Generic6DOFJoint::set_flag_z(Flag p_flag, bool p_enabled) { - - ERR_FAIL_INDEX(p_flag, FLAG_MAX); - flags_z[p_flag] = p_enabled; - if (get_joint().is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Z, PhysicsServer::G6DOFJointAxisFlag(p_flag), p_enabled); - update_gizmo(); -} -bool Generic6DOFJoint::get_flag_z(Flag p_flag) const { - - ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); - 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(); - //Vector3 cone_twistpos = gt.origin; - //Vector3 cone_twistdir = gt.basis.get_axis(2); - - Transform ainv = body_a->get_global_transform().affine_inverse(); - - Transform local_a = ainv * gt; - local_a.orthonormalize(); - Transform local_b = gt; - - if (body_b) { - Transform binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - RID j = PhysicsServer::get_singleton()->joint_create_generic_6dof(body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); - for (int i = 0; i < PARAM_MAX; i++) { - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, Vector3::AXIS_X, PhysicsServer::G6DOFJointAxisParam(i), params_x[i]); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, Vector3::AXIS_Y, PhysicsServer::G6DOFJointAxisParam(i), params_y[i]); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, Vector3::AXIS_Z, PhysicsServer::G6DOFJointAxisParam(i), params_z[i]); - } - for (int i = 0; i < FLAG_MAX; i++) { - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, Vector3::AXIS_X, PhysicsServer::G6DOFJointAxisFlag(i), flags_x[i]); - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, Vector3::AXIS_Y, PhysicsServer::G6DOFJointAxisFlag(i), flags_y[i]); - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, Vector3::AXIS_Z, PhysicsServer::G6DOFJointAxisFlag(i), flags_z[i]); - } - - return j; -} - -Generic6DOFJoint::Generic6DOFJoint() : - precision(1) { - - set_param_x(PARAM_LINEAR_LOWER_LIMIT, 0); - set_param_x(PARAM_LINEAR_UPPER_LIMIT, 0); - 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_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); - set_param_x(PARAM_ANGULAR_DAMPING, 1.0f); - set_param_x(PARAM_ANGULAR_RESTITUTION, 0); - set_param_x(PARAM_ANGULAR_FORCE_LIMIT, 0); - 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); - - 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_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); - set_param_y(PARAM_ANGULAR_DAMPING, 1.0f); - set_param_y(PARAM_ANGULAR_RESTITUTION, 0); - set_param_y(PARAM_ANGULAR_FORCE_LIMIT, 0); - 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); - - 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_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); - set_param_z(PARAM_ANGULAR_DAMPING, 1.0f); - set_param_z(PARAM_ANGULAR_RESTITUTION, 0); - set_param_z(PARAM_ANGULAR_FORCE_LIMIT, 0); - 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); -} |