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Diffstat (limited to 'scene/3d/physics_joint_3d.cpp')
| -rw-r--r-- | scene/3d/physics_joint_3d.cpp | 1049 |
1 files changed, 1049 insertions, 0 deletions
diff --git a/scene/3d/physics_joint_3d.cpp b/scene/3d/physics_joint_3d.cpp new file mode 100644 index 0000000000..591c17a91e --- /dev/null +++ b/scene/3d/physics_joint_3d.cpp @@ -0,0 +1,1049 @@ +/*************************************************************************/ +/* physics_joint_3d.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_3d.h" + +void Joint3D::_update_joint(bool p_only_free) { + + if (joint.is_valid()) { + if (ba.is_valid() && bb.is_valid()) + PhysicsServer3D::get_singleton()->body_remove_collision_exception(ba, bb); + + PhysicsServer3D::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 *)nullptr; + Node *node_b = has_node(get_node_b()) ? get_node(get_node_b()) : (Node *)nullptr; + + PhysicsBody3D *body_a = Object::cast_to<PhysicsBody3D>(node_a); + PhysicsBody3D *body_b = Object::cast_to<PhysicsBody3D>(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; + + PhysicsServer3D::get_singleton()->joint_set_solver_priority(joint, solver_priority); + + ba = body_a->get_rid(); + if (body_b) + bb = body_b->get_rid(); + + PhysicsServer3D::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); +} + +void Joint3D::set_node_a(const NodePath &p_node_a) { + + if (a == p_node_a) + return; + + a = p_node_a; + _update_joint(); +} + +NodePath Joint3D::get_node_a() const { + + return a; +} + +void Joint3D::set_node_b(const NodePath &p_node_b) { + + if (b == p_node_b) + return; + b = p_node_b; + _update_joint(); +} +NodePath Joint3D::get_node_b() const { + + return b; +} + +void Joint3D::set_solver_priority(int p_priority) { + + solver_priority = p_priority; + if (joint.is_valid()) + PhysicsServer3D::get_singleton()->joint_set_solver_priority(joint, solver_priority); +} + +int Joint3D::get_solver_priority() const { + + return solver_priority; +} + +void Joint3D::_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 Joint3D::set_exclude_nodes_from_collision(bool p_enable) { + + if (exclude_from_collision == p_enable) + return; + exclude_from_collision = p_enable; + _update_joint(); +} + +bool Joint3D::get_exclude_nodes_from_collision() const { + + return exclude_from_collision; +} + +void Joint3D::_bind_methods() { + + ClassDB::bind_method(D_METHOD("set_node_a", "node"), &Joint3D::set_node_a); + ClassDB::bind_method(D_METHOD("get_node_a"), &Joint3D::get_node_a); + + ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint3D::set_node_b); + ClassDB::bind_method(D_METHOD("get_node_b"), &Joint3D::get_node_b); + + ClassDB::bind_method(D_METHOD("set_solver_priority", "priority"), &Joint3D::set_solver_priority); + ClassDB::bind_method(D_METHOD("get_solver_priority"), &Joint3D::get_solver_priority); + + ClassDB::bind_method(D_METHOD("set_exclude_nodes_from_collision", "enable"), &Joint3D::set_exclude_nodes_from_collision); + ClassDB::bind_method(D_METHOD("get_exclude_nodes_from_collision"), &Joint3D::get_exclude_nodes_from_collision); + + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "nodes/node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "CollisionObject3D"), "set_node_a", "get_node_a"); + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "nodes/node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "CollisionObject3D"), "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"); +} + +Joint3D::Joint3D() { + + exclude_from_collision = true; + solver_priority = 1; + set_notify_transform(true); +} + +/////////////////////////////////// + +void PinJoint3D::_bind_methods() { + + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &PinJoint3D::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &PinJoint3D::get_param); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"), "set_param", "get_param", PARAM_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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 PinJoint3D::set_param(Param p_param, float p_value) { + + ERR_FAIL_INDEX(p_param, 3); + params[p_param] = p_value; + if (get_joint().is_valid()) + PhysicsServer3D::get_singleton()->pin_joint_set_param(get_joint(), PhysicsServer3D::PinJointParam(p_param), p_value); +} +float PinJoint3D::get_param(Param p_param) const { + + ERR_FAIL_INDEX_V(p_param, 3, 0); + return params[p_param]; +} + +RID PinJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *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 = PhysicsServer3D::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++) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PinJointParam(i), params[i]); + } + return j; +} + +PinJoint3D::PinJoint3D() { + + params[PARAM_BIAS] = 0.3; + params[PARAM_DAMPING] = 1; + params[PARAM_IMPULSE_CLAMP] = 0; +} + +///////////////////////////////////////////////// + +/////////////////////////////////// + +void HingeJoint3D::_set_upper_limit(float p_limit) { + + set_param(PARAM_LIMIT_UPPER, Math::deg2rad(p_limit)); +} + +float HingeJoint3D::_get_upper_limit() const { + + return Math::rad2deg(get_param(PARAM_LIMIT_UPPER)); +} + +void HingeJoint3D::_set_lower_limit(float p_limit) { + + set_param(PARAM_LIMIT_LOWER, Math::deg2rad(p_limit)); +} + +float HingeJoint3D::_get_lower_limit() const { + + return Math::rad2deg(get_param(PARAM_LIMIT_LOWER)); +} + +void HingeJoint3D::_bind_methods() { + + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &HingeJoint3D::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &HingeJoint3D::get_param); + + ClassDB::bind_method(D_METHOD("set_flag", "flag", "enabled"), &HingeJoint3D::set_flag); + ClassDB::bind_method(D_METHOD("get_flag", "flag"), &HingeJoint3D::get_flag); + + ClassDB::bind_method(D_METHOD("_set_upper_limit", "upper_limit"), &HingeJoint3D::_set_upper_limit); + ClassDB::bind_method(D_METHOD("_get_upper_limit"), &HingeJoint3D::_get_upper_limit); + + ClassDB::bind_method(D_METHOD("_set_lower_limit", "lower_limit"), &HingeJoint3D::_set_lower_limit); + ClassDB::bind_method(D_METHOD("_get_lower_limit"), &HingeJoint3D::_get_lower_limit); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_upper_limit", "_get_upper_limit"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_lower_limit", "_get_lower_limit"); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_LIMIT_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "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::FLOAT, "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 HingeJoint3D::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()) + PhysicsServer3D::get_singleton()->hinge_joint_set_param(get_joint(), PhysicsServer3D::HingeJointParam(p_param), p_value); + + update_gizmo(); +} +float HingeJoint3D::get_param(Param p_param) const { + + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params[p_param]; +} + +void HingeJoint3D::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()) + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(get_joint(), PhysicsServer3D::HingeJointFlag(p_flag), p_value); + + update_gizmo(); +} +bool HingeJoint3D::get_flag(Flag p_flag) const { + + ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); + return flags[p_flag]; +} + +RID HingeJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *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 = PhysicsServer3D::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++) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HingeJointParam(i), params[i]); + } + for (int i = 0; i < FLAG_MAX; i++) { + set_flag(Flag(i), flags[i]); + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(j, PhysicsServer3D::HingeJointFlag(i), flags[i]); + } + return j; +} + +HingeJoint3D::HingeJoint3D() { + + 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 SliderJoint3D::_set_upper_limit_angular(float p_limit_angular) { + + set_param(PARAM_ANGULAR_LIMIT_UPPER, Math::deg2rad(p_limit_angular)); +} + +float SliderJoint3D::_get_upper_limit_angular() const { + + return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_UPPER)); +} + +void SliderJoint3D::_set_lower_limit_angular(float p_limit_angular) { + + set_param(PARAM_ANGULAR_LIMIT_LOWER, Math::deg2rad(p_limit_angular)); +} + +float SliderJoint3D::_get_lower_limit_angular() const { + + return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_LOWER)); +} + +void SliderJoint3D::_bind_methods() { + + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &SliderJoint3D::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &SliderJoint3D::get_param); + + ClassDB::bind_method(D_METHOD("_set_upper_limit_angular", "upper_limit_angular"), &SliderJoint3D::_set_upper_limit_angular); + ClassDB::bind_method(D_METHOD("_get_upper_limit_angular"), &SliderJoint3D::_get_upper_limit_angular); + + ClassDB::bind_method(D_METHOD("_set_lower_limit_angular", "lower_limit_angular"), &SliderJoint3D::_set_lower_limit_angular); + ClassDB::bind_method(D_METHOD("_get_lower_limit_angular"), &SliderJoint3D::_get_lower_limit_angular); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/upper_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_UPPER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/lower_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_LOWER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_DAMPING); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_upper_limit_angular", "_get_upper_limit_angular"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_lower_limit_angular", "_get_lower_limit_angular"); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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 SliderJoint3D::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()) + PhysicsServer3D::get_singleton()->slider_joint_set_param(get_joint(), PhysicsServer3D::SliderJointParam(p_param), p_value); + update_gizmo(); +} +float SliderJoint3D::get_param(Param p_param) const { + + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params[p_param]; +} + +RID SliderJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *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 = PhysicsServer3D::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++) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SliderJointParam(i), params[i]); + } + + return j; +} + +SliderJoint3D::SliderJoint3D() { + + 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 ConeTwistJoint3D::_set_swing_span(float p_limit_angular) { + + set_param(PARAM_SWING_SPAN, Math::deg2rad(p_limit_angular)); +} + +float ConeTwistJoint3D::_get_swing_span() const { + + return Math::rad2deg(get_param(PARAM_SWING_SPAN)); +} + +void ConeTwistJoint3D::_set_twist_span(float p_limit_angular) { + + set_param(PARAM_TWIST_SPAN, Math::deg2rad(p_limit_angular)); +} + +float ConeTwistJoint3D::_get_twist_span() const { + + return Math::rad2deg(get_param(PARAM_TWIST_SPAN)); +} + +void ConeTwistJoint3D::_bind_methods() { + + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &ConeTwistJoint3D::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &ConeTwistJoint3D::get_param); + + ClassDB::bind_method(D_METHOD("_set_swing_span", "swing_span"), &ConeTwistJoint3D::_set_swing_span); + ClassDB::bind_method(D_METHOD("_get_swing_span"), &ConeTwistJoint3D::_get_swing_span); + + ClassDB::bind_method(D_METHOD("_set_twist_span", "twist_span"), &ConeTwistJoint3D::_set_twist_span); + ClassDB::bind_method(D_METHOD("_get_twist_span"), &ConeTwistJoint3D::_get_twist_span); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "swing_span", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_swing_span", "_get_swing_span"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1"), "_set_twist_span", "_get_twist_span"); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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 ConeTwistJoint3D::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()) + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(get_joint(), PhysicsServer3D::ConeTwistJointParam(p_param), p_value); + + update_gizmo(); +} +float ConeTwistJoint3D::get_param(Param p_param) const { + + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params[p_param]; +} + +RID ConeTwistJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *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 = PhysicsServer3D::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++) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::ConeTwistJointParam(i), params[i]); + } + + return j; +} + +ConeTwistJoint3D::ConeTwistJoint3D() { + + 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 Generic6DOFJoint3D::_set_angular_hi_limit_x(float p_limit_angular) { + + set_param_x(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +float Generic6DOFJoint3D::_get_angular_hi_limit_x() const { + + return Math::rad2deg(get_param_x(PARAM_ANGULAR_UPPER_LIMIT)); +} + +void Generic6DOFJoint3D::_set_angular_lo_limit_x(float p_limit_angular) { + + set_param_x(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +float Generic6DOFJoint3D::_get_angular_lo_limit_x() const { + + return Math::rad2deg(get_param_x(PARAM_ANGULAR_LOWER_LIMIT)); +} + +void Generic6DOFJoint3D::_set_angular_hi_limit_y(float p_limit_angular) { + + set_param_y(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +float Generic6DOFJoint3D::_get_angular_hi_limit_y() const { + + return Math::rad2deg(get_param_y(PARAM_ANGULAR_UPPER_LIMIT)); +} + +void Generic6DOFJoint3D::_set_angular_lo_limit_y(float p_limit_angular) { + + set_param_y(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +float Generic6DOFJoint3D::_get_angular_lo_limit_y() const { + + return Math::rad2deg(get_param_y(PARAM_ANGULAR_LOWER_LIMIT)); +} + +void Generic6DOFJoint3D::_set_angular_hi_limit_z(float p_limit_angular) { + + set_param_z(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +float Generic6DOFJoint3D::_get_angular_hi_limit_z() const { + + return Math::rad2deg(get_param_z(PARAM_ANGULAR_UPPER_LIMIT)); +} + +void Generic6DOFJoint3D::_set_angular_lo_limit_z(float p_limit_angular) { + + set_param_z(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +float Generic6DOFJoint3D::_get_angular_lo_limit_z() const { + + return Math::rad2deg(get_param_z(PARAM_ANGULAR_LOWER_LIMIT)); +} + +void Generic6DOFJoint3D::_bind_methods() { + + ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_x", "angle"), &Generic6DOFJoint3D::_set_angular_hi_limit_x); + ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_x"), &Generic6DOFJoint3D::_get_angular_hi_limit_x); + + ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_x", "angle"), &Generic6DOFJoint3D::_set_angular_lo_limit_x); + ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_x"), &Generic6DOFJoint3D::_get_angular_lo_limit_x); + + ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_y", "angle"), &Generic6DOFJoint3D::_set_angular_hi_limit_y); + ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_y"), &Generic6DOFJoint3D::_get_angular_hi_limit_y); + + ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_y", "angle"), &Generic6DOFJoint3D::_set_angular_lo_limit_y); + ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_y"), &Generic6DOFJoint3D::_get_angular_lo_limit_y); + + ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_z", "angle"), &Generic6DOFJoint3D::_set_angular_hi_limit_z); + ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_z"), &Generic6DOFJoint3D::_get_angular_hi_limit_z); + + ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_z", "angle"), &Generic6DOFJoint3D::_set_angular_lo_limit_z); + ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_z"), &Generic6DOFJoint3D::_get_angular_lo_limit_z); + + ClassDB::bind_method(D_METHOD("set_param_x", "param", "value"), &Generic6DOFJoint3D::set_param_x); + ClassDB::bind_method(D_METHOD("get_param_x", "param"), &Generic6DOFJoint3D::get_param_x); + + ClassDB::bind_method(D_METHOD("set_param_y", "param", "value"), &Generic6DOFJoint3D::set_param_y); + ClassDB::bind_method(D_METHOD("get_param_y", "param"), &Generic6DOFJoint3D::get_param_y); + + ClassDB::bind_method(D_METHOD("set_param_z", "param", "value"), &Generic6DOFJoint3D::set_param_z); + ClassDB::bind_method(D_METHOD("get_param_z", "param"), &Generic6DOFJoint3D::get_param_z); + + ClassDB::bind_method(D_METHOD("set_flag_x", "flag", "value"), &Generic6DOFJoint3D::set_flag_x); + ClassDB::bind_method(D_METHOD("get_flag_x", "flag"), &Generic6DOFJoint3D::get_flag_x); + + ClassDB::bind_method(D_METHOD("set_flag_y", "flag", "value"), &Generic6DOFJoint3D::set_flag_y); + ClassDB::bind_method(D_METHOD("get_flag_y", "flag"), &Generic6DOFJoint3D::get_flag_y); + + ClassDB::bind_method(D_METHOD("set_flag_z", "flag", "value"), &Generic6DOFJoint3D::set_flag_z); + ClassDB::bind_method(D_METHOD("get_flag_z", "flag"), &Generic6DOFJoint3D::get_flag_z); + + ClassDB::bind_method(D_METHOD("set_precision", "precision"), &Generic6DOFJoint3D::set_precision); + ClassDB::bind_method(D_METHOD("get_precision"), &Generic6DOFJoint3D::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::FLOAT, "linear_limit_x/upper_distance"), "set_param_x", "get_param_x", PARAM_LINEAR_UPPER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_x/lower_distance"), "set_param_x", "get_param_x", PARAM_LINEAR_LOWER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "linear_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "linear_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_x/damping"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "angular_limit_x/force_limit"), "set_param_x", "get_param_x", PARAM_ANGULAR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "angular_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "angular_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_x/damping"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "linear_limit_y/upper_distance"), "set_param_y", "get_param_y", PARAM_LINEAR_UPPER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/lower_distance"), "set_param_y", "get_param_y", PARAM_LINEAR_LOWER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "linear_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "linear_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_y/damping"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "angular_limit_y/force_limit"), "set_param_y", "get_param_y", PARAM_ANGULAR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "angular_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "angular_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_y/damping"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "linear_limit_z/upper_distance"), "set_param_z", "get_param_z", PARAM_LINEAR_UPPER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/lower_distance"), "set_param_z", "get_param_z", PARAM_LINEAR_LOWER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "linear_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "linear_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_z/damping"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "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::FLOAT, "angular_limit_z/force_limit"), "set_param_z", "get_param_z", PARAM_ANGULAR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "angular_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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::FLOAT, "angular_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_z/damping"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "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 Generic6DOFJoint3D::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()) + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); + + update_gizmo(); +} +float Generic6DOFJoint3D::get_param_x(Param p_param) const { + + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params_x[p_param]; +} + +void Generic6DOFJoint3D::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()) + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); + update_gizmo(); +} +float Generic6DOFJoint3D::get_param_y(Param p_param) const { + + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params_y[p_param]; +} + +void Generic6DOFJoint3D::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()) + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); + update_gizmo(); +} +float Generic6DOFJoint3D::get_param_z(Param p_param) const { + + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params_z[p_param]; +} + +void Generic6DOFJoint3D::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()) + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); + update_gizmo(); +} +bool Generic6DOFJoint3D::get_flag_x(Flag p_flag) const { + + ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); + return flags_x[p_flag]; +} + +void Generic6DOFJoint3D::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()) + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); + update_gizmo(); +} +bool Generic6DOFJoint3D::get_flag_y(Flag p_flag) const { + + ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); + return flags_y[p_flag]; +} + +void Generic6DOFJoint3D::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()) + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); + update_gizmo(); +} +bool Generic6DOFJoint3D::get_flag_z(Flag p_flag) const { + + ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); + return flags_z[p_flag]; +} + +void Generic6DOFJoint3D::set_precision(int p_precision) { + precision = p_precision; + + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_precision( + get_joint(), + precision); +} + +RID Generic6DOFJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *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 = PhysicsServer3D::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++) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisParam(i), params_x[i]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisParam(i), params_y[i]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisParam(i), params_z[i]); + } + for (int i = 0; i < FLAG_MAX; i++) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisFlag(i), flags_x[i]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisFlag(i), flags_y[i]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisFlag(i), flags_z[i]); + } + + return j; +} + +Generic6DOFJoint3D::Generic6DOFJoint3D() : + 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); +} |