diff options
Diffstat (limited to 'scene/3d/physics_joint_3d.cpp')
| -rw-r--r-- | scene/3d/physics_joint_3d.cpp | 163 |
1 files changed, 64 insertions, 99 deletions
diff --git a/scene/3d/physics_joint_3d.cpp b/scene/3d/physics_joint_3d.cpp index 591c17a91e..af4d6ae152 100644 --- a/scene/3d/physics_joint_3d.cpp +++ b/scene/3d/physics_joint_3d.cpp @@ -31,10 +31,10 @@ #include "physics_joint_3d.h" void Joint3D::_update_joint(bool p_only_free) { - if (joint.is_valid()) { - if (ba.is_valid() && bb.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(); @@ -42,8 +42,9 @@ void Joint3D::_update_joint(bool p_only_free) { bb = RID(); } - if (p_only_free || !is_inside_tree()) + 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; @@ -51,68 +52,68 @@ void Joint3D::_update_joint(bool p_only_free) { PhysicsBody3D *body_a = Object::cast_to<PhysicsBody3D>(node_a); PhysicsBody3D *body_b = Object::cast_to<PhysicsBody3D>(node_b); - if (!body_a && body_b) + if (!body_a && body_b) { SWAP(body_a, body_b); + } - if (!body_a) + if (!body_a) { return; + } joint = _configure_joint(body_a, body_b); - if (!joint.is_valid()) + if (!joint.is_valid()) { return; + } PhysicsServer3D::get_singleton()->joint_set_solver_priority(joint, solver_priority); ba = body_a->get_rid(); - if (body_b) + 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) + 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) + if (b == p_node_b) { return; + } b = p_node_b; _update_joint(); } -NodePath Joint3D::get_node_b() const { +NodePath Joint3D::get_node_b() const { return b; } void Joint3D::set_solver_priority(int p_priority) { - solver_priority = p_priority; - if (joint.is_valid()) + 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; @@ -125,20 +126,18 @@ void Joint3D::_notification(int p_what) { } void Joint3D::set_exclude_nodes_from_collision(bool p_enable) { - - if (exclude_from_collision == 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); @@ -159,7 +158,6 @@ void Joint3D::_bind_methods() { } Joint3D::Joint3D() { - exclude_from_collision = true; solver_priority = 1; set_notify_transform(true); @@ -168,7 +166,6 @@ Joint3D::Joint3D() { /////////////////////////////////// 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); @@ -182,28 +179,28 @@ void PinJoint3D::_bind_methods() { } 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()) + 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 { +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) + if (body_b) { local_b = body_b->get_global_transform().affine_inverse().xform(pinpos); - else + } 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++) { @@ -213,7 +210,6 @@ RID PinJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b) { } PinJoint3D::PinJoint3D() { - params[PARAM_BIAS] = 0.3; params[PARAM_DAMPING] = 1; params[PARAM_IMPULSE_CLAMP] = 0; @@ -224,27 +220,22 @@ PinJoint3D::PinJoint3D() { /////////////////////////////////// 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); @@ -286,37 +277,36 @@ void HingeJoint3D::_bind_methods() { } 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()) + 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 { +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()) + 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 { +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(); @@ -343,7 +333,6 @@ RID HingeJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b) } HingeJoint3D::HingeJoint3D() { - params[PARAM_BIAS] = 0.3; params[PARAM_LIMIT_UPPER] = Math_PI * 0.5; params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5; @@ -362,27 +351,22 @@ HingeJoint3D::HingeJoint3D() { ////////////////////////////////// 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); @@ -444,21 +428,20 @@ void SliderJoint3D::_bind_methods() { } 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()) + 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 { +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(); @@ -482,7 +465,6 @@ RID SliderJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b } SliderJoint3D::SliderJoint3D() { - params[PARAM_LINEAR_LIMIT_UPPER] = 1.0; params[PARAM_LINEAR_LIMIT_LOWER] = -1.0; params[PARAM_LINEAR_LIMIT_SOFTNESS] = 1.0; @@ -511,27 +493,22 @@ SliderJoint3D::SliderJoint3D() { ////////////////////////////////// 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); @@ -557,22 +534,21 @@ void ConeTwistJoint3D::_bind_methods() { } 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()) + 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 { +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); @@ -599,7 +575,6 @@ RID ConeTwistJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *bod } ConeTwistJoint3D::ConeTwistJoint3D() { - params[PARAM_SWING_SPAN] = Math_PI * 0.25; params[PARAM_TWIST_SPAN] = Math_PI; params[PARAM_BIAS] = 0.3; @@ -610,67 +585,54 @@ ConeTwistJoint3D::ConeTwistJoint3D() { ///////////////////////////////////////////////////////////////////// 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); @@ -807,6 +769,9 @@ void Generic6DOFJoint3D::_bind_methods() { 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_LINEAR_SPRING_STIFFNESS); + BIND_ENUM_CONSTANT(PARAM_LINEAR_SPRING_DAMPING); + BIND_ENUM_CONSTANT(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LOWER_LIMIT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_UPPER_LIMIT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS); @@ -816,6 +781,9 @@ void Generic6DOFJoint3D::_bind_methods() { 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_ANGULAR_SPRING_STIFFNESS); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_SPRING_DAMPING); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT); BIND_ENUM_CONSTANT(PARAM_MAX); BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_LIMIT); @@ -828,86 +796,86 @@ void Generic6DOFJoint3D::_bind_methods() { } 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()) + 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 { +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()) + 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 { +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()) + 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 { +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()) + 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 { +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()) + 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 { +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()) + 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 { +bool Generic6DOFJoint3D::get_flag_z(Flag p_flag) const { ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); return flags_z[p_flag]; } @@ -921,7 +889,6 @@ void Generic6DOFJoint3D::set_precision(int p_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); @@ -954,9 +921,7 @@ RID Generic6DOFJoint3D::_configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *b return j; } -Generic6DOFJoint3D::Generic6DOFJoint3D() : - precision(1) { - +Generic6DOFJoint3D::Generic6DOFJoint3D() { 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); |