diff options
Diffstat (limited to 'scene/3d/physics_joint_3d.cpp')
| -rw-r--r-- | scene/3d/physics_joint_3d.cpp | 454 |
1 files changed, 232 insertions, 222 deletions
diff --git a/scene/3d/physics_joint_3d.cpp b/scene/3d/physics_joint_3d.cpp index 591c17a91e..12938946a0 100644 --- a/scene/3d/physics_joint_3d.cpp +++ b/scene/3d/physics_joint_3d.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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 */ @@ -30,94 +30,148 @@ #include "physics_joint_3d.h" -void Joint3D::_update_joint(bool p_only_free) { +#include "scene/scene_string_names.h" - if (joint.is_valid()) { - if (ba.is_valid() && bb.is_valid()) - PhysicsServer3D::get_singleton()->body_remove_collision_exception(ba, bb); +void Joint3D::_disconnect_signals() { + Node *node_a = get_node_or_null(a); + PhysicsBody3D *body_a = Object::cast_to<PhysicsBody3D>(node_a); + if (body_a) { + body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); + } - PhysicsServer3D::get_singleton()->free(joint); - joint = RID(); - ba = RID(); - bb = RID(); + Node *node_b = get_node_or_null(b); + PhysicsBody3D *body_b = Object::cast_to<PhysicsBody3D>(node_b); + if (body_b) { + body_b->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); } +} + +void Joint3D::_body_exit_tree() { + _disconnect_signals(); + _update_joint(true); +} - if (p_only_free || !is_inside_tree()) +void Joint3D::_update_joint(bool p_only_free) { + if (ba.is_valid() && bb.is_valid()) { + PhysicsServer3D::get_singleton()->body_remove_collision_exception(ba, bb); + PhysicsServer3D::get_singleton()->body_remove_collision_exception(bb, ba); + } + + ba = RID(); + bb = RID(); + + configured = false; + + if (p_only_free || !is_inside_tree()) { + PhysicsServer3D::get_singleton()->joint_clear(joint); + warning = String(); + update_configuration_warnings(); 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; + Node *node_a = get_node_or_null(a); + Node *node_b = get_node_or_null(b); 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 (node_a && !body_a && node_b && !body_b) { + warning = TTR("Node A and Node B must be PhysicsBody3Ds"); + } else if (node_a && !body_a) { + warning = TTR("Node A must be a PhysicsBody3D"); + } else if (node_b && !body_b) { + warning = TTR("Node B must be a PhysicsBody3D"); + } else if (!body_a && !body_b) { + warning = TTR("Joint is not connected to any PhysicsBody3Ds"); + } else if (body_a == body_b) { + warning = TTR("Node A and Node B must be different PhysicsBody3Ds"); + } else { + warning = String(); + } + + update_configuration_warnings(); - if (!body_a) + if (!warning.is_empty()) { + PhysicsServer3D::get_singleton()->joint_clear(joint); return; + } - joint = _configure_joint(body_a, body_b); + configured = true; - if (!joint.is_valid()) - return; + if (body_a) { + _configure_joint(joint, body_a, body_b); + } else if (body_b) { + _configure_joint(joint, body_b, nullptr); + } PhysicsServer3D::get_singleton()->joint_set_solver_priority(joint, solver_priority); - ba = body_a->get_rid(); - if (body_b) + if (body_a) { + ba = body_a->get_rid(); + body_a->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); + } + + if (body_b) { bb = body_b->get_rid(); + body_b->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); + } 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; + } + + if (joint.is_valid()) { + _disconnect_signals(); + } 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; + } + + if (joint.is_valid()) { + _disconnect_signals(); + } + 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; case NOTIFICATION_EXIT_TREE: { if (joint.is_valid()) { + _disconnect_signals(); _update_joint(true); } } break; @@ -125,20 +179,28 @@ 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() { +TypedArray<String> Joint3D::get_configuration_warnings() const { + TypedArray<String> warnings = Node3D::get_configuration_warnings(); + + if (!warning.is_empty()) { + warnings.push_back(warning); + } + + return warnings; +} +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); @@ -151,24 +213,25 @@ void Joint3D::_bind_methods() { 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::NODE_PATH, "nodes/node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody3D"), "set_node_a", "get_node_a"); + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "nodes/node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody3D"), "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); + joint = PhysicsServer3D::get_singleton()->joint_create(); +} + +Joint3D::~Joint3D() { + PhysicsServer3D::get_singleton()->free(joint); } /////////////////////////////////// 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); @@ -181,39 +244,37 @@ void PinJoint3D::_bind_methods() { BIND_ENUM_CONSTANT(PARAM_IMPULSE_CLAMP); } -void PinJoint3D::set_param(Param p_param, float p_value) { - +void PinJoint3D::set_param(Param p_param, real_t p_value) { ERR_FAIL_INDEX(p_param, 3); params[p_param] = p_value; - if (get_joint().is_valid()) + if (is_configured()) { PhysicsServer3D::get_singleton()->pin_joint_set_param(get_joint(), PhysicsServer3D::PinJointParam(p_param), p_value); + } } -float PinJoint3D::get_param(Param p_param) const { +real_t 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) { - +void PinJoint3D::_configure_joint(RID p_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_a = body_a->to_local(pinpos); Vector3 local_b; - if (body_b) - local_b = body_b->get_global_transform().affine_inverse().xform(pinpos); - else + if (body_b) { + local_b = body_b->to_local(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); + PhysicsServer3D::get_singleton()->joint_make_pin(p_joint, 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]); + PhysicsServer3D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer3D::PinJointParam(i), params[i]); } - return j; } PinJoint3D::PinJoint3D() { - params[PARAM_BIAS] = 0.3; params[PARAM_DAMPING] = 1; params[PARAM_IMPULSE_CLAMP] = 0; @@ -223,28 +284,23 @@ PinJoint3D::PinJoint3D() { /////////////////////////////////// -void HingeJoint3D::_set_upper_limit(float p_limit) { - +void HingeJoint3D::_set_upper_limit(real_t p_limit) { set_param(PARAM_LIMIT_UPPER, Math::deg2rad(p_limit)); } -float HingeJoint3D::_get_upper_limit() const { - +real_t HingeJoint3D::_get_upper_limit() const { return Math::rad2deg(get_param(PARAM_LIMIT_UPPER)); } -void HingeJoint3D::_set_lower_limit(float p_limit) { - +void HingeJoint3D::_set_lower_limit(real_t p_limit) { set_param(PARAM_LIMIT_LOWER, Math::deg2rad(p_limit)); } -float HingeJoint3D::_get_lower_limit() const { - +real_t 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); @@ -285,65 +341,62 @@ void HingeJoint3D::_bind_methods() { BIND_ENUM_CONSTANT(FLAG_MAX); } -void HingeJoint3D::set_param(Param p_param, float p_value) { - +void HingeJoint3D::set_param(Param p_param, real_t p_value) { ERR_FAIL_INDEX(p_param, PARAM_MAX); params[p_param] = p_value; - if (get_joint().is_valid()) + if (is_configured()) { PhysicsServer3D::get_singleton()->hinge_joint_set_param(get_joint(), PhysicsServer3D::HingeJointParam(p_param), p_value); + } - update_gizmo(); + update_gizmos(); } -float HingeJoint3D::get_param(Param p_param) const { +real_t 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 (is_configured()) { PhysicsServer3D::get_singleton()->hinge_joint_set_flag(get_joint(), PhysicsServer3D::HingeJointFlag(p_flag), p_value); + } - update_gizmo(); + update_gizmos(); } -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(); +void HingeJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Transform3D gt = get_global_transform(); + Transform3D ainv = body_a->get_global_transform().affine_inverse(); - Transform local_a = ainv * gt; + Transform3D local_a = ainv * gt; local_a.orthonormalize(); - Transform local_b = gt; + Transform3D local_b = gt; if (body_b) { - Transform binv = body_b->get_global_transform().affine_inverse(); + Transform3D 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); + PhysicsServer3D::get_singleton()->joint_make_hinge(p_joint, 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]); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(p_joint, 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]); + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(p_joint, 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; @@ -361,28 +414,23 @@ HingeJoint3D::HingeJoint3D() { ////////////////////////////////// -void SliderJoint3D::_set_upper_limit_angular(float p_limit_angular) { - +void SliderJoint3D::_set_upper_limit_angular(real_t p_limit_angular) { set_param(PARAM_ANGULAR_LIMIT_UPPER, Math::deg2rad(p_limit_angular)); } -float SliderJoint3D::_get_upper_limit_angular() const { - +real_t 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) { - +void SliderJoint3D::_set_lower_limit_angular(real_t p_limit_angular) { set_param(PARAM_ANGULAR_LIMIT_LOWER, Math::deg2rad(p_limit_angular)); } -float SliderJoint3D::_get_lower_limit_angular() const { - +real_t 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); @@ -443,46 +491,42 @@ void SliderJoint3D::_bind_methods() { BIND_ENUM_CONSTANT(PARAM_MAX); } -void SliderJoint3D::set_param(Param p_param, float p_value) { - +void SliderJoint3D::set_param(Param p_param, real_t p_value) { ERR_FAIL_INDEX(p_param, PARAM_MAX); params[p_param] = p_value; - if (get_joint().is_valid()) + if (is_configured()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(get_joint(), PhysicsServer3D::SliderJointParam(p_param), p_value); - update_gizmo(); + } + update_gizmos(); } -float SliderJoint3D::get_param(Param p_param) const { +real_t 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) { +void SliderJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Transform3D gt = get_global_transform(); + Transform3D ainv = body_a->get_global_transform().affine_inverse(); - Transform gt = get_global_transform(); - Transform ainv = body_a->get_global_transform().affine_inverse(); - - Transform local_a = ainv * gt; + Transform3D local_a = ainv * gt; local_a.orthonormalize(); - Transform local_b = gt; + Transform3D local_b = gt; if (body_b) { - Transform binv = body_b->get_global_transform().affine_inverse(); + Transform3D 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); + PhysicsServer3D::get_singleton()->joint_make_slider(p_joint, 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]); + PhysicsServer3D::get_singleton()->slider_joint_set_param(p_joint, 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; @@ -510,28 +554,23 @@ SliderJoint3D::SliderJoint3D() { ////////////////////////////////// -void ConeTwistJoint3D::_set_swing_span(float p_limit_angular) { - +void ConeTwistJoint3D::_set_swing_span(real_t p_limit_angular) { set_param(PARAM_SWING_SPAN, Math::deg2rad(p_limit_angular)); } -float ConeTwistJoint3D::_get_swing_span() const { - +real_t ConeTwistJoint3D::_get_swing_span() const { return Math::rad2deg(get_param(PARAM_SWING_SPAN)); } -void ConeTwistJoint3D::_set_twist_span(float p_limit_angular) { - +void ConeTwistJoint3D::_set_twist_span(real_t p_limit_angular) { set_param(PARAM_TWIST_SPAN, Math::deg2rad(p_limit_angular)); } -float ConeTwistJoint3D::_get_twist_span() const { - +real_t 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); @@ -556,50 +595,46 @@ void ConeTwistJoint3D::_bind_methods() { BIND_ENUM_CONSTANT(PARAM_MAX); } -void ConeTwistJoint3D::set_param(Param p_param, float p_value) { - +void ConeTwistJoint3D::set_param(Param p_param, real_t p_value) { ERR_FAIL_INDEX(p_param, PARAM_MAX); params[p_param] = p_value; - if (get_joint().is_valid()) + if (is_configured()) { PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(get_joint(), PhysicsServer3D::ConeTwistJointParam(p_param), p_value); + } - update_gizmo(); + update_gizmos(); } -float ConeTwistJoint3D::get_param(Param p_param) const { +real_t 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(); +void ConeTwistJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Transform3D 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(); + Transform3D ainv = body_a->get_global_transform().affine_inverse(); - Transform local_a = ainv * gt; + Transform3D local_a = ainv * gt; local_a.orthonormalize(); - Transform local_b = gt; + Transform3D local_b = gt; if (body_b) { - Transform binv = body_b->get_global_transform().affine_inverse(); + Transform3D 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); + PhysicsServer3D::get_singleton()->joint_make_cone_twist(p_joint, 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]); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(p_joint, 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; @@ -609,68 +644,55 @@ ConeTwistJoint3D::ConeTwistJoint3D() { ///////////////////////////////////////////////////////////////////// -void Generic6DOFJoint3D::_set_angular_hi_limit_x(float p_limit_angular) { - +void Generic6DOFJoint3D::_set_angular_hi_limit_x(real_t p_limit_angular) { set_param_x(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); } -float Generic6DOFJoint3D::_get_angular_hi_limit_x() const { - +real_t 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) { - +void Generic6DOFJoint3D::_set_angular_lo_limit_x(real_t p_limit_angular) { set_param_x(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); } -float Generic6DOFJoint3D::_get_angular_lo_limit_x() const { - +real_t 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) { - +void Generic6DOFJoint3D::_set_angular_hi_limit_y(real_t p_limit_angular) { set_param_y(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); } -float Generic6DOFJoint3D::_get_angular_hi_limit_y() const { - +real_t 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) { - +void Generic6DOFJoint3D::_set_angular_lo_limit_y(real_t p_limit_angular) { set_param_y(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); } -float Generic6DOFJoint3D::_get_angular_lo_limit_y() const { - +real_t 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) { - +void Generic6DOFJoint3D::_set_angular_hi_limit_z(real_t p_limit_angular) { set_param_z(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); } -float Generic6DOFJoint3D::_get_angular_hi_limit_z() const { - +real_t 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) { - +void Generic6DOFJoint3D::_set_angular_lo_limit_z(real_t p_limit_angular) { set_param_z(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); } -float Generic6DOFJoint3D::_get_angular_lo_limit_z() const { - +real_t 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); @@ -707,9 +729,6 @@ void Generic6DOFJoint3D::_bind_methods() { 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); @@ -798,8 +817,6 @@ void Generic6DOFJoint3D::_bind_methods() { 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); @@ -807,6 +824,9 @@ 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 +836,9 @@ 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); @@ -827,136 +850,123 @@ void Generic6DOFJoint3D::_bind_methods() { BIND_ENUM_CONSTANT(FLAG_MAX); } -void Generic6DOFJoint3D::set_param_x(Param p_param, float p_value) { - +void Generic6DOFJoint3D::set_param_x(Param p_param, real_t p_value) { ERR_FAIL_INDEX(p_param, PARAM_MAX); params_x[p_param] = p_value; - if (get_joint().is_valid()) + if (is_configured()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); + } - update_gizmo(); + update_gizmos(); } -float Generic6DOFJoint3D::get_param_x(Param p_param) const { +real_t 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) { - +void Generic6DOFJoint3D::set_param_y(Param p_param, real_t p_value) { ERR_FAIL_INDEX(p_param, PARAM_MAX); params_y[p_param] = p_value; - if (get_joint().is_valid()) + if (is_configured()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); - update_gizmo(); + } + update_gizmos(); } -float Generic6DOFJoint3D::get_param_y(Param p_param) const { +real_t 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) { - +void Generic6DOFJoint3D::set_param_z(Param p_param, real_t p_value) { ERR_FAIL_INDEX(p_param, PARAM_MAX); params_z[p_param] = p_value; - if (get_joint().is_valid()) + if (is_configured()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); - update_gizmo(); + } + update_gizmos(); } -float Generic6DOFJoint3D::get_param_z(Param p_param) const { +real_t 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 (is_configured()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); - update_gizmo(); + } + update_gizmos(); } -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 (is_configured()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); - update_gizmo(); + } + update_gizmos(); } -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 (is_configured()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); - update_gizmo(); + } + update_gizmos(); } -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]; } -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(); +void Generic6DOFJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Transform3D 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(); + Transform3D ainv = body_a->get_global_transform().affine_inverse(); - Transform local_a = ainv * gt; + Transform3D local_a = ainv * gt; local_a.orthonormalize(); - Transform local_b = gt; + Transform3D local_b = gt; if (body_b) { - Transform binv = body_b->get_global_transform().affine_inverse(); + Transform3D 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); + PhysicsServer3D::get_singleton()->joint_make_generic_6dof(p_joint, 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]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(p_joint, Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisParam(i), params_x[i]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(p_joint, Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisParam(i), params_y[i]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(p_joint, 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]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(p_joint, Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisFlag(i), flags_x[i]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(p_joint, Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisFlag(i), flags_y[i]); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(p_joint, Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisFlag(i), flags_z[i]); } - - 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); |