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Diffstat (limited to 'servers/physics/joints/hinge_joint_sw.h')
| -rw-r--r-- | servers/physics/joints/hinge_joint_sw.h | 117 |
1 files changed, 0 insertions, 117 deletions
diff --git a/servers/physics/joints/hinge_joint_sw.h b/servers/physics/joints/hinge_joint_sw.h deleted file mode 100644 index 1c160cfc09..0000000000 --- a/servers/physics/joints/hinge_joint_sw.h +++ /dev/null @@ -1,117 +0,0 @@ -/*************************************************************************/ -/* hinge_joint_sw.h */ -/*************************************************************************/ -/* 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. */ -/*************************************************************************/ - -/* -Adapted to Godot from the Bullet library. -*/ - -#ifndef HINGE_JOINT_SW_H -#define HINGE_JOINT_SW_H - -#include "servers/physics/joints/jacobian_entry_sw.h" -#include "servers/physics/joints_sw.h" - -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -class HingeJointSW : public JointSW { - - union { - struct { - BodySW *A; - BodySW *B; - }; - - BodySW *_arr[2]; - }; - - JacobianEntrySW m_jac[3]; //3 orthogonal linear constraints - JacobianEntrySW m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor - - Transform m_rbAFrame; // constraint axii. Assumes z is hinge axis. - Transform m_rbBFrame; - - real_t m_motorTargetVelocity; - real_t m_maxMotorImpulse; - - real_t m_limitSoftness; - real_t m_biasFactor; - real_t m_relaxationFactor; - - real_t m_lowerLimit; - real_t m_upperLimit; - - real_t m_kHinge; - - real_t m_limitSign; - real_t m_correction; - - real_t m_accLimitImpulse; - - real_t tau; - - bool m_useLimit; - bool m_angularOnly; - bool m_enableAngularMotor; - bool m_solveLimit; - - real_t m_appliedImpulse; - -public: - virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_HINGE; } - - virtual bool setup(real_t p_step); - virtual void solve(real_t p_step); - - real_t get_hinge_angle(); - - void set_param(PhysicsServer::HingeJointParam p_param, real_t p_value); - real_t get_param(PhysicsServer::HingeJointParam p_param) const; - - void set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value); - bool get_flag(PhysicsServer::HingeJointFlag p_flag) const; - - HingeJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameA, const Transform &frameB); - HingeJointSW(BodySW *rbA, BodySW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB); -}; - -#endif // HINGE_JOINT_SW_H |