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-/*************************************************************************/
-/* slider_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 SLIDER_JOINT_SW_H
-#define SLIDER_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.
-*/
-
-/*
-Added by Roman Ponomarev (rponom@gmail.com)
-April 04, 2008
-
-*/
-
-#define SLIDER_CONSTRAINT_DEF_SOFTNESS (real_t(1.0))
-#define SLIDER_CONSTRAINT_DEF_DAMPING (real_t(1.0))
-#define SLIDER_CONSTRAINT_DEF_RESTITUTION (real_t(0.7))
-
-//-----------------------------------------------------------------------------
-
-class SliderJointSW : public JointSW {
-protected:
- union {
- struct {
- BodySW *A;
- BodySW *B;
- };
-
- BodySW *_arr[2];
- };
-
- Transform m_frameInA;
- Transform m_frameInB;
-
- // linear limits
- real_t m_lowerLinLimit;
- real_t m_upperLinLimit;
- // angular limits
- real_t m_lowerAngLimit;
- real_t m_upperAngLimit;
- // softness, restitution and damping for different cases
- // DirLin - moving inside linear limits
- // LimLin - hitting linear limit
- // DirAng - moving inside angular limits
- // LimAng - hitting angular limit
- // OrthoLin, OrthoAng - against constraint axis
- real_t m_softnessDirLin;
- real_t m_restitutionDirLin;
- real_t m_dampingDirLin;
- real_t m_softnessDirAng;
- real_t m_restitutionDirAng;
- real_t m_dampingDirAng;
- real_t m_softnessLimLin;
- real_t m_restitutionLimLin;
- real_t m_dampingLimLin;
- real_t m_softnessLimAng;
- real_t m_restitutionLimAng;
- real_t m_dampingLimAng;
- real_t m_softnessOrthoLin;
- real_t m_restitutionOrthoLin;
- real_t m_dampingOrthoLin;
- real_t m_softnessOrthoAng;
- real_t m_restitutionOrthoAng;
- real_t m_dampingOrthoAng;
-
- // for interlal use
- bool m_solveLinLim;
- bool m_solveAngLim;
-
- JacobianEntrySW m_jacLin[3];
- real_t m_jacLinDiagABInv[3];
-
- JacobianEntrySW m_jacAng[3];
-
- real_t m_timeStep;
- Transform m_calculatedTransformA;
- Transform m_calculatedTransformB;
-
- Vector3 m_sliderAxis;
- Vector3 m_realPivotAInW;
- Vector3 m_realPivotBInW;
- Vector3 m_projPivotInW;
- Vector3 m_delta;
- Vector3 m_depth;
- Vector3 m_relPosA;
- Vector3 m_relPosB;
-
- real_t m_linPos;
-
- real_t m_angDepth;
- real_t m_kAngle;
-
- bool m_poweredLinMotor;
- real_t m_targetLinMotorVelocity;
- real_t m_maxLinMotorForce;
- real_t m_accumulatedLinMotorImpulse;
-
- bool m_poweredAngMotor;
- real_t m_targetAngMotorVelocity;
- real_t m_maxAngMotorForce;
- real_t m_accumulatedAngMotorImpulse;
-
- //------------------------
- void initParams();
-
-public:
- // constructors
- SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB);
- //SliderJointSW();
- // overrides
-
- // access
- const BodySW *getRigidBodyA() const { return A; }
- const BodySW *getRigidBodyB() const { return B; }
- const Transform &getCalculatedTransformA() const { return m_calculatedTransformA; }
- const Transform &getCalculatedTransformB() const { return m_calculatedTransformB; }
- const Transform &getFrameOffsetA() const { return m_frameInA; }
- const Transform &getFrameOffsetB() const { return m_frameInB; }
- Transform &getFrameOffsetA() { return m_frameInA; }
- Transform &getFrameOffsetB() { return m_frameInB; }
- real_t getLowerLinLimit() { return m_lowerLinLimit; }
- void setLowerLinLimit(real_t lowerLimit) { m_lowerLinLimit = lowerLimit; }
- real_t getUpperLinLimit() { return m_upperLinLimit; }
- void setUpperLinLimit(real_t upperLimit) { m_upperLinLimit = upperLimit; }
- real_t getLowerAngLimit() { return m_lowerAngLimit; }
- void setLowerAngLimit(real_t lowerLimit) { m_lowerAngLimit = lowerLimit; }
- real_t getUpperAngLimit() { return m_upperAngLimit; }
- void setUpperAngLimit(real_t upperLimit) { m_upperAngLimit = upperLimit; }
-
- real_t getSoftnessDirLin() { return m_softnessDirLin; }
- real_t getRestitutionDirLin() { return m_restitutionDirLin; }
- real_t getDampingDirLin() { return m_dampingDirLin; }
- real_t getSoftnessDirAng() { return m_softnessDirAng; }
- real_t getRestitutionDirAng() { return m_restitutionDirAng; }
- real_t getDampingDirAng() { return m_dampingDirAng; }
- real_t getSoftnessLimLin() { return m_softnessLimLin; }
- real_t getRestitutionLimLin() { return m_restitutionLimLin; }
- real_t getDampingLimLin() { return m_dampingLimLin; }
- real_t getSoftnessLimAng() { return m_softnessLimAng; }
- real_t getRestitutionLimAng() { return m_restitutionLimAng; }
- real_t getDampingLimAng() { return m_dampingLimAng; }
- real_t getSoftnessOrthoLin() { return m_softnessOrthoLin; }
- real_t getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
- real_t getDampingOrthoLin() { return m_dampingOrthoLin; }
- real_t getSoftnessOrthoAng() { return m_softnessOrthoAng; }
- real_t getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
- real_t getDampingOrthoAng() { return m_dampingOrthoAng; }
- void setSoftnessDirLin(real_t softnessDirLin) { m_softnessDirLin = softnessDirLin; }
- void setRestitutionDirLin(real_t restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
- void setDampingDirLin(real_t dampingDirLin) { m_dampingDirLin = dampingDirLin; }
- void setSoftnessDirAng(real_t softnessDirAng) { m_softnessDirAng = softnessDirAng; }
- void setRestitutionDirAng(real_t restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
- void setDampingDirAng(real_t dampingDirAng) { m_dampingDirAng = dampingDirAng; }
- void setSoftnessLimLin(real_t softnessLimLin) { m_softnessLimLin = softnessLimLin; }
- void setRestitutionLimLin(real_t restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
- void setDampingLimLin(real_t dampingLimLin) { m_dampingLimLin = dampingLimLin; }
- void setSoftnessLimAng(real_t softnessLimAng) { m_softnessLimAng = softnessLimAng; }
- void setRestitutionLimAng(real_t restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
- void setDampingLimAng(real_t dampingLimAng) { m_dampingLimAng = dampingLimAng; }
- void setSoftnessOrthoLin(real_t softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
- void setRestitutionOrthoLin(real_t restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
- void setDampingOrthoLin(real_t dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
- void setSoftnessOrthoAng(real_t softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
- void setRestitutionOrthoAng(real_t restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
- void setDampingOrthoAng(real_t dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
- void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
- bool getPoweredLinMotor() { return m_poweredLinMotor; }
- void setTargetLinMotorVelocity(real_t targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
- real_t getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
- void setMaxLinMotorForce(real_t maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
- real_t getMaxLinMotorForce() { return m_maxLinMotorForce; }
- void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
- bool getPoweredAngMotor() { return m_poweredAngMotor; }
- void setTargetAngMotorVelocity(real_t targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
- real_t getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
- void setMaxAngMotorForce(real_t maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
- real_t getMaxAngMotorForce() { return m_maxAngMotorForce; }
- real_t getLinearPos() { return m_linPos; }
-
- // access for ODE solver
- bool getSolveLinLimit() { return m_solveLinLim; }
- real_t getLinDepth() { return m_depth[0]; }
- bool getSolveAngLimit() { return m_solveAngLim; }
- real_t getAngDepth() { return m_angDepth; }
- // shared code used by ODE solver
- void calculateTransforms(void);
- void testLinLimits(void);
- void testAngLimits(void);
- // access for PE Solver
- Vector3 getAncorInA(void);
- Vector3 getAncorInB(void);
-
- void set_param(PhysicsServer::SliderJointParam p_param, real_t p_value);
- real_t get_param(PhysicsServer::SliderJointParam p_param) const;
-
- bool setup(real_t p_step);
- void solve(real_t p_step);
-
- virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_SLIDER; }
-};
-
-#endif // SLIDER_JOINT_SW_H
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