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Diffstat (limited to 'servers/physics_2d/godot_joints_2d.h')
| -rw-r--r-- | servers/physics_2d/godot_joints_2d.h | 178 |
1 files changed, 178 insertions, 0 deletions
diff --git a/servers/physics_2d/godot_joints_2d.h b/servers/physics_2d/godot_joints_2d.h new file mode 100644 index 0000000000..4c97190d01 --- /dev/null +++ b/servers/physics_2d/godot_joints_2d.h @@ -0,0 +1,178 @@ +/*************************************************************************/ +/* godot_joints_2d.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* 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 */ +/* "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. */ +/*************************************************************************/ + +#ifndef GODOT_JOINTS_2D_H +#define GODOT_JOINTS_2D_H + +#include "godot_body_2d.h" +#include "godot_constraint_2d.h" + +class GodotJoint2D : public GodotConstraint2D { + real_t bias = 0; + real_t max_bias = 3.40282e+38; + real_t max_force = 3.40282e+38; + +protected: + bool dynamic_A = false; + bool dynamic_B = false; + +public: + _FORCE_INLINE_ void set_max_force(real_t p_force) { max_force = p_force; } + _FORCE_INLINE_ real_t get_max_force() const { return max_force; } + + _FORCE_INLINE_ void set_bias(real_t p_bias) { bias = p_bias; } + _FORCE_INLINE_ real_t get_bias() const { return bias; } + + _FORCE_INLINE_ void set_max_bias(real_t p_bias) { max_bias = p_bias; } + _FORCE_INLINE_ real_t get_max_bias() const { return max_bias; } + + virtual bool setup(real_t p_step) override { return false; } + virtual bool pre_solve(real_t p_step) override { return false; } + virtual void solve(real_t p_step) override {} + + void copy_settings_from(GodotJoint2D *p_joint); + + virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_MAX; } + GodotJoint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) : + GodotConstraint2D(p_body_ptr, p_body_count) {} + + virtual ~GodotJoint2D() { + for (int i = 0; i < get_body_count(); i++) { + GodotBody2D *body = get_body_ptr()[i]; + if (body) { + body->remove_constraint(this, i); + } + } + }; +}; + +class GodotPinJoint2D : public GodotJoint2D { + union { + struct { + GodotBody2D *A; + GodotBody2D *B; + }; + + GodotBody2D *_arr[2] = { nullptr, nullptr }; + }; + + Transform2D M; + Vector2 rA, rB; + Vector2 anchor_A; + Vector2 anchor_B; + Vector2 bias; + Vector2 P; + real_t softness = 0.0; + +public: + virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_PIN; } + + virtual bool setup(real_t p_step) override; + virtual bool pre_solve(real_t p_step) override; + virtual void solve(real_t p_step) override; + + void set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value); + real_t get_param(PhysicsServer2D::PinJointParam p_param) const; + + GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b = nullptr); +}; + +class GodotGrooveJoint2D : public GodotJoint2D { + union { + struct { + GodotBody2D *A; + GodotBody2D *B; + }; + + GodotBody2D *_arr[2] = { nullptr, nullptr }; + }; + + Vector2 A_groove_1; + Vector2 A_groove_2; + Vector2 A_groove_normal; + Vector2 B_anchor; + Vector2 jn_acc; + Vector2 gbias; + real_t jn_max = 0.0; + real_t clamp = 0.0; + Vector2 xf_normal; + Vector2 rA, rB; + Vector2 k1, k2; + + bool correct = false; + +public: + virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_GROOVE; } + + virtual bool setup(real_t p_step) override; + virtual bool pre_solve(real_t p_step) override; + virtual void solve(real_t p_step) override; + + GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b); +}; + +class GodotDampedSpringJoint2D : public GodotJoint2D { + union { + struct { + GodotBody2D *A; + GodotBody2D *B; + }; + + GodotBody2D *_arr[2] = { nullptr, nullptr }; + }; + + Vector2 anchor_A; + Vector2 anchor_B; + + real_t rest_length = 0.0; + real_t damping = 1.5; + real_t stiffness = 20.0; + + Vector2 rA, rB; + Vector2 n; + Vector2 j; + real_t n_mass = 0.0; + real_t target_vrn = 0.0; + real_t v_coef = 0.0; + +public: + virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_DAMPED_SPRING; } + + virtual bool setup(real_t p_step) override; + virtual bool pre_solve(real_t p_step) override; + virtual void solve(real_t p_step) override; + + void set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value); + real_t get_param(PhysicsServer2D::DampedSpringParam p_param) const; + + GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b); +}; + +#endif // GODOT_JOINTS_2D_H |