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Diffstat (limited to 'servers/physics_3d/joints/hinge_joint_3d_sw.h')
| -rw-r--r-- | servers/physics_3d/joints/hinge_joint_3d_sw.h | 117 |
1 files changed, 117 insertions, 0 deletions
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.h b/servers/physics_3d/joints/hinge_joint_3d_sw.h new file mode 100644 index 0000000000..8da32885bc --- /dev/null +++ b/servers/physics_3d/joints/hinge_joint_3d_sw.h @@ -0,0 +1,117 @@ +/*************************************************************************/ +/* 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_3d/joints/jacobian_entry_3d_sw.h" +#include "servers/physics_3d/joints_3d_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 HingeJoint3DSW : public Joint3DSW { + + union { + struct { + Body3DSW *A; + Body3DSW *B; + }; + + Body3DSW *_arr[2]; + }; + + JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints + JacobianEntry3DSW 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 PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_HINGE; } + + virtual bool setup(real_t p_step); + virtual void solve(real_t p_step); + + real_t get_hinge_angle(); + + void set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value); + real_t get_param(PhysicsServer3D::HingeJointParam p_param) const; + + void set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value); + bool get_flag(PhysicsServer3D::HingeJointFlag p_flag) const; + + HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &frameA, const Transform &frameB); + HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB); +}; + +#endif // HINGE_JOINT_SW_H |