From 39f6ca96a3b07b3196e8bfb59743a57595ecfc5e Mon Sep 17 00:00:00 2001 From: PouleyKetchoupp Date: Fri, 1 Oct 2021 12:00:32 -0700 Subject: Rename Joint2D and Joint3D files for consistency Now matches the class names to be consistent between 2D and 3D and with other node types. --- editor/plugins/node_3d_editor_gizmos.cpp | 2 +- editor/plugins/skeleton_3d_editor_plugin.cpp | 2 +- scene/2d/joint_2d.cpp | 441 +++++++++++ scene/2d/joint_2d.h | 151 ++++ scene/2d/joints_2d.cpp | 441 ----------- scene/2d/joints_2d.h | 151 ---- scene/2d/physical_bone_2d.cpp | 2 + scene/2d/physical_bone_2d.h | 4 +- scene/3d/joint_3d.cpp | 1059 ++++++++++++++++++++++++++ scene/3d/joint_3d.h | 337 ++++++++ scene/3d/physics_joint_3d.cpp | 1059 -------------------------- scene/3d/physics_joint_3d.h | 337 -------- scene/register_scene_types.cpp | 4 +- 13 files changed, 1996 insertions(+), 1994 deletions(-) create mode 100644 scene/2d/joint_2d.cpp create mode 100644 scene/2d/joint_2d.h delete mode 100644 scene/2d/joints_2d.cpp delete mode 100644 scene/2d/joints_2d.h create mode 100644 scene/3d/joint_3d.cpp create mode 100644 scene/3d/joint_3d.h delete mode 100644 scene/3d/physics_joint_3d.cpp delete mode 100644 scene/3d/physics_joint_3d.h diff --git a/editor/plugins/node_3d_editor_gizmos.cpp b/editor/plugins/node_3d_editor_gizmos.cpp index ac7bfd267b..fb92359818 100644 --- a/editor/plugins/node_3d_editor_gizmos.cpp +++ b/editor/plugins/node_3d_editor_gizmos.cpp @@ -43,13 +43,13 @@ #include "scene/3d/decal.h" #include "scene/3d/gpu_particles_3d.h" #include "scene/3d/gpu_particles_collision_3d.h" +#include "scene/3d/joint_3d.h" #include "scene/3d/light_3d.h" #include "scene/3d/lightmap_gi.h" #include "scene/3d/lightmap_probe.h" #include "scene/3d/mesh_instance_3d.h" #include "scene/3d/navigation_region_3d.h" #include "scene/3d/occluder_instance_3d.h" -#include "scene/3d/physics_joint_3d.h" #include "scene/3d/position_3d.h" #include "scene/3d/ray_cast_3d.h" #include "scene/3d/reflection_probe.h" diff --git a/editor/plugins/skeleton_3d_editor_plugin.cpp b/editor/plugins/skeleton_3d_editor_plugin.cpp index 309821b3dc..4e3ab5380b 100644 --- a/editor/plugins/skeleton_3d_editor_plugin.cpp +++ b/editor/plugins/skeleton_3d_editor_plugin.cpp @@ -37,9 +37,9 @@ #include "editor/plugins/animation_player_editor_plugin.h" #include "node_3d_editor_plugin.h" #include "scene/3d/collision_shape_3d.h" +#include "scene/3d/joint_3d.h" #include "scene/3d/mesh_instance_3d.h" #include "scene/3d/physics_body_3d.h" -#include "scene/3d/physics_joint_3d.h" #include "scene/resources/capsule_shape_3d.h" #include "scene/resources/sphere_shape_3d.h" diff --git a/scene/2d/joint_2d.cpp b/scene/2d/joint_2d.cpp new file mode 100644 index 0000000000..3b371d4a07 --- /dev/null +++ b/scene/2d/joint_2d.cpp @@ -0,0 +1,441 @@ +/*************************************************************************/ +/* joint_2d.cpp */ +/*************************************************************************/ +/* 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. */ +/*************************************************************************/ + +#include "joint_2d.h" + +#include "physics_body_2d.h" +#include "scene/scene_string_names.h" + +void Joint2D::_disconnect_signals() { + Node *node_a = get_node_or_null(a); + PhysicsBody2D *body_a = Object::cast_to(node_a); + if (body_a) { + body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); + } + + Node *node_b = get_node_or_null(b); + PhysicsBody2D *body_b = Object::cast_to(node_b); + if (body_b) { + body_b->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); + } +} + +void Joint2D::_body_exit_tree() { + _disconnect_signals(); + _update_joint(true); +} + +void Joint2D::_update_joint(bool p_only_free) { + if (ba.is_valid() && bb.is_valid() && exclude_from_collision) { + PhysicsServer2D::get_singleton()->joint_disable_collisions_between_bodies(joint, false); + } + + ba = RID(); + bb = RID(); + configured = false; + + if (p_only_free || !is_inside_tree()) { + PhysicsServer2D::get_singleton()->joint_clear(joint); + warning = String(); + update_configuration_warnings(); + return; + } + + Node *node_a = get_node_or_null(a); + Node *node_b = get_node_or_null(b); + + PhysicsBody2D *body_a = Object::cast_to(node_a); + PhysicsBody2D *body_b = Object::cast_to(node_b); + + if (node_a && !body_a && node_b && !body_b) { + warning = TTR("Node A and Node B must be PhysicsBody2Ds"); + } else if (node_a && !body_a) { + warning = TTR("Node A must be a PhysicsBody2D"); + } else if (node_b && !body_b) { + warning = TTR("Node B must be a PhysicsBody2D"); + } else if (!body_a || !body_b) { + warning = TTR("Joint is not connected to two PhysicsBody2Ds"); + } else if (body_a == body_b) { + warning = TTR("Node A and Node B must be different PhysicsBody2Ds"); + } else { + warning = String(); + } + + update_configuration_warnings(); + + if (!warning.is_empty()) { + PhysicsServer2D::get_singleton()->joint_clear(joint); + return; + } + + if (body_a) { + body_a->force_update_transform(); + } + + if (body_b) { + body_b->force_update_transform(); + } + + configured = true; + + _configure_joint(joint, body_a, body_b); + + ERR_FAIL_COND_MSG(!joint.is_valid(), "Failed to configure the joint."); + + PhysicsServer2D::get_singleton()->get_singleton()->joint_set_param(joint, PhysicsServer2D::JOINT_PARAM_BIAS, bias); + + ba = body_a->get_rid(); + bb = body_b->get_rid(); + + body_a->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); + body_b->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); + + PhysicsServer2D::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); +} + +void Joint2D::set_node_a(const NodePath &p_node_a) { + if (a == p_node_a) { + return; + } + + if (joint.is_valid()) { + _disconnect_signals(); + } + + a = p_node_a; + _update_joint(); +} + +NodePath Joint2D::get_node_a() const { + return a; +} + +void Joint2D::set_node_b(const NodePath &p_node_b) { + if (b == p_node_b) { + return; + } + + if (joint.is_valid()) { + _disconnect_signals(); + } + + b = p_node_b; + _update_joint(); +} + +NodePath Joint2D::get_node_b() const { + return b; +} + +void Joint2D::_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; + } +} + +void Joint2D::set_bias(real_t p_bias) { + bias = p_bias; + if (joint.is_valid()) { + PhysicsServer2D::get_singleton()->get_singleton()->joint_set_param(joint, PhysicsServer2D::JOINT_PARAM_BIAS, bias); + } +} + +real_t Joint2D::get_bias() const { + return bias; +} + +void Joint2D::set_exclude_nodes_from_collision(bool p_enable) { + if (exclude_from_collision == p_enable) { + return; + } + + _update_joint(true); + exclude_from_collision = p_enable; + _update_joint(); +} + +bool Joint2D::get_exclude_nodes_from_collision() const { + return exclude_from_collision; +} + +TypedArray Joint2D::get_configuration_warnings() const { + TypedArray warnings = Node2D::get_configuration_warnings(); + + if (!warning.is_empty()) { + warnings.push_back(warning); + } + + return warnings; +} + +void Joint2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_node_a", "node"), &Joint2D::set_node_a); + ClassDB::bind_method(D_METHOD("get_node_a"), &Joint2D::get_node_a); + + ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint2D::set_node_b); + ClassDB::bind_method(D_METHOD("get_node_b"), &Joint2D::get_node_b); + + ClassDB::bind_method(D_METHOD("set_bias", "bias"), &Joint2D::set_bias); + ClassDB::bind_method(D_METHOD("get_bias"), &Joint2D::get_bias); + + ClassDB::bind_method(D_METHOD("set_exclude_nodes_from_collision", "enable"), &Joint2D::set_exclude_nodes_from_collision); + ClassDB::bind_method(D_METHOD("get_exclude_nodes_from_collision"), &Joint2D::get_exclude_nodes_from_collision); + + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody2D"), "set_node_a", "get_node_a"); + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody2D"), "set_node_b", "get_node_b"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0,0.9,0.001"), "set_bias", "get_bias"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "disable_collision"), "set_exclude_nodes_from_collision", "get_exclude_nodes_from_collision"); +} + +Joint2D::Joint2D() { + joint = PhysicsServer2D::get_singleton()->joint_create(); +} + +Joint2D::~Joint2D() { + PhysicsServer2D::get_singleton()->free(joint); +} + +/////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////// + +void PinJoint2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_DRAW: { + if (!is_inside_tree()) { + break; + } + + if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { + break; + } + + draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(0, -10), Point2(0, +10), Color(0.7, 0.6, 0.0, 0.5), 3); + } break; + } +} + +void PinJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { + PhysicsServer2D::get_singleton()->joint_make_pin(p_joint, get_global_position(), body_a->get_rid(), body_b ? body_b->get_rid() : RID()); + PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_SOFTNESS, softness); +} + +void PinJoint2D::set_softness(real_t p_softness) { + softness = p_softness; + update(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->pin_joint_set_param(get_joint(), PhysicsServer2D::PIN_JOINT_SOFTNESS, p_softness); + } +} + +real_t PinJoint2D::get_softness() const { + return softness; +} + +void PinJoint2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_softness", "softness"), &PinJoint2D::set_softness); + ClassDB::bind_method(D_METHOD("get_softness"), &PinJoint2D::get_softness); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.00,16,0.01,exp"), "set_softness", "get_softness"); +} + +PinJoint2D::PinJoint2D() { +} + +/////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////// + +void GrooveJoint2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_DRAW: { + if (!is_inside_tree()) { + break; + } + + if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { + break; + } + + draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(-10, length), Point2(+10, length), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(0, 0), Point2(0, length), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(-10, initial_offset), Point2(+10, initial_offset), Color(0.8, 0.8, 0.9, 0.5), 5); + } break; + } +} + +void GrooveJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { + Transform2D gt = get_global_transform(); + Vector2 groove_A1 = gt.get_origin(); + Vector2 groove_A2 = gt.xform(Vector2(0, length)); + Vector2 anchor_B = gt.xform(Vector2(0, initial_offset)); + + PhysicsServer2D::get_singleton()->joint_make_groove(p_joint, groove_A1, groove_A2, anchor_B, body_a->get_rid(), body_b->get_rid()); +} + +void GrooveJoint2D::set_length(real_t p_length) { + length = p_length; + update(); +} + +real_t GrooveJoint2D::get_length() const { + return length; +} + +void GrooveJoint2D::set_initial_offset(real_t p_initial_offset) { + initial_offset = p_initial_offset; + update(); +} + +real_t GrooveJoint2D::get_initial_offset() const { + return initial_offset; +} + +void GrooveJoint2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_length", "length"), &GrooveJoint2D::set_length); + ClassDB::bind_method(D_METHOD("get_length"), &GrooveJoint2D::get_length); + ClassDB::bind_method(D_METHOD("set_initial_offset", "offset"), &GrooveJoint2D::set_initial_offset); + ClassDB::bind_method(D_METHOD("get_initial_offset"), &GrooveJoint2D::get_initial_offset); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length", PROPERTY_HINT_RANGE, "1,65535,1,exp"), "set_length", "get_length"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "initial_offset", PROPERTY_HINT_RANGE, "1,65535,1,exp"), "set_initial_offset", "get_initial_offset"); +} + +GrooveJoint2D::GrooveJoint2D() { +} + +/////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////// + +void DampedSpringJoint2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_DRAW: { + if (!is_inside_tree()) { + break; + } + + if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { + break; + } + + draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(-10, length), Point2(+10, length), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(0, 0), Point2(0, length), Color(0.7, 0.6, 0.0, 0.5), 3); + } break; + } +} + +void DampedSpringJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { + Transform2D gt = get_global_transform(); + Vector2 anchor_A = gt.get_origin(); + Vector2 anchor_B = gt.xform(Vector2(0, length)); + + PhysicsServer2D::get_singleton()->joint_make_damped_spring(p_joint, anchor_A, anchor_B, body_a->get_rid(), body_b->get_rid()); + if (rest_length) { + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_REST_LENGTH, rest_length); + } + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_STIFFNESS, stiffness); + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_DAMPING, damping); +} + +void DampedSpringJoint2D::set_length(real_t p_length) { + length = p_length; + update(); +} + +real_t DampedSpringJoint2D::get_length() const { + return length; +} + +void DampedSpringJoint2D::set_rest_length(real_t p_rest_length) { + rest_length = p_rest_length; + update(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_joint(), PhysicsServer2D::DAMPED_SPRING_REST_LENGTH, p_rest_length ? p_rest_length : length); + } +} + +real_t DampedSpringJoint2D::get_rest_length() const { + return rest_length; +} + +void DampedSpringJoint2D::set_stiffness(real_t p_stiffness) { + stiffness = p_stiffness; + update(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_joint(), PhysicsServer2D::DAMPED_SPRING_STIFFNESS, p_stiffness); + } +} + +real_t DampedSpringJoint2D::get_stiffness() const { + return stiffness; +} + +void DampedSpringJoint2D::set_damping(real_t p_damping) { + damping = p_damping; + update(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_joint(), PhysicsServer2D::DAMPED_SPRING_DAMPING, p_damping); + } +} + +real_t DampedSpringJoint2D::get_damping() const { + return damping; +} + +void DampedSpringJoint2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_length", "length"), &DampedSpringJoint2D::set_length); + ClassDB::bind_method(D_METHOD("get_length"), &DampedSpringJoint2D::get_length); + ClassDB::bind_method(D_METHOD("set_rest_length", "rest_length"), &DampedSpringJoint2D::set_rest_length); + ClassDB::bind_method(D_METHOD("get_rest_length"), &DampedSpringJoint2D::get_rest_length); + ClassDB::bind_method(D_METHOD("set_stiffness", "stiffness"), &DampedSpringJoint2D::set_stiffness); + ClassDB::bind_method(D_METHOD("get_stiffness"), &DampedSpringJoint2D::get_stiffness); + ClassDB::bind_method(D_METHOD("set_damping", "damping"), &DampedSpringJoint2D::set_damping); + ClassDB::bind_method(D_METHOD("get_damping"), &DampedSpringJoint2D::get_damping); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length", PROPERTY_HINT_RANGE, "1,65535,1,exp"), "set_length", "get_length"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "rest_length", PROPERTY_HINT_RANGE, "0,65535,1,exp"), "set_rest_length", "get_rest_length"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "stiffness", PROPERTY_HINT_RANGE, "0.1,64,0.1,exp"), "set_stiffness", "get_stiffness"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "damping", PROPERTY_HINT_RANGE, "0.01,16,0.01,exp"), "set_damping", "get_damping"); +} + +DampedSpringJoint2D::DampedSpringJoint2D() { +} diff --git a/scene/2d/joint_2d.h b/scene/2d/joint_2d.h new file mode 100644 index 0000000000..0c3956e463 --- /dev/null +++ b/scene/2d/joint_2d.h @@ -0,0 +1,151 @@ +/*************************************************************************/ +/* joint_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 JOINT_2D_H +#define JOINT_2D_H + +#include "node_2d.h" + +class PhysicsBody2D; + +class Joint2D : public Node2D { + GDCLASS(Joint2D, Node2D); + + RID joint; + RID ba, bb; + + NodePath a; + NodePath b; + real_t bias = 0.0; + + bool exclude_from_collision = true; + bool configured = false; + String warning; + +protected: + void _disconnect_signals(); + void _body_exit_tree(); + void _update_joint(bool p_only_free = false); + + void _notification(int p_what); + virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) = 0; + + static void _bind_methods(); + + _FORCE_INLINE_ bool is_configured() const { return configured; } + +public: + virtual TypedArray get_configuration_warnings() const override; + + void set_node_a(const NodePath &p_node_a); + NodePath get_node_a() const; + + void set_node_b(const NodePath &p_node_b); + NodePath get_node_b() const; + + void set_bias(real_t p_bias); + real_t get_bias() const; + + void set_exclude_nodes_from_collision(bool p_enable); + bool get_exclude_nodes_from_collision() const; + + RID get_joint() const { return joint; } + Joint2D(); + ~Joint2D(); +}; + +class PinJoint2D : public Joint2D { + GDCLASS(PinJoint2D, Joint2D); + + real_t softness = 0.0; + +protected: + void _notification(int p_what); + virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; + static void _bind_methods(); + +public: + void set_softness(real_t p_softness); + real_t get_softness() const; + + PinJoint2D(); +}; + +class GrooveJoint2D : public Joint2D { + GDCLASS(GrooveJoint2D, Joint2D); + + real_t length = 50.0; + real_t initial_offset = 25.0; + +protected: + void _notification(int p_what); + virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; + static void _bind_methods(); + +public: + void set_length(real_t p_length); + real_t get_length() const; + + void set_initial_offset(real_t p_initial_offset); + real_t get_initial_offset() const; + + GrooveJoint2D(); +}; + +class DampedSpringJoint2D : public Joint2D { + GDCLASS(DampedSpringJoint2D, Joint2D); + + real_t stiffness = 20.0; + real_t damping = 1.0; + real_t rest_length = 0.0; + real_t length = 50.0; + +protected: + void _notification(int p_what); + virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; + static void _bind_methods(); + +public: + void set_length(real_t p_length); + real_t get_length() const; + + void set_rest_length(real_t p_rest_length); + real_t get_rest_length() const; + + void set_damping(real_t p_damping); + real_t get_damping() const; + + void set_stiffness(real_t p_stiffness); + real_t get_stiffness() const; + + DampedSpringJoint2D(); +}; + +#endif // JOINT_2D_H diff --git a/scene/2d/joints_2d.cpp b/scene/2d/joints_2d.cpp deleted file mode 100644 index 4a6606256e..0000000000 --- a/scene/2d/joints_2d.cpp +++ /dev/null @@ -1,441 +0,0 @@ -/*************************************************************************/ -/* joints_2d.cpp */ -/*************************************************************************/ -/* 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. */ -/*************************************************************************/ - -#include "joints_2d.h" - -#include "physics_body_2d.h" -#include "scene/scene_string_names.h" - -void Joint2D::_disconnect_signals() { - Node *node_a = get_node_or_null(a); - PhysicsBody2D *body_a = Object::cast_to(node_a); - if (body_a) { - body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); - } - - Node *node_b = get_node_or_null(b); - PhysicsBody2D *body_b = Object::cast_to(node_b); - if (body_b) { - body_b->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); - } -} - -void Joint2D::_body_exit_tree() { - _disconnect_signals(); - _update_joint(true); -} - -void Joint2D::_update_joint(bool p_only_free) { - if (ba.is_valid() && bb.is_valid() && exclude_from_collision) { - PhysicsServer2D::get_singleton()->joint_disable_collisions_between_bodies(joint, false); - } - - ba = RID(); - bb = RID(); - configured = false; - - if (p_only_free || !is_inside_tree()) { - PhysicsServer2D::get_singleton()->joint_clear(joint); - warning = String(); - update_configuration_warnings(); - return; - } - - Node *node_a = get_node_or_null(a); - Node *node_b = get_node_or_null(b); - - PhysicsBody2D *body_a = Object::cast_to(node_a); - PhysicsBody2D *body_b = Object::cast_to(node_b); - - if (node_a && !body_a && node_b && !body_b) { - warning = TTR("Node A and Node B must be PhysicsBody2Ds"); - } else if (node_a && !body_a) { - warning = TTR("Node A must be a PhysicsBody2D"); - } else if (node_b && !body_b) { - warning = TTR("Node B must be a PhysicsBody2D"); - } else if (!body_a || !body_b) { - warning = TTR("Joint is not connected to two PhysicsBody2Ds"); - } else if (body_a == body_b) { - warning = TTR("Node A and Node B must be different PhysicsBody2Ds"); - } else { - warning = String(); - } - - update_configuration_warnings(); - - if (!warning.is_empty()) { - PhysicsServer2D::get_singleton()->joint_clear(joint); - return; - } - - if (body_a) { - body_a->force_update_transform(); - } - - if (body_b) { - body_b->force_update_transform(); - } - - configured = true; - - _configure_joint(joint, body_a, body_b); - - ERR_FAIL_COND_MSG(!joint.is_valid(), "Failed to configure the joint."); - - PhysicsServer2D::get_singleton()->get_singleton()->joint_set_param(joint, PhysicsServer2D::JOINT_PARAM_BIAS, bias); - - ba = body_a->get_rid(); - bb = body_b->get_rid(); - - body_a->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); - body_b->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); - - PhysicsServer2D::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); -} - -void Joint2D::set_node_a(const NodePath &p_node_a) { - if (a == p_node_a) { - return; - } - - if (joint.is_valid()) { - _disconnect_signals(); - } - - a = p_node_a; - _update_joint(); -} - -NodePath Joint2D::get_node_a() const { - return a; -} - -void Joint2D::set_node_b(const NodePath &p_node_b) { - if (b == p_node_b) { - return; - } - - if (joint.is_valid()) { - _disconnect_signals(); - } - - b = p_node_b; - _update_joint(); -} - -NodePath Joint2D::get_node_b() const { - return b; -} - -void Joint2D::_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; - } -} - -void Joint2D::set_bias(real_t p_bias) { - bias = p_bias; - if (joint.is_valid()) { - PhysicsServer2D::get_singleton()->get_singleton()->joint_set_param(joint, PhysicsServer2D::JOINT_PARAM_BIAS, bias); - } -} - -real_t Joint2D::get_bias() const { - return bias; -} - -void Joint2D::set_exclude_nodes_from_collision(bool p_enable) { - if (exclude_from_collision == p_enable) { - return; - } - - _update_joint(true); - exclude_from_collision = p_enable; - _update_joint(); -} - -bool Joint2D::get_exclude_nodes_from_collision() const { - return exclude_from_collision; -} - -TypedArray Joint2D::get_configuration_warnings() const { - TypedArray warnings = Node2D::get_configuration_warnings(); - - if (!warning.is_empty()) { - warnings.push_back(warning); - } - - return warnings; -} - -void Joint2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_node_a", "node"), &Joint2D::set_node_a); - ClassDB::bind_method(D_METHOD("get_node_a"), &Joint2D::get_node_a); - - ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint2D::set_node_b); - ClassDB::bind_method(D_METHOD("get_node_b"), &Joint2D::get_node_b); - - ClassDB::bind_method(D_METHOD("set_bias", "bias"), &Joint2D::set_bias); - ClassDB::bind_method(D_METHOD("get_bias"), &Joint2D::get_bias); - - ClassDB::bind_method(D_METHOD("set_exclude_nodes_from_collision", "enable"), &Joint2D::set_exclude_nodes_from_collision); - ClassDB::bind_method(D_METHOD("get_exclude_nodes_from_collision"), &Joint2D::get_exclude_nodes_from_collision); - - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody2D"), "set_node_a", "get_node_a"); - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody2D"), "set_node_b", "get_node_b"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0,0.9,0.001"), "set_bias", "get_bias"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "disable_collision"), "set_exclude_nodes_from_collision", "get_exclude_nodes_from_collision"); -} - -Joint2D::Joint2D() { - joint = PhysicsServer2D::get_singleton()->joint_create(); -} - -Joint2D::~Joint2D() { - PhysicsServer2D::get_singleton()->free(joint); -} - -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// - -void PinJoint2D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_DRAW: { - if (!is_inside_tree()) { - break; - } - - if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { - break; - } - - draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(0, -10), Point2(0, +10), Color(0.7, 0.6, 0.0, 0.5), 3); - } break; - } -} - -void PinJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { - PhysicsServer2D::get_singleton()->joint_make_pin(p_joint, get_global_position(), body_a->get_rid(), body_b ? body_b->get_rid() : RID()); - PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_SOFTNESS, softness); -} - -void PinJoint2D::set_softness(real_t p_softness) { - softness = p_softness; - update(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->pin_joint_set_param(get_joint(), PhysicsServer2D::PIN_JOINT_SOFTNESS, p_softness); - } -} - -real_t PinJoint2D::get_softness() const { - return softness; -} - -void PinJoint2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_softness", "softness"), &PinJoint2D::set_softness); - ClassDB::bind_method(D_METHOD("get_softness"), &PinJoint2D::get_softness); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.00,16,0.01,exp"), "set_softness", "get_softness"); -} - -PinJoint2D::PinJoint2D() { -} - -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// - -void GrooveJoint2D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_DRAW: { - if (!is_inside_tree()) { - break; - } - - if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { - break; - } - - draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(-10, length), Point2(+10, length), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(0, 0), Point2(0, length), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(-10, initial_offset), Point2(+10, initial_offset), Color(0.8, 0.8, 0.9, 0.5), 5); - } break; - } -} - -void GrooveJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { - Transform2D gt = get_global_transform(); - Vector2 groove_A1 = gt.get_origin(); - Vector2 groove_A2 = gt.xform(Vector2(0, length)); - Vector2 anchor_B = gt.xform(Vector2(0, initial_offset)); - - PhysicsServer2D::get_singleton()->joint_make_groove(p_joint, groove_A1, groove_A2, anchor_B, body_a->get_rid(), body_b->get_rid()); -} - -void GrooveJoint2D::set_length(real_t p_length) { - length = p_length; - update(); -} - -real_t GrooveJoint2D::get_length() const { - return length; -} - -void GrooveJoint2D::set_initial_offset(real_t p_initial_offset) { - initial_offset = p_initial_offset; - update(); -} - -real_t GrooveJoint2D::get_initial_offset() const { - return initial_offset; -} - -void GrooveJoint2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_length", "length"), &GrooveJoint2D::set_length); - ClassDB::bind_method(D_METHOD("get_length"), &GrooveJoint2D::get_length); - ClassDB::bind_method(D_METHOD("set_initial_offset", "offset"), &GrooveJoint2D::set_initial_offset); - ClassDB::bind_method(D_METHOD("get_initial_offset"), &GrooveJoint2D::get_initial_offset); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length", PROPERTY_HINT_RANGE, "1,65535,1,exp"), "set_length", "get_length"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "initial_offset", PROPERTY_HINT_RANGE, "1,65535,1,exp"), "set_initial_offset", "get_initial_offset"); -} - -GrooveJoint2D::GrooveJoint2D() { -} - -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// - -void DampedSpringJoint2D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_DRAW: { - if (!is_inside_tree()) { - break; - } - - if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { - break; - } - - draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(-10, length), Point2(+10, length), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(0, 0), Point2(0, length), Color(0.7, 0.6, 0.0, 0.5), 3); - } break; - } -} - -void DampedSpringJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { - Transform2D gt = get_global_transform(); - Vector2 anchor_A = gt.get_origin(); - Vector2 anchor_B = gt.xform(Vector2(0, length)); - - PhysicsServer2D::get_singleton()->joint_make_damped_spring(p_joint, anchor_A, anchor_B, body_a->get_rid(), body_b->get_rid()); - if (rest_length) { - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_REST_LENGTH, rest_length); - } - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_STIFFNESS, stiffness); - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_DAMPING, damping); -} - -void DampedSpringJoint2D::set_length(real_t p_length) { - length = p_length; - update(); -} - -real_t DampedSpringJoint2D::get_length() const { - return length; -} - -void DampedSpringJoint2D::set_rest_length(real_t p_rest_length) { - rest_length = p_rest_length; - update(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_joint(), PhysicsServer2D::DAMPED_SPRING_REST_LENGTH, p_rest_length ? p_rest_length : length); - } -} - -real_t DampedSpringJoint2D::get_rest_length() const { - return rest_length; -} - -void DampedSpringJoint2D::set_stiffness(real_t p_stiffness) { - stiffness = p_stiffness; - update(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_joint(), PhysicsServer2D::DAMPED_SPRING_STIFFNESS, p_stiffness); - } -} - -real_t DampedSpringJoint2D::get_stiffness() const { - return stiffness; -} - -void DampedSpringJoint2D::set_damping(real_t p_damping) { - damping = p_damping; - update(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_joint(), PhysicsServer2D::DAMPED_SPRING_DAMPING, p_damping); - } -} - -real_t DampedSpringJoint2D::get_damping() const { - return damping; -} - -void DampedSpringJoint2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_length", "length"), &DampedSpringJoint2D::set_length); - ClassDB::bind_method(D_METHOD("get_length"), &DampedSpringJoint2D::get_length); - ClassDB::bind_method(D_METHOD("set_rest_length", "rest_length"), &DampedSpringJoint2D::set_rest_length); - ClassDB::bind_method(D_METHOD("get_rest_length"), &DampedSpringJoint2D::get_rest_length); - ClassDB::bind_method(D_METHOD("set_stiffness", "stiffness"), &DampedSpringJoint2D::set_stiffness); - ClassDB::bind_method(D_METHOD("get_stiffness"), &DampedSpringJoint2D::get_stiffness); - ClassDB::bind_method(D_METHOD("set_damping", "damping"), &DampedSpringJoint2D::set_damping); - ClassDB::bind_method(D_METHOD("get_damping"), &DampedSpringJoint2D::get_damping); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length", PROPERTY_HINT_RANGE, "1,65535,1,exp"), "set_length", "get_length"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "rest_length", PROPERTY_HINT_RANGE, "0,65535,1,exp"), "set_rest_length", "get_rest_length"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "stiffness", PROPERTY_HINT_RANGE, "0.1,64,0.1,exp"), "set_stiffness", "get_stiffness"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "damping", PROPERTY_HINT_RANGE, "0.01,16,0.01,exp"), "set_damping", "get_damping"); -} - -DampedSpringJoint2D::DampedSpringJoint2D() { -} diff --git a/scene/2d/joints_2d.h b/scene/2d/joints_2d.h deleted file mode 100644 index dc5a08f815..0000000000 --- a/scene/2d/joints_2d.h +++ /dev/null @@ -1,151 +0,0 @@ -/*************************************************************************/ -/* 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 JOINTS_2D_H -#define JOINTS_2D_H - -#include "node_2d.h" - -class PhysicsBody2D; - -class Joint2D : public Node2D { - GDCLASS(Joint2D, Node2D); - - RID joint; - RID ba, bb; - - NodePath a; - NodePath b; - real_t bias = 0.0; - - bool exclude_from_collision = true; - bool configured = false; - String warning; - -protected: - void _disconnect_signals(); - void _body_exit_tree(); - void _update_joint(bool p_only_free = false); - - void _notification(int p_what); - virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) = 0; - - static void _bind_methods(); - - _FORCE_INLINE_ bool is_configured() const { return configured; } - -public: - virtual TypedArray get_configuration_warnings() const override; - - void set_node_a(const NodePath &p_node_a); - NodePath get_node_a() const; - - void set_node_b(const NodePath &p_node_b); - NodePath get_node_b() const; - - void set_bias(real_t p_bias); - real_t get_bias() const; - - void set_exclude_nodes_from_collision(bool p_enable); - bool get_exclude_nodes_from_collision() const; - - RID get_joint() const { return joint; } - Joint2D(); - ~Joint2D(); -}; - -class PinJoint2D : public Joint2D { - GDCLASS(PinJoint2D, Joint2D); - - real_t softness = 0.0; - -protected: - void _notification(int p_what); - virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; - static void _bind_methods(); - -public: - void set_softness(real_t p_softness); - real_t get_softness() const; - - PinJoint2D(); -}; - -class GrooveJoint2D : public Joint2D { - GDCLASS(GrooveJoint2D, Joint2D); - - real_t length = 50.0; - real_t initial_offset = 25.0; - -protected: - void _notification(int p_what); - virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; - static void _bind_methods(); - -public: - void set_length(real_t p_length); - real_t get_length() const; - - void set_initial_offset(real_t p_initial_offset); - real_t get_initial_offset() const; - - GrooveJoint2D(); -}; - -class DampedSpringJoint2D : public Joint2D { - GDCLASS(DampedSpringJoint2D, Joint2D); - - real_t stiffness = 20.0; - real_t damping = 1.0; - real_t rest_length = 0.0; - real_t length = 50.0; - -protected: - void _notification(int p_what); - virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; - static void _bind_methods(); - -public: - void set_length(real_t p_length); - real_t get_length() const; - - void set_rest_length(real_t p_rest_length); - real_t get_rest_length() const; - - void set_damping(real_t p_damping); - real_t get_damping() const; - - void set_stiffness(real_t p_stiffness); - real_t get_stiffness() const; - - DampedSpringJoint2D(); -}; - -#endif // JOINTS_2D_H diff --git a/scene/2d/physical_bone_2d.cpp b/scene/2d/physical_bone_2d.cpp index 48817679bc..c1b0bc35dd 100644 --- a/scene/2d/physical_bone_2d.cpp +++ b/scene/2d/physical_bone_2d.cpp @@ -30,6 +30,8 @@ #include "physical_bone_2d.h" +#include "scene/2d/joint_2d.h" + void PhysicalBone2D::_notification(int p_what) { switch (p_what) { case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { diff --git a/scene/2d/physical_bone_2d.h b/scene/2d/physical_bone_2d.h index a250d0aadd..8b41f75c3e 100644 --- a/scene/2d/physical_bone_2d.h +++ b/scene/2d/physical_bone_2d.h @@ -31,11 +31,11 @@ #ifndef PHYSICAL_BONE_2D_H #define PHYSICAL_BONE_2D_H -#include "scene/2d/joints_2d.h" #include "scene/2d/physics_body_2d.h" - #include "scene/2d/skeleton_2d.h" +class Joint2D; + class PhysicalBone2D : public RigidDynamicBody2D { GDCLASS(PhysicalBone2D, RigidDynamicBody2D); diff --git a/scene/3d/joint_3d.cpp b/scene/3d/joint_3d.cpp new file mode 100644 index 0000000000..aa5ca85bdf --- /dev/null +++ b/scene/3d/joint_3d.cpp @@ -0,0 +1,1059 @@ +/*************************************************************************/ +/* joint_3d.cpp */ +/*************************************************************************/ +/* 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. */ +/*************************************************************************/ + +#include "joint_3d.h" + +#include "scene/scene_string_names.h" + +void Joint3D::_disconnect_signals() { + Node *node_a = get_node_or_null(a); + PhysicsBody3D *body_a = Object::cast_to(node_a); + if (body_a) { + body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); + } + + Node *node_b = get_node_or_null(b); + PhysicsBody3D *body_b = Object::cast_to(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); +} + +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 = get_node_or_null(a); + Node *node_b = get_node_or_null(b); + + PhysicsBody3D *body_a = Object::cast_to(node_a); + PhysicsBody3D *body_b = Object::cast_to(node_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 (!warning.is_empty()) { + PhysicsServer3D::get_singleton()->joint_clear(joint); + return; + } + + configured = true; + + 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); + + 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) { + 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) { + return; + } + + if (joint.is_valid()) { + _disconnect_signals(); + } + + b = p_node_b; + _update_joint(); +} + +NodePath Joint3D::get_node_b() const { + return b; +} + +void Joint3D::set_solver_priority(int p_priority) { + solver_priority = p_priority; + 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; + } +} + +void Joint3D::set_exclude_nodes_from_collision(bool 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; +} + +TypedArray Joint3D::get_configuration_warnings() const { + TypedArray 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); + + ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint3D::set_node_b); + ClassDB::bind_method(D_METHOD("get_node_b"), &Joint3D::get_node_b); + + ClassDB::bind_method(D_METHOD("set_solver_priority", "priority"), &Joint3D::set_solver_priority); + ClassDB::bind_method(D_METHOD("get_solver_priority"), &Joint3D::get_solver_priority); + + 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, "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() { + 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); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"), "set_param", "get_param", PARAM_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01"), "set_param", "get_param", PARAM_IMPULSE_CLAMP); + + BIND_ENUM_CONSTANT(PARAM_BIAS); + BIND_ENUM_CONSTANT(PARAM_DAMPING); + BIND_ENUM_CONSTANT(PARAM_IMPULSE_CLAMP); +} + +void PinJoint3D::set_param(Param p_param, real_t p_value) { + ERR_FAIL_INDEX(p_param, 3); + params[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(get_joint(), PhysicsServer3D::PinJointParam(p_param), p_value); + } +} + +real_t PinJoint3D::get_param(Param p_param) const { + ERR_FAIL_INDEX_V(p_param, 3, 0); + return params[p_param]; +} + +void PinJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Vector3 pinpos = get_global_transform().origin; + Vector3 local_a = body_a->to_local(pinpos); + Vector3 local_b; + + if (body_b) { + local_b = body_b->to_local(pinpos); + } else { + local_b = pinpos; + } + + 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(p_joint, PhysicsServer3D::PinJointParam(i), params[i]); + } +} + +PinJoint3D::PinJoint3D() { + params[PARAM_BIAS] = 0.3; + params[PARAM_DAMPING] = 1; + params[PARAM_IMPULSE_CLAMP] = 0; +} + +///////////////////////////////////////////////// + +/////////////////////////////////// + +void HingeJoint3D::_set_upper_limit(real_t p_limit) { + set_param(PARAM_LIMIT_UPPER, Math::deg2rad(p_limit)); +} + +real_t HingeJoint3D::_get_upper_limit() const { + return Math::rad2deg(get_param(PARAM_LIMIT_UPPER)); +} + +void HingeJoint3D::_set_lower_limit(real_t p_limit) { + set_param(PARAM_LIMIT_LOWER, Math::deg2rad(p_limit)); +} + +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); + + ClassDB::bind_method(D_METHOD("set_flag", "flag", "enabled"), &HingeJoint3D::set_flag); + ClassDB::bind_method(D_METHOD("get_flag", "flag"), &HingeJoint3D::get_flag); + + ClassDB::bind_method(D_METHOD("_set_upper_limit", "upper_limit"), &HingeJoint3D::_set_upper_limit); + ClassDB::bind_method(D_METHOD("_get_upper_limit"), &HingeJoint3D::_get_upper_limit); + + ClassDB::bind_method(D_METHOD("_set_lower_limit", "lower_limit"), &HingeJoint3D::_set_lower_limit); + ClassDB::bind_method(D_METHOD("_get_lower_limit"), &HingeJoint3D::_get_lower_limit); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.00,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit/enable"), "set_flag", "get_flag", FLAG_USE_LIMIT); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_upper_limit", "_get_upper_limit"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_lower_limit", "_get_lower_limit"); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_LIMIT_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_RELAXATION); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "motor/enable"), "set_flag", "get_flag", FLAG_ENABLE_MOTOR); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/target_velocity", PROPERTY_HINT_RANGE, "-200,200,0.01,or_greater,or_lesser"), "set_param", "get_param", PARAM_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/max_impulse", PROPERTY_HINT_RANGE, "0.01,1024,0.01"), "set_param", "get_param", PARAM_MOTOR_MAX_IMPULSE); + + BIND_ENUM_CONSTANT(PARAM_BIAS); + BIND_ENUM_CONSTANT(PARAM_LIMIT_UPPER); + BIND_ENUM_CONSTANT(PARAM_LIMIT_LOWER); + BIND_ENUM_CONSTANT(PARAM_LIMIT_BIAS); + BIND_ENUM_CONSTANT(PARAM_LIMIT_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LIMIT_RELAXATION); + BIND_ENUM_CONSTANT(PARAM_MOTOR_TARGET_VELOCITY); + BIND_ENUM_CONSTANT(PARAM_MOTOR_MAX_IMPULSE); + BIND_ENUM_CONSTANT(PARAM_MAX); + + BIND_ENUM_CONSTANT(FLAG_USE_LIMIT); + BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); + BIND_ENUM_CONSTANT(FLAG_MAX); +} + +void HingeJoint3D::set_param(Param p_param, real_t p_value) { + ERR_FAIL_INDEX(p_param, PARAM_MAX); + params[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(get_joint(), PhysicsServer3D::HingeJointParam(p_param), p_value); + } + + update_gizmos(); +} + +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 (is_configured()) { + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(get_joint(), PhysicsServer3D::HingeJointFlag(p_flag), p_value); + } + + update_gizmos(); +} + +bool HingeJoint3D::get_flag(Flag p_flag) const { + ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); + return flags[p_flag]; +} + +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(); + + Transform3D local_a = ainv * gt; + local_a.orthonormalize(); + Transform3D local_b = gt; + + if (body_b) { + Transform3D binv = body_b->get_global_transform().affine_inverse(); + local_b = binv * gt; + } + + local_b.orthonormalize(); + + 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(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(p_joint, PhysicsServer3D::HingeJointFlag(i), flags[i]); + } +} + +HingeJoint3D::HingeJoint3D() { + params[PARAM_BIAS] = 0.3; + params[PARAM_LIMIT_UPPER] = Math_PI * 0.5; + params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5; + params[PARAM_LIMIT_BIAS] = 0.3; + params[PARAM_LIMIT_SOFTNESS] = 0.9; + params[PARAM_LIMIT_RELAXATION] = 1.0; + params[PARAM_MOTOR_TARGET_VELOCITY] = 1; + params[PARAM_MOTOR_MAX_IMPULSE] = 1; + + flags[FLAG_USE_LIMIT] = false; + flags[FLAG_ENABLE_MOTOR] = false; +} + +///////////////////////////////////////////////// + +////////////////////////////////// + +void SliderJoint3D::_set_upper_limit_angular(real_t p_limit_angular) { + set_param(PARAM_ANGULAR_LIMIT_UPPER, Math::deg2rad(p_limit_angular)); +} + +real_t SliderJoint3D::_get_upper_limit_angular() const { + return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_UPPER)); +} + +void SliderJoint3D::_set_lower_limit_angular(real_t p_limit_angular) { + set_param(PARAM_ANGULAR_LIMIT_LOWER, Math::deg2rad(p_limit_angular)); +} + +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); + + ClassDB::bind_method(D_METHOD("_set_upper_limit_angular", "upper_limit_angular"), &SliderJoint3D::_set_upper_limit_angular); + ClassDB::bind_method(D_METHOD("_get_upper_limit_angular"), &SliderJoint3D::_get_upper_limit_angular); + + ClassDB::bind_method(D_METHOD("_set_lower_limit_angular", "lower_limit_angular"), &SliderJoint3D::_set_lower_limit_angular); + ClassDB::bind_method(D_METHOD("_get_lower_limit_angular"), &SliderJoint3D::_get_lower_limit_angular); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/upper_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_UPPER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/lower_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_LOWER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_DAMPING); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_upper_limit_angular", "_get_upper_limit_angular"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_lower_limit_angular", "_get_lower_limit_angular"); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_DAMPING); + + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_UPPER); + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_LOWER); + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_DAMPING); + BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_DAMPING); + BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_DAMPING); + + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_UPPER); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_LOWER); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_DAMPING); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_DAMPING); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_DAMPING); + + BIND_ENUM_CONSTANT(PARAM_MAX); +} + +void SliderJoint3D::set_param(Param p_param, real_t p_value) { + ERR_FAIL_INDEX(p_param, PARAM_MAX); + params[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(get_joint(), PhysicsServer3D::SliderJointParam(p_param), p_value); + } + update_gizmos(); +} + +real_t SliderJoint3D::get_param(Param p_param) const { + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params[p_param]; +} + +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(); + + Transform3D local_a = ainv * gt; + local_a.orthonormalize(); + Transform3D local_b = gt; + + if (body_b) { + Transform3D binv = body_b->get_global_transform().affine_inverse(); + local_b = binv * gt; + } + + local_b.orthonormalize(); + + 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(p_joint, PhysicsServer3D::SliderJointParam(i), params[i]); + } +} + +SliderJoint3D::SliderJoint3D() { + params[PARAM_LINEAR_LIMIT_UPPER] = 1.0; + params[PARAM_LINEAR_LIMIT_LOWER] = -1.0; + params[PARAM_LINEAR_LIMIT_SOFTNESS] = 1.0; + params[PARAM_LINEAR_LIMIT_RESTITUTION] = 0.7; + params[PARAM_LINEAR_LIMIT_DAMPING] = 1.0; + params[PARAM_LINEAR_MOTION_SOFTNESS] = 1.0; + params[PARAM_LINEAR_MOTION_RESTITUTION] = 0.7; + params[PARAM_LINEAR_MOTION_DAMPING] = 0; //1.0; + params[PARAM_LINEAR_ORTHOGONAL_SOFTNESS] = 1.0; + params[PARAM_LINEAR_ORTHOGONAL_RESTITUTION] = 0.7; + params[PARAM_LINEAR_ORTHOGONAL_DAMPING] = 1.0; + + params[PARAM_ANGULAR_LIMIT_UPPER] = 0; + params[PARAM_ANGULAR_LIMIT_LOWER] = 0; + params[PARAM_ANGULAR_LIMIT_SOFTNESS] = 1.0; + params[PARAM_ANGULAR_LIMIT_RESTITUTION] = 0.7; + params[PARAM_ANGULAR_LIMIT_DAMPING] = 0; //1.0; + params[PARAM_ANGULAR_MOTION_SOFTNESS] = 1.0; + params[PARAM_ANGULAR_MOTION_RESTITUTION] = 0.7; + params[PARAM_ANGULAR_MOTION_DAMPING] = 1.0; + params[PARAM_ANGULAR_ORTHOGONAL_SOFTNESS] = 1.0; + params[PARAM_ANGULAR_ORTHOGONAL_RESTITUTION] = 0.7; + params[PARAM_ANGULAR_ORTHOGONAL_DAMPING] = 1.0; +} + +////////////////////////////////// + +void ConeTwistJoint3D::_set_swing_span(real_t p_limit_angular) { + set_param(PARAM_SWING_SPAN, Math::deg2rad(p_limit_angular)); +} + +real_t ConeTwistJoint3D::_get_swing_span() const { + return Math::rad2deg(get_param(PARAM_SWING_SPAN)); +} + +void ConeTwistJoint3D::_set_twist_span(real_t p_limit_angular) { + set_param(PARAM_TWIST_SPAN, Math::deg2rad(p_limit_angular)); +} + +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); + + ClassDB::bind_method(D_METHOD("_set_swing_span", "swing_span"), &ConeTwistJoint3D::_set_swing_span); + ClassDB::bind_method(D_METHOD("_get_swing_span"), &ConeTwistJoint3D::_get_swing_span); + + ClassDB::bind_method(D_METHOD("_set_twist_span", "twist_span"), &ConeTwistJoint3D::_set_twist_span); + ClassDB::bind_method(D_METHOD("_get_twist_span"), &ConeTwistJoint3D::_get_twist_span); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "swing_span", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_swing_span", "_get_swing_span"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1"), "_set_twist_span", "_get_twist_span"); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_RELAXATION); + + BIND_ENUM_CONSTANT(PARAM_SWING_SPAN); + BIND_ENUM_CONSTANT(PARAM_TWIST_SPAN); + BIND_ENUM_CONSTANT(PARAM_BIAS); + BIND_ENUM_CONSTANT(PARAM_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_RELAXATION); + BIND_ENUM_CONSTANT(PARAM_MAX); +} + +void ConeTwistJoint3D::set_param(Param p_param, real_t p_value) { + ERR_FAIL_INDEX(p_param, PARAM_MAX); + params[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(get_joint(), PhysicsServer3D::ConeTwistJointParam(p_param), p_value); + } + + update_gizmos(); +} + +real_t ConeTwistJoint3D::get_param(Param p_param) const { + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params[p_param]; +} + +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); + + Transform3D ainv = body_a->get_global_transform().affine_inverse(); + + Transform3D local_a = ainv * gt; + local_a.orthonormalize(); + Transform3D local_b = gt; + + if (body_b) { + Transform3D binv = body_b->get_global_transform().affine_inverse(); + local_b = binv * gt; + } + + local_b.orthonormalize(); + + 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(p_joint, PhysicsServer3D::ConeTwistJointParam(i), params[i]); + } +} + +ConeTwistJoint3D::ConeTwistJoint3D() { + params[PARAM_SWING_SPAN] = Math_PI * 0.25; + params[PARAM_TWIST_SPAN] = Math_PI; + params[PARAM_BIAS] = 0.3; + params[PARAM_SOFTNESS] = 0.8; + params[PARAM_RELAXATION] = 1.0; +} + +///////////////////////////////////////////////////////////////////// + +void Generic6DOFJoint3D::_set_angular_hi_limit_x(real_t p_limit_angular) { + set_param_x(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +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(real_t p_limit_angular) { + set_param_x(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +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(real_t p_limit_angular) { + set_param_y(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +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(real_t p_limit_angular) { + set_param_y(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +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(real_t p_limit_angular) { + set_param_z(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +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(real_t p_limit_angular) { + set_param_z(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); +} + +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); + + ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_x", "angle"), &Generic6DOFJoint3D::_set_angular_lo_limit_x); + ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_x"), &Generic6DOFJoint3D::_get_angular_lo_limit_x); + + ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_y", "angle"), &Generic6DOFJoint3D::_set_angular_hi_limit_y); + ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_y"), &Generic6DOFJoint3D::_get_angular_hi_limit_y); + + ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_y", "angle"), &Generic6DOFJoint3D::_set_angular_lo_limit_y); + ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_y"), &Generic6DOFJoint3D::_get_angular_lo_limit_y); + + ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_z", "angle"), &Generic6DOFJoint3D::_set_angular_hi_limit_z); + ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_z"), &Generic6DOFJoint3D::_get_angular_hi_limit_z); + + ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_z", "angle"), &Generic6DOFJoint3D::_set_angular_lo_limit_z); + ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_z"), &Generic6DOFJoint3D::_get_angular_lo_limit_z); + + ClassDB::bind_method(D_METHOD("set_param_x", "param", "value"), &Generic6DOFJoint3D::set_param_x); + ClassDB::bind_method(D_METHOD("get_param_x", "param"), &Generic6DOFJoint3D::get_param_x); + + ClassDB::bind_method(D_METHOD("set_param_y", "param", "value"), &Generic6DOFJoint3D::set_param_y); + ClassDB::bind_method(D_METHOD("get_param_y", "param"), &Generic6DOFJoint3D::get_param_y); + + ClassDB::bind_method(D_METHOD("set_param_z", "param", "value"), &Generic6DOFJoint3D::set_param_z); + ClassDB::bind_method(D_METHOD("get_param_z", "param"), &Generic6DOFJoint3D::get_param_z); + + ClassDB::bind_method(D_METHOD("set_flag_x", "flag", "value"), &Generic6DOFJoint3D::set_flag_x); + ClassDB::bind_method(D_METHOD("get_flag_x", "flag"), &Generic6DOFJoint3D::get_flag_x); + + ClassDB::bind_method(D_METHOD("set_flag_y", "flag", "value"), &Generic6DOFJoint3D::set_flag_y); + ClassDB::bind_method(D_METHOD("get_flag_y", "flag"), &Generic6DOFJoint3D::get_flag_y); + + 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); + + 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); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_x/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_x/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_x/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_MOTOR); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_SPRING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_x/damping"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_LIMIT); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_x/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_x", "_get_angular_hi_limit_x"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_x/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_x", "_get_angular_lo_limit_x"); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_ANGULAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_ANGULAR_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_ANGULAR_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/force_limit"), "set_param_x", "get_param_x", PARAM_ANGULAR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/erp"), "set_param_x", "get_param_x", PARAM_ANGULAR_ERP); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_MOTOR); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_ANGULAR_MOTOR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_SPRING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_x/damping"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/upper_distance"), "set_param_y", "get_param_y", PARAM_LINEAR_UPPER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/lower_distance"), "set_param_y", "get_param_y", PARAM_LINEAR_LOWER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_MOTOR); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_SPRING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_y/damping"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_LIMIT); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_y/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_y", "_get_angular_hi_limit_y"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_y/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_y", "_get_angular_lo_limit_y"); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_ANGULAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_ANGULAR_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_ANGULAR_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/force_limit"), "set_param_y", "get_param_y", PARAM_ANGULAR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/erp"), "set_param_y", "get_param_y", PARAM_ANGULAR_ERP); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_MOTOR); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_ANGULAR_MOTOR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_SPRING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_y/damping"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/upper_distance"), "set_param_z", "get_param_z", PARAM_LINEAR_UPPER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/lower_distance"), "set_param_z", "get_param_z", PARAM_LINEAR_LOWER_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_MOTOR); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_SPRING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_STIFFNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_z/damping"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_z/equilibrium_point"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_LIMIT); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_z/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_z", "_get_angular_hi_limit_z"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_z/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_z", "_get_angular_lo_limit_z"); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_ANGULAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_ANGULAR_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_ANGULAR_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/force_limit"), "set_param_z", "get_param_z", PARAM_ANGULAR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/erp"), "set_param_z", "get_param_z", PARAM_ANGULAR_ERP); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_MOTOR); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_ANGULAR_MOTOR_FORCE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_SPRING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_STIFFNESS); + 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); + + BIND_ENUM_CONSTANT(PARAM_LINEAR_LOWER_LIMIT); + BIND_ENUM_CONSTANT(PARAM_LINEAR_UPPER_LIMIT); + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LINEAR_RESTITUTION); + 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); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_DAMPING); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_FORCE_LIMIT); + 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); + BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_LIMIT); + BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_SPRING); + BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_SPRING); + BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); + BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_MOTOR); + BIND_ENUM_CONSTANT(FLAG_MAX); +} + +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 (is_configured()) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); + } + + update_gizmos(); +} + +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, real_t p_value) { + ERR_FAIL_INDEX(p_param, PARAM_MAX); + params_y[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); + } + update_gizmos(); +} + +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, real_t p_value) { + ERR_FAIL_INDEX(p_param, PARAM_MAX); + params_z[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); + } + update_gizmos(); +} + +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 (is_configured()) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); + } + update_gizmos(); +} + +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 (is_configured()) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); + } + update_gizmos(); +} + +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 (is_configured()) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); + } + update_gizmos(); +} + +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::_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); + + Transform3D ainv = body_a->get_global_transform().affine_inverse(); + + Transform3D local_a = ainv * gt; + local_a.orthonormalize(); + Transform3D local_b = gt; + + if (body_b) { + Transform3D binv = body_b->get_global_transform().affine_inverse(); + local_b = binv * gt; + } + + local_b.orthonormalize(); + + 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(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(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]); + } +} + +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); + set_param_x(PARAM_LINEAR_RESTITUTION, 0.5); + set_param_x(PARAM_LINEAR_DAMPING, 1.0); + set_param_x(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0); + set_param_x(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0); + set_param_x(PARAM_LINEAR_SPRING_STIFFNESS, 0.01); + set_param_x(PARAM_LINEAR_SPRING_DAMPING, 0.01); + set_param_x(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0); + set_param_x(PARAM_ANGULAR_LOWER_LIMIT, 0); + set_param_x(PARAM_ANGULAR_UPPER_LIMIT, 0); + set_param_x(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f); + set_param_x(PARAM_ANGULAR_DAMPING, 1.0f); + set_param_x(PARAM_ANGULAR_RESTITUTION, 0); + set_param_x(PARAM_ANGULAR_FORCE_LIMIT, 0); + set_param_x(PARAM_ANGULAR_ERP, 0.5); + set_param_x(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0); + set_param_x(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300); + set_param_x(PARAM_ANGULAR_SPRING_STIFFNESS, 0); + set_param_x(PARAM_ANGULAR_SPRING_DAMPING, 0); + set_param_x(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0); + + set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true); + set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true); + set_flag_x(FLAG_ENABLE_ANGULAR_SPRING, false); + set_flag_x(FLAG_ENABLE_LINEAR_SPRING, false); + set_flag_x(FLAG_ENABLE_MOTOR, false); + set_flag_x(FLAG_ENABLE_LINEAR_MOTOR, false); + + set_param_y(PARAM_LINEAR_LOWER_LIMIT, 0); + set_param_y(PARAM_LINEAR_UPPER_LIMIT, 0); + set_param_y(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7); + set_param_y(PARAM_LINEAR_RESTITUTION, 0.5); + set_param_y(PARAM_LINEAR_DAMPING, 1.0); + set_param_y(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0); + set_param_y(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0); + set_param_y(PARAM_LINEAR_SPRING_STIFFNESS, 0.01); + set_param_y(PARAM_LINEAR_SPRING_DAMPING, 0.01); + set_param_y(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0); + set_param_y(PARAM_ANGULAR_LOWER_LIMIT, 0); + set_param_y(PARAM_ANGULAR_UPPER_LIMIT, 0); + set_param_y(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f); + set_param_y(PARAM_ANGULAR_DAMPING, 1.0f); + set_param_y(PARAM_ANGULAR_RESTITUTION, 0); + set_param_y(PARAM_ANGULAR_FORCE_LIMIT, 0); + set_param_y(PARAM_ANGULAR_ERP, 0.5); + set_param_y(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0); + set_param_y(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300); + set_param_y(PARAM_ANGULAR_SPRING_STIFFNESS, 0); + set_param_y(PARAM_ANGULAR_SPRING_DAMPING, 0); + set_param_y(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0); + + set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true); + set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true); + set_flag_y(FLAG_ENABLE_ANGULAR_SPRING, false); + set_flag_y(FLAG_ENABLE_LINEAR_SPRING, false); + set_flag_y(FLAG_ENABLE_MOTOR, false); + set_flag_y(FLAG_ENABLE_LINEAR_MOTOR, false); + + set_param_z(PARAM_LINEAR_LOWER_LIMIT, 0); + set_param_z(PARAM_LINEAR_UPPER_LIMIT, 0); + set_param_z(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7); + set_param_z(PARAM_LINEAR_RESTITUTION, 0.5); + set_param_z(PARAM_LINEAR_DAMPING, 1.0); + set_param_z(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0); + set_param_z(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0); + set_param_z(PARAM_LINEAR_SPRING_STIFFNESS, 0.01); + set_param_z(PARAM_LINEAR_SPRING_DAMPING, 0.01); + set_param_z(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0); + set_param_z(PARAM_ANGULAR_LOWER_LIMIT, 0); + set_param_z(PARAM_ANGULAR_UPPER_LIMIT, 0); + set_param_z(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f); + set_param_z(PARAM_ANGULAR_DAMPING, 1.0f); + set_param_z(PARAM_ANGULAR_RESTITUTION, 0); + set_param_z(PARAM_ANGULAR_FORCE_LIMIT, 0); + set_param_z(PARAM_ANGULAR_ERP, 0.5); + set_param_z(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0); + set_param_z(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300); + set_param_z(PARAM_ANGULAR_SPRING_STIFFNESS, 0); + set_param_z(PARAM_ANGULAR_SPRING_DAMPING, 0); + set_param_z(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0); + + set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true); + set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true); + set_flag_z(FLAG_ENABLE_ANGULAR_SPRING, false); + set_flag_z(FLAG_ENABLE_LINEAR_SPRING, false); + set_flag_z(FLAG_ENABLE_MOTOR, false); + set_flag_z(FLAG_ENABLE_LINEAR_MOTOR, false); +} diff --git a/scene/3d/joint_3d.h b/scene/3d/joint_3d.h new file mode 100644 index 0000000000..211cf8e071 --- /dev/null +++ b/scene/3d/joint_3d.h @@ -0,0 +1,337 @@ +/*************************************************************************/ +/* joint_3d.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 JOINT_3D_H +#define JOINT_3D_H + +#include "scene/3d/node_3d.h" +#include "scene/3d/physics_body_3d.h" + +class Joint3D : public Node3D { + GDCLASS(Joint3D, Node3D); + + RID ba, bb; + + RID joint; + + NodePath a; + NodePath b; + + int solver_priority = 1; + bool exclude_from_collision = true; + String warning; + bool configured = false; + +protected: + void _disconnect_signals(); + void _body_exit_tree(); + void _update_joint(bool p_only_free = false); + + void _notification(int p_what); + + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) = 0; + + static void _bind_methods(); + + _FORCE_INLINE_ bool is_configured() const { return configured; } + +public: + virtual TypedArray get_configuration_warnings() const override; + + void set_node_a(const NodePath &p_node_a); + NodePath get_node_a() const; + + void set_node_b(const NodePath &p_node_b); + NodePath get_node_b() const; + + void set_solver_priority(int p_priority); + int get_solver_priority() const; + + void set_exclude_nodes_from_collision(bool p_enable); + bool get_exclude_nodes_from_collision() const; + + RID get_joint() const { return joint; } + Joint3D(); + ~Joint3D(); +}; + +/////////////////////////////////////////// + +class PinJoint3D : public Joint3D { + GDCLASS(PinJoint3D, Joint3D); + +public: + enum Param { + PARAM_BIAS = PhysicsServer3D::PIN_JOINT_BIAS, + PARAM_DAMPING = PhysicsServer3D::PIN_JOINT_DAMPING, + PARAM_IMPULSE_CLAMP = PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP + }; + +protected: + real_t params[3]; + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + +public: + void set_param(Param p_param, real_t p_value); + real_t get_param(Param p_param) const; + + PinJoint3D(); +}; + +VARIANT_ENUM_CAST(PinJoint3D::Param); + +class HingeJoint3D : public Joint3D { + GDCLASS(HingeJoint3D, Joint3D); + +public: + enum Param { + PARAM_BIAS = PhysicsServer3D::HINGE_JOINT_BIAS, + PARAM_LIMIT_UPPER = PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, + PARAM_LIMIT_LOWER = PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, + PARAM_LIMIT_BIAS = PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, + PARAM_LIMIT_SOFTNESS = PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, + PARAM_LIMIT_RELAXATION = PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, + PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY, + PARAM_MOTOR_MAX_IMPULSE = PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE, + PARAM_MAX = PhysicsServer3D::HINGE_JOINT_MAX + }; + + enum Flag { + FLAG_USE_LIMIT = PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, + FLAG_ENABLE_MOTOR = PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR, + FLAG_MAX = PhysicsServer3D::HINGE_JOINT_FLAG_MAX + }; + +protected: + real_t params[PARAM_MAX]; + bool flags[FLAG_MAX]; + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + + void _set_upper_limit(real_t p_limit); + real_t _get_upper_limit() const; + + void _set_lower_limit(real_t p_limit); + real_t _get_lower_limit() const; + +public: + void set_param(Param p_param, real_t p_value); + real_t get_param(Param p_param) const; + + void set_flag(Flag p_flag, bool p_value); + bool get_flag(Flag p_flag) const; + + HingeJoint3D(); +}; + +VARIANT_ENUM_CAST(HingeJoint3D::Param); +VARIANT_ENUM_CAST(HingeJoint3D::Flag); + +class SliderJoint3D : public Joint3D { + GDCLASS(SliderJoint3D, Joint3D); + +public: + enum Param { + PARAM_LINEAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, + PARAM_LINEAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, + PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, + PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, + PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, + PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, + PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, + PARAM_LINEAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING, + PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, + PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, + PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, + + PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, + PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, + PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, + PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, + PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, + PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, + PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, + PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING, + PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, + PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, + PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, + PARAM_MAX = PhysicsServer3D::SLIDER_JOINT_MAX + + }; + +protected: + void _set_upper_limit_angular(real_t p_limit_angular); + real_t _get_upper_limit_angular() const; + + void _set_lower_limit_angular(real_t p_limit_angular); + real_t _get_lower_limit_angular() const; + + real_t params[PARAM_MAX]; + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + +public: + void set_param(Param p_param, real_t p_value); + real_t get_param(Param p_param) const; + + SliderJoint3D(); +}; + +VARIANT_ENUM_CAST(SliderJoint3D::Param); + +class ConeTwistJoint3D : public Joint3D { + GDCLASS(ConeTwistJoint3D, Joint3D); + +public: + enum Param { + PARAM_SWING_SPAN, + PARAM_TWIST_SPAN, + PARAM_BIAS, + PARAM_SOFTNESS, + PARAM_RELAXATION, + PARAM_MAX + }; + +protected: + void _set_swing_span(real_t p_limit_angular); + real_t _get_swing_span() const; + + void _set_twist_span(real_t p_limit_angular); + real_t _get_twist_span() const; + + real_t params[PARAM_MAX]; + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + +public: + void set_param(Param p_param, real_t p_value); + real_t get_param(Param p_param) const; + + ConeTwistJoint3D(); +}; + +VARIANT_ENUM_CAST(ConeTwistJoint3D::Param); + +class Generic6DOFJoint3D : public Joint3D { + GDCLASS(Generic6DOFJoint3D, Joint3D); + +public: + enum Param { + PARAM_LINEAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, + PARAM_LINEAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, + PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, + PARAM_LINEAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, + PARAM_LINEAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, + PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY, + PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT, + PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, + PARAM_LINEAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, + PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, + PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, + PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, + PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, + PARAM_ANGULAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, + PARAM_ANGULAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, + PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_FORCE_LIMIT, + PARAM_ANGULAR_ERP = PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, + PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, + PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, + PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, + PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, + PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, + PARAM_MAX = PhysicsServer3D::G6DOF_JOINT_MAX, + }; + + enum Flag { + FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, + FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, + FLAG_ENABLE_LINEAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, + FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, + FLAG_ENABLE_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR, + FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR, + FLAG_MAX = PhysicsServer3D::G6DOF_JOINT_FLAG_MAX + }; + +protected: + void _set_angular_hi_limit_x(real_t p_limit_angular); + real_t _get_angular_hi_limit_x() const; + + void _set_angular_hi_limit_y(real_t p_limit_angular); + real_t _get_angular_hi_limit_y() const; + + void _set_angular_hi_limit_z(real_t p_limit_angular); + real_t _get_angular_hi_limit_z() const; + + void _set_angular_lo_limit_x(real_t p_limit_angular); + real_t _get_angular_lo_limit_x() const; + + void _set_angular_lo_limit_y(real_t p_limit_angular); + real_t _get_angular_lo_limit_y() const; + + void _set_angular_lo_limit_z(real_t p_limit_angular); + real_t _get_angular_lo_limit_z() const; + + real_t params_x[PARAM_MAX]; + bool flags_x[FLAG_MAX]; + real_t params_y[PARAM_MAX]; + bool flags_y[FLAG_MAX]; + real_t params_z[PARAM_MAX]; + bool flags_z[FLAG_MAX]; + + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + +public: + void set_param_x(Param p_param, real_t p_value); + real_t get_param_x(Param p_param) const; + + void set_param_y(Param p_param, real_t p_value); + real_t get_param_y(Param p_param) const; + + void set_param_z(Param p_param, real_t p_value); + real_t get_param_z(Param p_param) const; + + void set_flag_x(Flag p_flag, bool p_enabled); + bool get_flag_x(Flag p_flag) const; + + void set_flag_y(Flag p_flag, bool p_enabled); + bool get_flag_y(Flag p_flag) const; + + void set_flag_z(Flag p_flag, bool p_enabled); + bool get_flag_z(Flag p_flag) const; + + Generic6DOFJoint3D(); +}; + +VARIANT_ENUM_CAST(Generic6DOFJoint3D::Param); +VARIANT_ENUM_CAST(Generic6DOFJoint3D::Flag); + +#endif // JOINT_3D_H diff --git a/scene/3d/physics_joint_3d.cpp b/scene/3d/physics_joint_3d.cpp deleted file mode 100644 index 12938946a0..0000000000 --- a/scene/3d/physics_joint_3d.cpp +++ /dev/null @@ -1,1059 +0,0 @@ -/*************************************************************************/ -/* physics_joint_3d.cpp */ -/*************************************************************************/ -/* 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. */ -/*************************************************************************/ - -#include "physics_joint_3d.h" - -#include "scene/scene_string_names.h" - -void Joint3D::_disconnect_signals() { - Node *node_a = get_node_or_null(a); - PhysicsBody3D *body_a = Object::cast_to(node_a); - if (body_a) { - body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); - } - - Node *node_b = get_node_or_null(b); - PhysicsBody3D *body_b = Object::cast_to(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); -} - -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 = get_node_or_null(a); - Node *node_b = get_node_or_null(b); - - PhysicsBody3D *body_a = Object::cast_to(node_a); - PhysicsBody3D *body_b = Object::cast_to(node_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 (!warning.is_empty()) { - PhysicsServer3D::get_singleton()->joint_clear(joint); - return; - } - - configured = true; - - 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); - - 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) { - 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) { - return; - } - - if (joint.is_valid()) { - _disconnect_signals(); - } - - b = p_node_b; - _update_joint(); -} - -NodePath Joint3D::get_node_b() const { - return b; -} - -void Joint3D::set_solver_priority(int p_priority) { - solver_priority = p_priority; - 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; - } -} - -void Joint3D::set_exclude_nodes_from_collision(bool 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; -} - -TypedArray Joint3D::get_configuration_warnings() const { - TypedArray 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); - - ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint3D::set_node_b); - ClassDB::bind_method(D_METHOD("get_node_b"), &Joint3D::get_node_b); - - ClassDB::bind_method(D_METHOD("set_solver_priority", "priority"), &Joint3D::set_solver_priority); - ClassDB::bind_method(D_METHOD("get_solver_priority"), &Joint3D::get_solver_priority); - - 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, "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() { - 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); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"), "set_param", "get_param", PARAM_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01"), "set_param", "get_param", PARAM_IMPULSE_CLAMP); - - BIND_ENUM_CONSTANT(PARAM_BIAS); - BIND_ENUM_CONSTANT(PARAM_DAMPING); - BIND_ENUM_CONSTANT(PARAM_IMPULSE_CLAMP); -} - -void PinJoint3D::set_param(Param p_param, real_t p_value) { - ERR_FAIL_INDEX(p_param, 3); - params[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->pin_joint_set_param(get_joint(), PhysicsServer3D::PinJointParam(p_param), p_value); - } -} - -real_t PinJoint3D::get_param(Param p_param) const { - ERR_FAIL_INDEX_V(p_param, 3, 0); - return params[p_param]; -} - -void PinJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { - Vector3 pinpos = get_global_transform().origin; - Vector3 local_a = body_a->to_local(pinpos); - Vector3 local_b; - - if (body_b) { - local_b = body_b->to_local(pinpos); - } else { - local_b = pinpos; - } - - 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(p_joint, PhysicsServer3D::PinJointParam(i), params[i]); - } -} - -PinJoint3D::PinJoint3D() { - params[PARAM_BIAS] = 0.3; - params[PARAM_DAMPING] = 1; - params[PARAM_IMPULSE_CLAMP] = 0; -} - -///////////////////////////////////////////////// - -/////////////////////////////////// - -void HingeJoint3D::_set_upper_limit(real_t p_limit) { - set_param(PARAM_LIMIT_UPPER, Math::deg2rad(p_limit)); -} - -real_t HingeJoint3D::_get_upper_limit() const { - return Math::rad2deg(get_param(PARAM_LIMIT_UPPER)); -} - -void HingeJoint3D::_set_lower_limit(real_t p_limit) { - set_param(PARAM_LIMIT_LOWER, Math::deg2rad(p_limit)); -} - -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); - - ClassDB::bind_method(D_METHOD("set_flag", "flag", "enabled"), &HingeJoint3D::set_flag); - ClassDB::bind_method(D_METHOD("get_flag", "flag"), &HingeJoint3D::get_flag); - - ClassDB::bind_method(D_METHOD("_set_upper_limit", "upper_limit"), &HingeJoint3D::_set_upper_limit); - ClassDB::bind_method(D_METHOD("_get_upper_limit"), &HingeJoint3D::_get_upper_limit); - - ClassDB::bind_method(D_METHOD("_set_lower_limit", "lower_limit"), &HingeJoint3D::_set_lower_limit); - ClassDB::bind_method(D_METHOD("_get_lower_limit"), &HingeJoint3D::_get_lower_limit); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.00,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit/enable"), "set_flag", "get_flag", FLAG_USE_LIMIT); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_upper_limit", "_get_upper_limit"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_lower_limit", "_get_lower_limit"); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_LIMIT_BIAS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_RELAXATION); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "motor/enable"), "set_flag", "get_flag", FLAG_ENABLE_MOTOR); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/target_velocity", PROPERTY_HINT_RANGE, "-200,200,0.01,or_greater,or_lesser"), "set_param", "get_param", PARAM_MOTOR_TARGET_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/max_impulse", PROPERTY_HINT_RANGE, "0.01,1024,0.01"), "set_param", "get_param", PARAM_MOTOR_MAX_IMPULSE); - - BIND_ENUM_CONSTANT(PARAM_BIAS); - BIND_ENUM_CONSTANT(PARAM_LIMIT_UPPER); - BIND_ENUM_CONSTANT(PARAM_LIMIT_LOWER); - BIND_ENUM_CONSTANT(PARAM_LIMIT_BIAS); - BIND_ENUM_CONSTANT(PARAM_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LIMIT_RELAXATION); - BIND_ENUM_CONSTANT(PARAM_MOTOR_TARGET_VELOCITY); - BIND_ENUM_CONSTANT(PARAM_MOTOR_MAX_IMPULSE); - BIND_ENUM_CONSTANT(PARAM_MAX); - - BIND_ENUM_CONSTANT(FLAG_USE_LIMIT); - BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); - BIND_ENUM_CONSTANT(FLAG_MAX); -} - -void HingeJoint3D::set_param(Param p_param, real_t p_value) { - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->hinge_joint_set_param(get_joint(), PhysicsServer3D::HingeJointParam(p_param), p_value); - } - - update_gizmos(); -} - -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 (is_configured()) { - PhysicsServer3D::get_singleton()->hinge_joint_set_flag(get_joint(), PhysicsServer3D::HingeJointFlag(p_flag), p_value); - } - - update_gizmos(); -} - -bool HingeJoint3D::get_flag(Flag p_flag) const { - ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); - return flags[p_flag]; -} - -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(); - - Transform3D local_a = ainv * gt; - local_a.orthonormalize(); - Transform3D local_b = gt; - - if (body_b) { - Transform3D binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - 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(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(p_joint, PhysicsServer3D::HingeJointFlag(i), flags[i]); - } -} - -HingeJoint3D::HingeJoint3D() { - params[PARAM_BIAS] = 0.3; - params[PARAM_LIMIT_UPPER] = Math_PI * 0.5; - params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5; - params[PARAM_LIMIT_BIAS] = 0.3; - params[PARAM_LIMIT_SOFTNESS] = 0.9; - params[PARAM_LIMIT_RELAXATION] = 1.0; - params[PARAM_MOTOR_TARGET_VELOCITY] = 1; - params[PARAM_MOTOR_MAX_IMPULSE] = 1; - - flags[FLAG_USE_LIMIT] = false; - flags[FLAG_ENABLE_MOTOR] = false; -} - -///////////////////////////////////////////////// - -////////////////////////////////// - -void SliderJoint3D::_set_upper_limit_angular(real_t p_limit_angular) { - set_param(PARAM_ANGULAR_LIMIT_UPPER, Math::deg2rad(p_limit_angular)); -} - -real_t SliderJoint3D::_get_upper_limit_angular() const { - return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_UPPER)); -} - -void SliderJoint3D::_set_lower_limit_angular(real_t p_limit_angular) { - set_param(PARAM_ANGULAR_LIMIT_LOWER, Math::deg2rad(p_limit_angular)); -} - -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); - - ClassDB::bind_method(D_METHOD("_set_upper_limit_angular", "upper_limit_angular"), &SliderJoint3D::_set_upper_limit_angular); - ClassDB::bind_method(D_METHOD("_get_upper_limit_angular"), &SliderJoint3D::_get_upper_limit_angular); - - ClassDB::bind_method(D_METHOD("_set_lower_limit_angular", "lower_limit_angular"), &SliderJoint3D::_set_lower_limit_angular); - ClassDB::bind_method(D_METHOD("_get_lower_limit_angular"), &SliderJoint3D::_get_lower_limit_angular); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/upper_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_UPPER); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/lower_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_LOWER); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_DAMPING); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_upper_limit_angular", "_get_upper_limit_angular"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_lower_limit_angular", "_get_lower_limit_angular"); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_DAMPING); - - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_UPPER); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_LOWER); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_DAMPING); - BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_DAMPING); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_DAMPING); - - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_UPPER); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_LOWER); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_DAMPING); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_DAMPING); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_DAMPING); - - BIND_ENUM_CONSTANT(PARAM_MAX); -} - -void SliderJoint3D::set_param(Param p_param, real_t p_value) { - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(get_joint(), PhysicsServer3D::SliderJointParam(p_param), p_value); - } - update_gizmos(); -} - -real_t SliderJoint3D::get_param(Param p_param) const { - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params[p_param]; -} - -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(); - - Transform3D local_a = ainv * gt; - local_a.orthonormalize(); - Transform3D local_b = gt; - - if (body_b) { - Transform3D binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - 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(p_joint, PhysicsServer3D::SliderJointParam(i), params[i]); - } -} - -SliderJoint3D::SliderJoint3D() { - params[PARAM_LINEAR_LIMIT_UPPER] = 1.0; - params[PARAM_LINEAR_LIMIT_LOWER] = -1.0; - params[PARAM_LINEAR_LIMIT_SOFTNESS] = 1.0; - params[PARAM_LINEAR_LIMIT_RESTITUTION] = 0.7; - params[PARAM_LINEAR_LIMIT_DAMPING] = 1.0; - params[PARAM_LINEAR_MOTION_SOFTNESS] = 1.0; - params[PARAM_LINEAR_MOTION_RESTITUTION] = 0.7; - params[PARAM_LINEAR_MOTION_DAMPING] = 0; //1.0; - params[PARAM_LINEAR_ORTHOGONAL_SOFTNESS] = 1.0; - params[PARAM_LINEAR_ORTHOGONAL_RESTITUTION] = 0.7; - params[PARAM_LINEAR_ORTHOGONAL_DAMPING] = 1.0; - - params[PARAM_ANGULAR_LIMIT_UPPER] = 0; - params[PARAM_ANGULAR_LIMIT_LOWER] = 0; - params[PARAM_ANGULAR_LIMIT_SOFTNESS] = 1.0; - params[PARAM_ANGULAR_LIMIT_RESTITUTION] = 0.7; - params[PARAM_ANGULAR_LIMIT_DAMPING] = 0; //1.0; - params[PARAM_ANGULAR_MOTION_SOFTNESS] = 1.0; - params[PARAM_ANGULAR_MOTION_RESTITUTION] = 0.7; - params[PARAM_ANGULAR_MOTION_DAMPING] = 1.0; - params[PARAM_ANGULAR_ORTHOGONAL_SOFTNESS] = 1.0; - params[PARAM_ANGULAR_ORTHOGONAL_RESTITUTION] = 0.7; - params[PARAM_ANGULAR_ORTHOGONAL_DAMPING] = 1.0; -} - -////////////////////////////////// - -void ConeTwistJoint3D::_set_swing_span(real_t p_limit_angular) { - set_param(PARAM_SWING_SPAN, Math::deg2rad(p_limit_angular)); -} - -real_t ConeTwistJoint3D::_get_swing_span() const { - return Math::rad2deg(get_param(PARAM_SWING_SPAN)); -} - -void ConeTwistJoint3D::_set_twist_span(real_t p_limit_angular) { - set_param(PARAM_TWIST_SPAN, Math::deg2rad(p_limit_angular)); -} - -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); - - ClassDB::bind_method(D_METHOD("_set_swing_span", "swing_span"), &ConeTwistJoint3D::_set_swing_span); - ClassDB::bind_method(D_METHOD("_get_swing_span"), &ConeTwistJoint3D::_get_swing_span); - - ClassDB::bind_method(D_METHOD("_set_twist_span", "twist_span"), &ConeTwistJoint3D::_set_twist_span); - ClassDB::bind_method(D_METHOD("_get_twist_span"), &ConeTwistJoint3D::_get_twist_span); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "swing_span", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_swing_span", "_get_swing_span"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1"), "_set_twist_span", "_get_twist_span"); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_BIAS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_RELAXATION); - - BIND_ENUM_CONSTANT(PARAM_SWING_SPAN); - BIND_ENUM_CONSTANT(PARAM_TWIST_SPAN); - BIND_ENUM_CONSTANT(PARAM_BIAS); - BIND_ENUM_CONSTANT(PARAM_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_RELAXATION); - BIND_ENUM_CONSTANT(PARAM_MAX); -} - -void ConeTwistJoint3D::set_param(Param p_param, real_t p_value) { - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(get_joint(), PhysicsServer3D::ConeTwistJointParam(p_param), p_value); - } - - update_gizmos(); -} - -real_t ConeTwistJoint3D::get_param(Param p_param) const { - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params[p_param]; -} - -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); - - Transform3D ainv = body_a->get_global_transform().affine_inverse(); - - Transform3D local_a = ainv * gt; - local_a.orthonormalize(); - Transform3D local_b = gt; - - if (body_b) { - Transform3D binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - 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(p_joint, PhysicsServer3D::ConeTwistJointParam(i), params[i]); - } -} - -ConeTwistJoint3D::ConeTwistJoint3D() { - params[PARAM_SWING_SPAN] = Math_PI * 0.25; - params[PARAM_TWIST_SPAN] = Math_PI; - params[PARAM_BIAS] = 0.3; - params[PARAM_SOFTNESS] = 0.8; - params[PARAM_RELAXATION] = 1.0; -} - -///////////////////////////////////////////////////////////////////// - -void Generic6DOFJoint3D::_set_angular_hi_limit_x(real_t p_limit_angular) { - set_param_x(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -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(real_t p_limit_angular) { - set_param_x(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -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(real_t p_limit_angular) { - set_param_y(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -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(real_t p_limit_angular) { - set_param_y(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -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(real_t p_limit_angular) { - set_param_z(PARAM_ANGULAR_UPPER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -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(real_t p_limit_angular) { - set_param_z(PARAM_ANGULAR_LOWER_LIMIT, Math::deg2rad(p_limit_angular)); -} - -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); - - ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_x", "angle"), &Generic6DOFJoint3D::_set_angular_lo_limit_x); - ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_x"), &Generic6DOFJoint3D::_get_angular_lo_limit_x); - - ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_y", "angle"), &Generic6DOFJoint3D::_set_angular_hi_limit_y); - ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_y"), &Generic6DOFJoint3D::_get_angular_hi_limit_y); - - ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_y", "angle"), &Generic6DOFJoint3D::_set_angular_lo_limit_y); - ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_y"), &Generic6DOFJoint3D::_get_angular_lo_limit_y); - - ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_z", "angle"), &Generic6DOFJoint3D::_set_angular_hi_limit_z); - ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_z"), &Generic6DOFJoint3D::_get_angular_hi_limit_z); - - ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_z", "angle"), &Generic6DOFJoint3D::_set_angular_lo_limit_z); - ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_z"), &Generic6DOFJoint3D::_get_angular_lo_limit_z); - - ClassDB::bind_method(D_METHOD("set_param_x", "param", "value"), &Generic6DOFJoint3D::set_param_x); - ClassDB::bind_method(D_METHOD("get_param_x", "param"), &Generic6DOFJoint3D::get_param_x); - - ClassDB::bind_method(D_METHOD("set_param_y", "param", "value"), &Generic6DOFJoint3D::set_param_y); - ClassDB::bind_method(D_METHOD("get_param_y", "param"), &Generic6DOFJoint3D::get_param_y); - - ClassDB::bind_method(D_METHOD("set_param_z", "param", "value"), &Generic6DOFJoint3D::set_param_z); - ClassDB::bind_method(D_METHOD("get_param_z", "param"), &Generic6DOFJoint3D::get_param_z); - - ClassDB::bind_method(D_METHOD("set_flag_x", "flag", "value"), &Generic6DOFJoint3D::set_flag_x); - ClassDB::bind_method(D_METHOD("get_flag_x", "flag"), &Generic6DOFJoint3D::get_flag_x); - - ClassDB::bind_method(D_METHOD("set_flag_y", "flag", "value"), &Generic6DOFJoint3D::set_flag_y); - ClassDB::bind_method(D_METHOD("get_flag_y", "flag"), &Generic6DOFJoint3D::get_flag_y); - - 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); - - 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); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_x/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_x/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_x/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_MOTOR); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_SPRING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_STIFFNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_x/damping"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_LIMIT); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_x/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_x", "_get_angular_hi_limit_x"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_x/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_x", "_get_angular_lo_limit_x"); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_ANGULAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_ANGULAR_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_ANGULAR_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/force_limit"), "set_param_x", "get_param_x", PARAM_ANGULAR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_x/erp"), "set_param_x", "get_param_x", PARAM_ANGULAR_ERP); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_MOTOR); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_ANGULAR_MOTOR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_SPRING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_STIFFNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_x/damping"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/upper_distance"), "set_param_y", "get_param_y", PARAM_LINEAR_UPPER_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/lower_distance"), "set_param_y", "get_param_y", PARAM_LINEAR_LOWER_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_y/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_MOTOR); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_SPRING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_STIFFNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_y/damping"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_LIMIT); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_y/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_y", "_get_angular_hi_limit_y"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_y/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_y", "_get_angular_lo_limit_y"); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_ANGULAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_ANGULAR_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_ANGULAR_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/force_limit"), "set_param_y", "get_param_y", PARAM_ANGULAR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_y/erp"), "set_param_y", "get_param_y", PARAM_ANGULAR_ERP); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_MOTOR); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_ANGULAR_MOTOR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_SPRING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_STIFFNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_y/damping"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/upper_distance"), "set_param_z", "get_param_z", PARAM_LINEAR_UPPER_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/lower_distance"), "set_param_z", "get_param_z", PARAM_LINEAR_LOWER_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit_z/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_MOTOR); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_SPRING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_STIFFNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_z/damping"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_z/equilibrium_point"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_LIMIT); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_z/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_z", "_get_angular_hi_limit_z"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_z/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_z", "_get_angular_lo_limit_z"); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_ANGULAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_ANGULAR_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_ANGULAR_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/force_limit"), "set_param_z", "get_param_z", PARAM_ANGULAR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit_z/erp"), "set_param_z", "get_param_z", PARAM_ANGULAR_ERP); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_MOTOR); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_ANGULAR_MOTOR_FORCE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_SPRING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_STIFFNESS); - 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); - - BIND_ENUM_CONSTANT(PARAM_LINEAR_LOWER_LIMIT); - BIND_ENUM_CONSTANT(PARAM_LINEAR_UPPER_LIMIT); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_RESTITUTION); - 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); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_DAMPING); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_FORCE_LIMIT); - 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); - BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_LIMIT); - BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_SPRING); - BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_SPRING); - BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); - BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_MOTOR); - BIND_ENUM_CONSTANT(FLAG_MAX); -} - -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 (is_configured()) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); - } - - update_gizmos(); -} - -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, real_t p_value) { - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params_y[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); - } - update_gizmos(); -} - -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, real_t p_value) { - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params_z[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_joint(), Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value); - } - update_gizmos(); -} - -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 (is_configured()) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); - } - update_gizmos(); -} - -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 (is_configured()) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); - } - update_gizmos(); -} - -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 (is_configured()) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(get_joint(), Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisFlag(p_flag), p_enabled); - } - update_gizmos(); -} - -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::_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); - - Transform3D ainv = body_a->get_global_transform().affine_inverse(); - - Transform3D local_a = ainv * gt; - local_a.orthonormalize(); - Transform3D local_b = gt; - - if (body_b) { - Transform3D binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - 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(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(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]); - } -} - -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); - set_param_x(PARAM_LINEAR_RESTITUTION, 0.5); - set_param_x(PARAM_LINEAR_DAMPING, 1.0); - set_param_x(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0); - set_param_x(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0); - set_param_x(PARAM_LINEAR_SPRING_STIFFNESS, 0.01); - set_param_x(PARAM_LINEAR_SPRING_DAMPING, 0.01); - set_param_x(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0); - set_param_x(PARAM_ANGULAR_LOWER_LIMIT, 0); - set_param_x(PARAM_ANGULAR_UPPER_LIMIT, 0); - set_param_x(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f); - set_param_x(PARAM_ANGULAR_DAMPING, 1.0f); - set_param_x(PARAM_ANGULAR_RESTITUTION, 0); - set_param_x(PARAM_ANGULAR_FORCE_LIMIT, 0); - set_param_x(PARAM_ANGULAR_ERP, 0.5); - set_param_x(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0); - set_param_x(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300); - set_param_x(PARAM_ANGULAR_SPRING_STIFFNESS, 0); - set_param_x(PARAM_ANGULAR_SPRING_DAMPING, 0); - set_param_x(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0); - - set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true); - set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true); - set_flag_x(FLAG_ENABLE_ANGULAR_SPRING, false); - set_flag_x(FLAG_ENABLE_LINEAR_SPRING, false); - set_flag_x(FLAG_ENABLE_MOTOR, false); - set_flag_x(FLAG_ENABLE_LINEAR_MOTOR, false); - - set_param_y(PARAM_LINEAR_LOWER_LIMIT, 0); - set_param_y(PARAM_LINEAR_UPPER_LIMIT, 0); - set_param_y(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7); - set_param_y(PARAM_LINEAR_RESTITUTION, 0.5); - set_param_y(PARAM_LINEAR_DAMPING, 1.0); - set_param_y(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0); - set_param_y(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0); - set_param_y(PARAM_LINEAR_SPRING_STIFFNESS, 0.01); - set_param_y(PARAM_LINEAR_SPRING_DAMPING, 0.01); - set_param_y(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0); - set_param_y(PARAM_ANGULAR_LOWER_LIMIT, 0); - set_param_y(PARAM_ANGULAR_UPPER_LIMIT, 0); - set_param_y(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f); - set_param_y(PARAM_ANGULAR_DAMPING, 1.0f); - set_param_y(PARAM_ANGULAR_RESTITUTION, 0); - set_param_y(PARAM_ANGULAR_FORCE_LIMIT, 0); - set_param_y(PARAM_ANGULAR_ERP, 0.5); - set_param_y(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0); - set_param_y(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300); - set_param_y(PARAM_ANGULAR_SPRING_STIFFNESS, 0); - set_param_y(PARAM_ANGULAR_SPRING_DAMPING, 0); - set_param_y(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0); - - set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true); - set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true); - set_flag_y(FLAG_ENABLE_ANGULAR_SPRING, false); - set_flag_y(FLAG_ENABLE_LINEAR_SPRING, false); - set_flag_y(FLAG_ENABLE_MOTOR, false); - set_flag_y(FLAG_ENABLE_LINEAR_MOTOR, false); - - set_param_z(PARAM_LINEAR_LOWER_LIMIT, 0); - set_param_z(PARAM_LINEAR_UPPER_LIMIT, 0); - set_param_z(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7); - set_param_z(PARAM_LINEAR_RESTITUTION, 0.5); - set_param_z(PARAM_LINEAR_DAMPING, 1.0); - set_param_z(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0); - set_param_z(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0); - set_param_z(PARAM_LINEAR_SPRING_STIFFNESS, 0.01); - set_param_z(PARAM_LINEAR_SPRING_DAMPING, 0.01); - set_param_z(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0); - set_param_z(PARAM_ANGULAR_LOWER_LIMIT, 0); - set_param_z(PARAM_ANGULAR_UPPER_LIMIT, 0); - set_param_z(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f); - set_param_z(PARAM_ANGULAR_DAMPING, 1.0f); - set_param_z(PARAM_ANGULAR_RESTITUTION, 0); - set_param_z(PARAM_ANGULAR_FORCE_LIMIT, 0); - set_param_z(PARAM_ANGULAR_ERP, 0.5); - set_param_z(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0); - set_param_z(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300); - set_param_z(PARAM_ANGULAR_SPRING_STIFFNESS, 0); - set_param_z(PARAM_ANGULAR_SPRING_DAMPING, 0); - set_param_z(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0); - - set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true); - set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true); - set_flag_z(FLAG_ENABLE_ANGULAR_SPRING, false); - set_flag_z(FLAG_ENABLE_LINEAR_SPRING, false); - set_flag_z(FLAG_ENABLE_MOTOR, false); - set_flag_z(FLAG_ENABLE_LINEAR_MOTOR, false); -} diff --git a/scene/3d/physics_joint_3d.h b/scene/3d/physics_joint_3d.h deleted file mode 100644 index 3e0ea38a5c..0000000000 --- a/scene/3d/physics_joint_3d.h +++ /dev/null @@ -1,337 +0,0 @@ -/*************************************************************************/ -/* physics_joint_3d.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 PHYSICS_JOINT_H -#define PHYSICS_JOINT_H - -#include "scene/3d/node_3d.h" -#include "scene/3d/physics_body_3d.h" - -class Joint3D : public Node3D { - GDCLASS(Joint3D, Node3D); - - RID ba, bb; - - RID joint; - - NodePath a; - NodePath b; - - int solver_priority = 1; - bool exclude_from_collision = true; - String warning; - bool configured = false; - -protected: - void _disconnect_signals(); - void _body_exit_tree(); - void _update_joint(bool p_only_free = false); - - void _notification(int p_what); - - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) = 0; - - static void _bind_methods(); - - _FORCE_INLINE_ bool is_configured() const { return configured; } - -public: - virtual TypedArray get_configuration_warnings() const override; - - void set_node_a(const NodePath &p_node_a); - NodePath get_node_a() const; - - void set_node_b(const NodePath &p_node_b); - NodePath get_node_b() const; - - void set_solver_priority(int p_priority); - int get_solver_priority() const; - - void set_exclude_nodes_from_collision(bool p_enable); - bool get_exclude_nodes_from_collision() const; - - RID get_joint() const { return joint; } - Joint3D(); - ~Joint3D(); -}; - -/////////////////////////////////////////// - -class PinJoint3D : public Joint3D { - GDCLASS(PinJoint3D, Joint3D); - -public: - enum Param { - PARAM_BIAS = PhysicsServer3D::PIN_JOINT_BIAS, - PARAM_DAMPING = PhysicsServer3D::PIN_JOINT_DAMPING, - PARAM_IMPULSE_CLAMP = PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP - }; - -protected: - real_t params[3]; - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - -public: - void set_param(Param p_param, real_t p_value); - real_t get_param(Param p_param) const; - - PinJoint3D(); -}; - -VARIANT_ENUM_CAST(PinJoint3D::Param); - -class HingeJoint3D : public Joint3D { - GDCLASS(HingeJoint3D, Joint3D); - -public: - enum Param { - PARAM_BIAS = PhysicsServer3D::HINGE_JOINT_BIAS, - PARAM_LIMIT_UPPER = PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, - PARAM_LIMIT_LOWER = PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, - PARAM_LIMIT_BIAS = PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, - PARAM_LIMIT_SOFTNESS = PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, - PARAM_LIMIT_RELAXATION = PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, - PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY, - PARAM_MOTOR_MAX_IMPULSE = PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE, - PARAM_MAX = PhysicsServer3D::HINGE_JOINT_MAX - }; - - enum Flag { - FLAG_USE_LIMIT = PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, - FLAG_ENABLE_MOTOR = PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR, - FLAG_MAX = PhysicsServer3D::HINGE_JOINT_FLAG_MAX - }; - -protected: - real_t params[PARAM_MAX]; - bool flags[FLAG_MAX]; - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - - void _set_upper_limit(real_t p_limit); - real_t _get_upper_limit() const; - - void _set_lower_limit(real_t p_limit); - real_t _get_lower_limit() const; - -public: - void set_param(Param p_param, real_t p_value); - real_t get_param(Param p_param) const; - - void set_flag(Flag p_flag, bool p_value); - bool get_flag(Flag p_flag) const; - - HingeJoint3D(); -}; - -VARIANT_ENUM_CAST(HingeJoint3D::Param); -VARIANT_ENUM_CAST(HingeJoint3D::Flag); - -class SliderJoint3D : public Joint3D { - GDCLASS(SliderJoint3D, Joint3D); - -public: - enum Param { - PARAM_LINEAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, - PARAM_LINEAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, - PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, - PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, - PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, - PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, - PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, - PARAM_LINEAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING, - PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, - PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, - PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, - - PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, - PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, - PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, - PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, - PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, - PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, - PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, - PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING, - PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, - PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, - PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, - PARAM_MAX = PhysicsServer3D::SLIDER_JOINT_MAX - - }; - -protected: - void _set_upper_limit_angular(real_t p_limit_angular); - real_t _get_upper_limit_angular() const; - - void _set_lower_limit_angular(real_t p_limit_angular); - real_t _get_lower_limit_angular() const; - - real_t params[PARAM_MAX]; - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - -public: - void set_param(Param p_param, real_t p_value); - real_t get_param(Param p_param) const; - - SliderJoint3D(); -}; - -VARIANT_ENUM_CAST(SliderJoint3D::Param); - -class ConeTwistJoint3D : public Joint3D { - GDCLASS(ConeTwistJoint3D, Joint3D); - -public: - enum Param { - PARAM_SWING_SPAN, - PARAM_TWIST_SPAN, - PARAM_BIAS, - PARAM_SOFTNESS, - PARAM_RELAXATION, - PARAM_MAX - }; - -protected: - void _set_swing_span(real_t p_limit_angular); - real_t _get_swing_span() const; - - void _set_twist_span(real_t p_limit_angular); - real_t _get_twist_span() const; - - real_t params[PARAM_MAX]; - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - -public: - void set_param(Param p_param, real_t p_value); - real_t get_param(Param p_param) const; - - ConeTwistJoint3D(); -}; - -VARIANT_ENUM_CAST(ConeTwistJoint3D::Param); - -class Generic6DOFJoint3D : public Joint3D { - GDCLASS(Generic6DOFJoint3D, Joint3D); - -public: - enum Param { - PARAM_LINEAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, - PARAM_LINEAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, - PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, - PARAM_LINEAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, - PARAM_LINEAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, - PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY, - PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT, - PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, - PARAM_LINEAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, - PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, - PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, - PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, - PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, - PARAM_ANGULAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, - PARAM_ANGULAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, - PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_FORCE_LIMIT, - PARAM_ANGULAR_ERP = PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, - PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, - PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, - PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, - PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, - PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, - PARAM_MAX = PhysicsServer3D::G6DOF_JOINT_MAX, - }; - - enum Flag { - FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, - FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, - FLAG_ENABLE_LINEAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, - FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, - FLAG_ENABLE_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR, - FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR, - FLAG_MAX = PhysicsServer3D::G6DOF_JOINT_FLAG_MAX - }; - -protected: - void _set_angular_hi_limit_x(real_t p_limit_angular); - real_t _get_angular_hi_limit_x() const; - - void _set_angular_hi_limit_y(real_t p_limit_angular); - real_t _get_angular_hi_limit_y() const; - - void _set_angular_hi_limit_z(real_t p_limit_angular); - real_t _get_angular_hi_limit_z() const; - - void _set_angular_lo_limit_x(real_t p_limit_angular); - real_t _get_angular_lo_limit_x() const; - - void _set_angular_lo_limit_y(real_t p_limit_angular); - real_t _get_angular_lo_limit_y() const; - - void _set_angular_lo_limit_z(real_t p_limit_angular); - real_t _get_angular_lo_limit_z() const; - - real_t params_x[PARAM_MAX]; - bool flags_x[FLAG_MAX]; - real_t params_y[PARAM_MAX]; - bool flags_y[FLAG_MAX]; - real_t params_z[PARAM_MAX]; - bool flags_z[FLAG_MAX]; - - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - -public: - void set_param_x(Param p_param, real_t p_value); - real_t get_param_x(Param p_param) const; - - void set_param_y(Param p_param, real_t p_value); - real_t get_param_y(Param p_param) const; - - void set_param_z(Param p_param, real_t p_value); - real_t get_param_z(Param p_param) const; - - void set_flag_x(Flag p_flag, bool p_enabled); - bool get_flag_x(Flag p_flag) const; - - void set_flag_y(Flag p_flag, bool p_enabled); - bool get_flag_y(Flag p_flag) const; - - void set_flag_z(Flag p_flag, bool p_enabled); - bool get_flag_z(Flag p_flag) const; - - Generic6DOFJoint3D(); -}; - -VARIANT_ENUM_CAST(Generic6DOFJoint3D::Param); -VARIANT_ENUM_CAST(Generic6DOFJoint3D::Flag); - -#endif // PHYSICS_JOINT_H diff --git a/scene/register_scene_types.cpp b/scene/register_scene_types.cpp index 1e89b17044..56dd9c6b06 100644 --- a/scene/register_scene_types.cpp +++ b/scene/register_scene_types.cpp @@ -46,7 +46,7 @@ #include "scene/2d/collision_shape_2d.h" #include "scene/2d/cpu_particles_2d.h" #include "scene/2d/gpu_particles_2d.h" -#include "scene/2d/joints_2d.h" +#include "scene/2d/joint_2d.h" #include "scene/2d/light_2d.h" #include "scene/2d/light_occluder_2d.h" #include "scene/2d/line_2d.h" @@ -215,6 +215,7 @@ #include "scene/3d/decal.h" #include "scene/3d/gpu_particles_3d.h" #include "scene/3d/gpu_particles_collision_3d.h" +#include "scene/3d/joint_3d.h" #include "scene/3d/light_3d.h" #include "scene/3d/lightmap_gi.h" #include "scene/3d/lightmap_probe.h" @@ -227,7 +228,6 @@ #include "scene/3d/occluder_instance_3d.h" #include "scene/3d/path_3d.h" #include "scene/3d/physics_body_3d.h" -#include "scene/3d/physics_joint_3d.h" #include "scene/3d/position_3d.h" #include "scene/3d/proximity_group_3d.h" #include "scene/3d/ray_cast_3d.h" -- cgit v1.2.3