From a6f3bc7c696af03e3875f78e098d2476e409d15e Mon Sep 17 00:00:00 2001 From: Juan Linietsky Date: Fri, 27 Mar 2020 15:21:27 -0300 Subject: Renaming of servers for coherency. VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files. --- servers/physics_3d/joints/pin_joint_3d_sw.h | 96 +++++++++++++++++++++++++++++ 1 file changed, 96 insertions(+) create mode 100644 servers/physics_3d/joints/pin_joint_3d_sw.h (limited to 'servers/physics_3d/joints/pin_joint_3d_sw.h') diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.h b/servers/physics_3d/joints/pin_joint_3d_sw.h new file mode 100644 index 0000000000..25876327a3 --- /dev/null +++ b/servers/physics_3d/joints/pin_joint_3d_sw.h @@ -0,0 +1,96 @@ +/*************************************************************************/ +/* pin_joint_sw.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +/* +Adapted to Godot from the Bullet library. +*/ + +#ifndef PIN_JOINT_SW_H +#define PIN_JOINT_SW_H + +#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h" +#include "servers/physics_3d/joints_3d_sw.h" + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +class PinJoint3DSW : public Joint3DSW { + + union { + struct { + Body3DSW *A; + Body3DSW *B; + }; + + Body3DSW *_arr[2]; + }; + + real_t m_tau; //bias + real_t m_damping; + real_t m_impulseClamp; + real_t m_appliedImpulse; + + JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints + + Vector3 m_pivotInA; + Vector3 m_pivotInB; + +public: + virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_PIN; } + + virtual bool setup(real_t p_step); + virtual void solve(real_t p_step); + + void set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value); + real_t get_param(PhysicsServer3D::PinJointParam p_param) const; + + void set_pos_a(const Vector3 &p_pos) { m_pivotInA = p_pos; } + void set_pos_b(const Vector3 &p_pos) { m_pivotInB = p_pos; } + + Vector3 get_position_a() { return m_pivotInA; } + Vector3 get_position_b() { return m_pivotInB; } + + PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b); + ~PinJoint3DSW(); +}; + +#endif // PIN_JOINT_SW_H -- cgit v1.2.3