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/*************************************************************************/
/* joints_2d_sw.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
/* */
/* 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_SW_H
#define JOINTS_2D_SW_H
#include "constraint_2d_sw.h"
#include "body_2d_sw.h"
class Joint2DSW : public Constraint2DSW {
real_t max_force;
real_t bias;
real_t max_bias;
public:
_FORCE_INLINE_ void set_max_force(real_t p_force) { max_force=p_force; }
_FORCE_INLINE_ real_t get_max_force() const { return max_force; }
_FORCE_INLINE_ void set_bias(real_t p_bias) { bias=p_bias; }
_FORCE_INLINE_ real_t get_bias() const { return bias; }
_FORCE_INLINE_ void set_max_bias(real_t p_bias) { max_bias=p_bias; }
_FORCE_INLINE_ real_t get_max_bias() const { return max_bias; }
virtual Physics2DServer::JointType get_type() const=0;
Joint2DSW(Body2DSW **p_body_ptr=NULL,int p_body_count=0) : Constraint2DSW(p_body_ptr,p_body_count) { bias=0; max_force=max_bias=3.40282e+38; };
};
#if 0
class PinJoint2DSW : public Joint2DSW {
union {
struct {
Body2DSW *A;
Body2DSW *B;
};
Body2DSW *_arr[2];
};
Vector2 anchor_A;
Vector2 anchor_B;
real_t dist;
real_t jn_acc;
real_t jn_max;
real_t max_distance;
real_t mass_normal;
real_t bias;
Vector2 rA,rB;
Vector2 n; //normal
bool correct;
public:
virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_PIN; }
virtual bool setup(float p_step);
virtual void solve(float p_step);
PinJoint2DSW(const Vector2& p_pos,Body2DSW* p_body_a,Body2DSW* p_body_b=NULL);
~PinJoint2DSW();
};
#else
class PinJoint2DSW : public Joint2DSW {
union {
struct {
Body2DSW *A;
Body2DSW *B;
};
Body2DSW *_arr[2];
};
Matrix32 M;
Vector2 rA,rB;
Vector2 anchor_A;
Vector2 anchor_B;
Vector2 bias;
Vector2 P;
real_t softness;
public:
virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_PIN; }
virtual bool setup(float p_step);
virtual void solve(float p_step);
void set_param(Physics2DServer::PinJointParam p_param, real_t p_value);
real_t get_param(Physics2DServer::PinJointParam p_param) const;
PinJoint2DSW(const Vector2& p_pos,Body2DSW* p_body_a,Body2DSW* p_body_b=NULL);
~PinJoint2DSW();
};
#endif
class GrooveJoint2DSW : public Joint2DSW {
union {
struct {
Body2DSW *A;
Body2DSW *B;
};
Body2DSW *_arr[2];
};
Vector2 A_groove_1;
Vector2 A_groove_2;
Vector2 A_groove_normal;
Vector2 B_anchor;
Vector2 jn_acc;
Vector2 gbias;
real_t jn_max;
real_t clamp;
Vector2 xf_normal;
Vector2 rA,rB;
Vector2 k1,k2;
bool correct;
public:
virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_GROOVE; }
virtual bool setup(float p_step);
virtual void solve(float p_step);
GrooveJoint2DSW(const Vector2& p_a_groove1,const Vector2& p_a_groove2, const Vector2& p_b_anchor, Body2DSW* p_body_a,Body2DSW* p_body_b);
~GrooveJoint2DSW();
};
class DampedSpringJoint2DSW : public Joint2DSW {
union {
struct {
Body2DSW *A;
Body2DSW *B;
};
Body2DSW *_arr[2];
};
Vector2 anchor_A;
Vector2 anchor_B;
real_t rest_length;
real_t damping;
real_t stiffness;
Vector2 rA,rB;
Vector2 n;
real_t n_mass;
real_t target_vrn;
real_t v_coef;
public:
virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_DAMPED_SPRING; }
virtual bool setup(float p_step);
virtual void solve(float p_step);
void set_param(Physics2DServer::DampedStringParam p_param, real_t p_value);
real_t get_param(Physics2DServer::DampedStringParam p_param) const;
DampedSpringJoint2DSW(const Vector2& p_anchor_a,const Vector2& p_anchor_b, Body2DSW* p_body_a,Body2DSW* p_body_b);
~DampedSpringJoint2DSW();
};
#endif // JOINTS_2D_SW_H
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