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108 lines
4.1 KiB
C++
108 lines
4.1 KiB
C++
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/**************************************************************************/
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/* jolt_joint_3d.h */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef JOLT_JOINT_3D_H
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#define JOLT_JOINT_3D_H
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#include "servers/physics_server_3d.h"
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#include "Jolt/Jolt.h"
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#include "Jolt/Physics/Constraints/Constraint.h"
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class JoltBody3D;
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class JoltSpace3D;
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class JoltJoint3D {
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protected:
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bool enabled = true;
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bool collision_disabled = false;
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int velocity_iterations = 0;
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int position_iterations = 0;
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JPH::Ref<JPH::Constraint> jolt_ref;
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JoltBody3D *body_a = nullptr;
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JoltBody3D *body_b = nullptr;
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RID rid;
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Transform3D local_ref_a;
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Transform3D local_ref_b;
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void _shift_reference_frames(const Vector3 &p_linear_shift, const Vector3 &p_angular_shift, Transform3D &r_shifted_ref_a, Transform3D &r_shifted_ref_b);
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void _wake_up_bodies();
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void _update_enabled();
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void _update_iterations();
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void _enabled_changed();
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void _iterations_changed();
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String _bodies_to_string() const;
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public:
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JoltJoint3D() = default;
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JoltJoint3D(const JoltJoint3D &p_old_joint, JoltBody3D *p_body_a, JoltBody3D *p_body_b, const Transform3D &p_local_ref_a, const Transform3D &p_local_ref_b);
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virtual ~JoltJoint3D();
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virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; }
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RID get_rid() const { return rid; }
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void set_rid(const RID &p_rid) { rid = p_rid; }
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JoltSpace3D *get_space() const;
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JPH::Constraint *get_jolt_ref() const { return jolt_ref; }
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bool is_enabled() const { return enabled; }
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void set_enabled(bool p_enabled);
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int get_solver_priority() const;
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void set_solver_priority(int p_priority);
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int get_solver_velocity_iterations() const { return velocity_iterations; }
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void set_solver_velocity_iterations(int p_iterations);
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int get_solver_position_iterations() const { return position_iterations; }
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void set_solver_position_iterations(int p_iterations);
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bool is_collision_disabled() const { return collision_disabled; }
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void set_collision_disabled(bool p_disabled);
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void destroy();
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virtual void rebuild() {}
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};
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#endif // JOLT_JOINT_3D_H
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