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godot/scene/3d/physics_joint.cpp

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/*************************************************************************/
/* physics_joint.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 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. */
/*************************************************************************/
#include "physics_joint.h"
void Joint::_update_joint(bool p_only_free) {
if (joint.is_valid()) {
if (ba.is_valid() && bb.is_valid()) {
if (exclude_from_collision)
PhysicsServer::get_singleton()->body_add_collision_exception(ba,bb);
else
PhysicsServer::get_singleton()->body_remove_collision_exception(ba,bb);
}
PhysicsServer::get_singleton()->free(joint);
joint=RID();
ba=RID();
bb=RID();
}
if (p_only_free || !is_inside_tree())
return;
Node *node_a = has_node( get_node_a() ) ? get_node( get_node_a() ) : (Node*)NULL;
Node *node_b = has_node( get_node_b() ) ? get_node( get_node_b() ) : (Node*)NULL;
if (!node_a && !node_b)
return;
PhysicsBody *body_a=node_a ? node_a->cast_to<PhysicsBody>() : (PhysicsBody*)NULL;
PhysicsBody *body_b=node_b ? node_b->cast_to<PhysicsBody>() : (PhysicsBody*)NULL;
if (!body_a && !body_b)
return;
if (!body_a) {
SWAP(body_a,body_b);
} else if (body_b) {
//add a collision exception between both
PhysicsServer::get_singleton()->body_add_collision_exception(body_a->get_rid(),body_b->get_rid());
}
joint = _configure_joint(body_a,body_b);
if (joint.is_valid())
PhysicsServer::get_singleton()->joint_set_solver_priority(joint,solver_priority);
if (body_b && joint.is_valid()) {
ba=body_a->get_rid();
bb=body_b->get_rid();
PhysicsServer::get_singleton()->body_add_collision_exception(body_a->get_rid(),body_b->get_rid());
}
}
void Joint::set_node_a(const NodePath& p_node_a) {
if (a==p_node_a)
return;
a=p_node_a;
_update_joint();
}
NodePath Joint::get_node_a() const{
return a;
}
void Joint::set_node_b(const NodePath& p_node_b){
if (b==p_node_b)
return;
b=p_node_b;
_update_joint();
}
NodePath Joint::get_node_b() const{
return b;
}
void Joint::set_solver_priority(int p_priority) {
solver_priority=p_priority;
if (joint.is_valid())
PhysicsServer::get_singleton()->joint_set_solver_priority(joint,solver_priority);
}
int Joint::get_solver_priority() const {
return solver_priority;
}
void Joint::_notification(int p_what) {
switch(p_what) {
case NOTIFICATION_READY: {
_update_joint();
} break;
case NOTIFICATION_EXIT_TREE: {
if (joint.is_valid()) {
_update_joint(true);
//PhysicsServer::get_singleton()->free(joint);
joint=RID();
}
} break;
}
}
void Joint::set_exclude_nodes_from_collision(bool p_enable) {
if (exclude_from_collision==p_enable)
return;
exclude_from_collision=p_enable;
_update_joint();
}
bool Joint::get_exclude_nodes_from_collision() const{
return exclude_from_collision;
}
void Joint::_bind_methods() {
ClassDB::bind_method( _MD("set_node_a","node"), &Joint::set_node_a );
ClassDB::bind_method( _MD("get_node_a"), &Joint::get_node_a );
ClassDB::bind_method( _MD("set_node_b","node"), &Joint::set_node_b );
ClassDB::bind_method( _MD("get_node_b"), &Joint::get_node_b );
ClassDB::bind_method( _MD("set_solver_priority","priority"), &Joint::set_solver_priority );
ClassDB::bind_method( _MD("get_solver_priority"), &Joint::get_solver_priority );
ClassDB::bind_method( _MD("set_exclude_nodes_from_collision","enable"), &Joint::set_exclude_nodes_from_collision );
ClassDB::bind_method( _MD("get_exclude_nodes_from_collision"), &Joint::get_exclude_nodes_from_collision );
ADD_PROPERTY( PropertyInfo( Variant::NODE_PATH, "nodes/node_a"), _SCS("set_node_a"),_SCS("get_node_a") );
ADD_PROPERTY( PropertyInfo( Variant::NODE_PATH, "nodes/node_b"), _SCS("set_node_b"),_SCS("get_node_b") );
ADD_PROPERTY( PropertyInfo( Variant::INT, "solver/priority",PROPERTY_HINT_RANGE,"1,8,1"), _SCS("set_solver_priority"),_SCS("get_solver_priority") );
ADD_PROPERTY( PropertyInfo( Variant::BOOL, "collision/exclude_nodes"), _SCS("set_exclude_nodes_from_collision"),_SCS("get_exclude_nodes_from_collision") );
}
Joint::Joint() {
exclude_from_collision=true;
solver_priority=1;
set_notify_transform(true);
}
///////////////////////////////////
void PinJoint::_bind_methods() {
ClassDB::bind_method(_MD("set_param","param","value"),&PinJoint::set_param);
ClassDB::bind_method(_MD("get_param","param"),&PinJoint::get_param);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/bias",PROPERTY_HINT_RANGE,"0.01,0.99,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_BIAS );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/damping",PROPERTY_HINT_RANGE,"0.01,8.0,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_DAMPING );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/impulse_clamp",PROPERTY_HINT_RANGE,"0.0,64.0,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_IMPULSE_CLAMP );
BIND_CONSTANT( PARAM_BIAS );
BIND_CONSTANT( PARAM_DAMPING );
BIND_CONSTANT( PARAM_IMPULSE_CLAMP );
}
void PinJoint::set_param(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,3);
params[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->pin_joint_set_param(get_joint(),PhysicsServer::PinJointParam(p_param),p_value);
}
float PinJoint::get_param(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,3,0);
return params[p_param];
}
RID PinJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Vector3 pinpos = get_global_transform().origin;
Vector3 local_a = body_a->get_global_transform().affine_inverse().xform(pinpos);
Vector3 local_b;
if (body_b)
local_b = body_b->get_global_transform().affine_inverse().xform(pinpos);
else
local_b=pinpos;
RID j = PhysicsServer::get_singleton()->joint_create_pin(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<3;i++) {
PhysicsServer::get_singleton()->pin_joint_set_param(j,PhysicsServer::PinJointParam(i),params[i]);
}
return j;
}
PinJoint::PinJoint() {
params[PARAM_BIAS]=0.3;
params[PARAM_DAMPING]=1;
params[PARAM_IMPULSE_CLAMP]=0;
}
/////////////////////////////////////////////////
///////////////////////////////////
void HingeJoint::_set_upper_limit(float p_limit) {
set_param(PARAM_LIMIT_UPPER,Math::deg2rad(p_limit));
}
float HingeJoint::_get_upper_limit() const {
return Math::rad2deg(get_param(PARAM_LIMIT_UPPER));
}
void HingeJoint::_set_lower_limit(float p_limit) {
set_param(PARAM_LIMIT_LOWER,Math::deg2rad(p_limit));
}
float HingeJoint::_get_lower_limit() const {
return Math::rad2deg(get_param(PARAM_LIMIT_LOWER));
}
void HingeJoint::_bind_methods() {
ClassDB::bind_method(_MD("set_param","param","value"),&HingeJoint::set_param);
ClassDB::bind_method(_MD("get_param","param"),&HingeJoint::get_param);
ClassDB::bind_method(_MD("set_flag","flag","enabled"),&HingeJoint::set_flag);
ClassDB::bind_method(_MD("get_flag","flag"),&HingeJoint::get_flag);
ClassDB::bind_method(_MD("_set_upper_limit","upper_limit"),&HingeJoint::_set_upper_limit);
ClassDB::bind_method(_MD("_get_upper_limit"),&HingeJoint::_get_upper_limit);
ClassDB::bind_method(_MD("_set_lower_limit","lower_limit"),&HingeJoint::_set_lower_limit);
ClassDB::bind_method(_MD("_get_lower_limit"),&HingeJoint::_get_lower_limit);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/bias",PROPERTY_HINT_RANGE,"0.01,0.99,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_BIAS );
ADD_PROPERTYI( PropertyInfo(Variant::BOOL,"angular_limit/enable"),_SCS("set_flag"),_SCS("get_flag"), FLAG_USE_LIMIT );
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/upper",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_upper_limit"),_SCS("_get_upper_limit") );
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/lower",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_lower_limit"),_SCS("_get_lower_limit") );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/bias",PROPERTY_HINT_RANGE,"0.01,0.99,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LIMIT_BIAS );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LIMIT_SOFTNESS );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/relaxation",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LIMIT_RELAXATION );
ADD_PROPERTYI( PropertyInfo(Variant::BOOL,"motor/enable"),_SCS("set_flag"),_SCS("get_flag"), FLAG_ENABLE_MOTOR );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"motor/target_velocity",PROPERTY_HINT_RANGE,"0.01,4096,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_MOTOR_TARGET_VELOCITY );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"motor/max_impulse",PROPERTY_HINT_RANGE,"0.01,1024,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_MOTOR_MAX_IMPULSE);
BIND_CONSTANT( PARAM_BIAS );
BIND_CONSTANT( PARAM_LIMIT_UPPER );
BIND_CONSTANT( PARAM_LIMIT_LOWER );
BIND_CONSTANT( PARAM_LIMIT_BIAS );
BIND_CONSTANT( PARAM_LIMIT_SOFTNESS );
BIND_CONSTANT( PARAM_LIMIT_RELAXATION );
BIND_CONSTANT( PARAM_MOTOR_TARGET_VELOCITY );
BIND_CONSTANT( PARAM_MOTOR_MAX_IMPULSE );
BIND_CONSTANT( PARAM_MAX );
BIND_CONSTANT( FLAG_USE_LIMIT );
BIND_CONSTANT( FLAG_ENABLE_MOTOR );
BIND_CONSTANT( FLAG_MAX );
}
void HingeJoint::set_param(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->hinge_joint_set_param(get_joint(),PhysicsServer::HingeJointParam(p_param),p_value);
update_gizmo();
}
float HingeJoint::get_param(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params[p_param];
}
void HingeJoint::set_flag(Flag p_flag,bool p_value){
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
flags[p_flag]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->hinge_joint_set_flag(get_joint(),PhysicsServer::HingeJointFlag(p_flag),p_value);
update_gizmo();
}
bool HingeJoint::get_flag(Flag p_flag) const{
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
return flags[p_flag];
}
RID HingeJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Transform gt = get_global_transform();
Transform ainv = body_a->get_global_transform().affine_inverse();
Transform local_a = ainv * gt;
local_a.orthonormalize();
Transform local_b = gt;
if (body_b) {
Transform binv = body_b->get_global_transform().affine_inverse();
local_b = binv * gt;
}
local_b.orthonormalize();
RID j = PhysicsServer::get_singleton()->joint_create_hinge(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<PARAM_MAX;i++) {
PhysicsServer::get_singleton()->hinge_joint_set_param(j,PhysicsServer::HingeJointParam(i),params[i]);
}
for(int i=0;i<FLAG_MAX;i++) {
set_flag(Flag(i),flags[i]);
PhysicsServer::get_singleton()->hinge_joint_set_flag(j,PhysicsServer::HingeJointFlag(i),flags[i]);
}
return j;
}
HingeJoint::HingeJoint() {
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 SliderJoint::_set_upper_limit_angular(float p_limit_angular) {
set_param(PARAM_ANGULAR_LIMIT_UPPER,Math::deg2rad(p_limit_angular));
}
float SliderJoint::_get_upper_limit_angular() const {
return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_UPPER));
}
void SliderJoint::_set_lower_limit_angular(float p_limit_angular) {
set_param(PARAM_ANGULAR_LIMIT_LOWER,Math::deg2rad(p_limit_angular));
}
float SliderJoint::_get_lower_limit_angular() const {
return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_LOWER));
}
void SliderJoint::_bind_methods() {
ClassDB::bind_method(_MD("set_param","param","value"),&SliderJoint::set_param);
ClassDB::bind_method(_MD("get_param","param"),&SliderJoint::get_param);
ClassDB::bind_method(_MD("_set_upper_limit_angular","upper_limit_angular"),&SliderJoint::_set_upper_limit_angular);
ClassDB::bind_method(_MD("_get_upper_limit_angular"),&SliderJoint::_get_upper_limit_angular);
ClassDB::bind_method(_MD("_set_lower_limit_angular","lower_limit_angular"),&SliderJoint::_set_lower_limit_angular);
ClassDB::bind_method(_MD("_get_lower_limit_angular"),&SliderJoint::_get_lower_limit_angular);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/upper_distance",PROPERTY_HINT_RANGE,"-1024,1024,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_UPPER);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/lower_distance",PROPERTY_HINT_RANGE,"-1024,1024,0.01"),_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_LOWER);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_LIMIT_DAMPING);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_motion/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_MOTION_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_motion/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_MOTION_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_motion/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_MOTION_DAMPING);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_ortho/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_ORTHOGONAL_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_ortho/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_ORTHOGONAL_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_ortho/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_LINEAR_ORTHOGONAL_DAMPING);
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_upper_limit_angular"),_SCS("_get_upper_limit_angular") );
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_lower_limit_angular"),_SCS("_get_lower_limit_angular") );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_LIMIT_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_LIMIT_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_LIMIT_DAMPING);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_motion/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_MOTION_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_motion/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_MOTION_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_motion/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_MOTION_DAMPING);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_ortho/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_ORTHOGONAL_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_ortho/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_ORTHOGONAL_RESTITUTION);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_ortho/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_ANGULAR_ORTHOGONAL_DAMPING);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_UPPER);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_LOWER);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_SOFTNESS);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_RESTITUTION);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_DAMPING);
BIND_CONSTANT( PARAM_LINEAR_MOTION_SOFTNESS);
BIND_CONSTANT( PARAM_LINEAR_MOTION_RESTITUTION);
BIND_CONSTANT( PARAM_LINEAR_MOTION_DAMPING);
BIND_CONSTANT( PARAM_LINEAR_ORTHOGONAL_SOFTNESS);
BIND_CONSTANT( PARAM_LINEAR_ORTHOGONAL_RESTITUTION);
BIND_CONSTANT( PARAM_LINEAR_ORTHOGONAL_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_UPPER);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_LOWER);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_SOFTNESS);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_RESTITUTION);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_MOTION_SOFTNESS);
BIND_CONSTANT( PARAM_ANGULAR_MOTION_RESTITUTION);
BIND_CONSTANT( PARAM_ANGULAR_MOTION_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_ORTHOGONAL_SOFTNESS);
BIND_CONSTANT( PARAM_ANGULAR_ORTHOGONAL_RESTITUTION);
BIND_CONSTANT( PARAM_ANGULAR_ORTHOGONAL_DAMPING);
BIND_CONSTANT( PARAM_MAX);
}
void SliderJoint::set_param(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->slider_joint_set_param(get_joint(),PhysicsServer::SliderJointParam(p_param),p_value);
update_gizmo();
}
float SliderJoint::get_param(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params[p_param];
}
RID SliderJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Transform gt = get_global_transform();
Transform ainv = body_a->get_global_transform().affine_inverse();
Transform local_a = ainv * gt;
local_a.orthonormalize();
Transform local_b = gt;
if (body_b) {
Transform binv = body_b->get_global_transform().affine_inverse();
local_b = binv * gt;
}
local_b.orthonormalize();
RID j = PhysicsServer::get_singleton()->joint_create_slider(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<PARAM_MAX;i++) {
PhysicsServer::get_singleton()->slider_joint_set_param(j,PhysicsServer::SliderJointParam(i),params[i]);
}
return j;
}
SliderJoint::SliderJoint() {
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 ConeTwistJoint::_set_swing_span(float p_limit_angular) {
set_param(PARAM_SWING_SPAN,Math::deg2rad(p_limit_angular));
}
float ConeTwistJoint::_get_swing_span() const {
return Math::rad2deg(get_param(PARAM_SWING_SPAN));
}
void ConeTwistJoint::_set_twist_span(float p_limit_angular) {
set_param(PARAM_TWIST_SPAN,Math::deg2rad(p_limit_angular));
}
float ConeTwistJoint::_get_twist_span() const {
return Math::rad2deg(get_param(PARAM_TWIST_SPAN));
}
void ConeTwistJoint::_bind_methods() {
ClassDB::bind_method(_MD("set_param","param","value"),&ConeTwistJoint::set_param);
ClassDB::bind_method(_MD("get_param","param"),&ConeTwistJoint::get_param);
ClassDB::bind_method(_MD("_set_swing_span","swing_span"),&ConeTwistJoint::_set_swing_span);
ClassDB::bind_method(_MD("_get_swing_span"),&ConeTwistJoint::_get_swing_span);
ClassDB::bind_method(_MD("_set_twist_span","twist_span"),&ConeTwistJoint::_set_twist_span);
ClassDB::bind_method(_MD("_get_twist_span"),&ConeTwistJoint::_get_twist_span);
ADD_PROPERTY( PropertyInfo(Variant::REAL,"swing_span",PROPERTY_HINT_RANGE,"-180,180,0.1"),_SCS("_set_swing_span"),_SCS("_get_swing_span") );
ADD_PROPERTY( PropertyInfo(Variant::REAL,"twist_span",PROPERTY_HINT_RANGE,"-40000,40000,0.1"),_SCS("_set_twist_span"),_SCS("_get_twist_span") );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"bias",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_BIAS );
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_SOFTNESS);
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"relaxation",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,_SCS("set_param"),_SCS("get_param"), PARAM_RELAXATION);
BIND_CONSTANT( PARAM_SWING_SPAN );
BIND_CONSTANT( PARAM_TWIST_SPAN );
BIND_CONSTANT( PARAM_BIAS );
BIND_CONSTANT( PARAM_SOFTNESS );
BIND_CONSTANT( PARAM_RELAXATION );
BIND_CONSTANT( PARAM_MAX );
}
void ConeTwistJoint::set_param(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->cone_twist_joint_set_param(get_joint(),PhysicsServer::ConeTwistJointParam(p_param),p_value);
update_gizmo();
}
float ConeTwistJoint::get_param(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params[p_param];
}
RID ConeTwistJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Transform gt = get_global_transform();
//Vector3 cone_twistpos = gt.origin;
//Vector3 cone_twistdir = gt.basis.get_axis(2);
Transform ainv = body_a->get_global_transform().affine_inverse();
Transform local_a = ainv * gt;
local_a.orthonormalize();
Transform local_b = gt;
if (body_b) {
Transform binv = body_b->get_global_transform().affine_inverse();
local_b = binv * gt;
}
local_b.orthonormalize();
RID j = PhysicsServer::get_singleton()->joint_create_cone_twist(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<PARAM_MAX;i++) {
PhysicsServer::get_singleton()->cone_twist_joint_set_param(j,PhysicsServer::ConeTwistJointParam(i),params[i]);
}
return j;
}
ConeTwistJoint::ConeTwistJoint() {
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 Generic6DOFJoint::_set_angular_hi_limit_x(float p_limit_angular) {
set_param_x(PARAM_ANGULAR_UPPER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_hi_limit_x() const{
return Math::rad2deg(get_param_x(PARAM_ANGULAR_UPPER_LIMIT));
}
void Generic6DOFJoint::_set_angular_lo_limit_x(float p_limit_angular) {
set_param_x(PARAM_ANGULAR_LOWER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_lo_limit_x() const{
return Math::rad2deg(get_param_x(PARAM_ANGULAR_LOWER_LIMIT));
}
void Generic6DOFJoint::_set_angular_hi_limit_y(float p_limit_angular) {
set_param_y(PARAM_ANGULAR_UPPER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_hi_limit_y() const{
return Math::rad2deg(get_param_y(PARAM_ANGULAR_UPPER_LIMIT));
}
void Generic6DOFJoint::_set_angular_lo_limit_y(float p_limit_angular) {
set_param_y(PARAM_ANGULAR_LOWER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_lo_limit_y() const{
return Math::rad2deg(get_param_y(PARAM_ANGULAR_LOWER_LIMIT));
}
void Generic6DOFJoint::_set_angular_hi_limit_z(float p_limit_angular) {
set_param_z(PARAM_ANGULAR_UPPER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_hi_limit_z() const{
return Math::rad2deg(get_param_z(PARAM_ANGULAR_UPPER_LIMIT));
}
void Generic6DOFJoint::_set_angular_lo_limit_z(float p_limit_angular) {
set_param_z(PARAM_ANGULAR_LOWER_LIMIT,Math::deg2rad(p_limit_angular));
}
float Generic6DOFJoint::_get_angular_lo_limit_z() const{
return Math::rad2deg(get_param_z(PARAM_ANGULAR_LOWER_LIMIT));
}
void Generic6DOFJoint::_bind_methods(){
ClassDB::bind_method(_MD("_set_angular_hi_limit_x","angle"),&Generic6DOFJoint::_set_angular_hi_limit_x);
ClassDB::bind_method(_MD("_get_angular_hi_limit_x"),&Generic6DOFJoint::_get_angular_hi_limit_x);
ClassDB::bind_method(_MD("_set_angular_lo_limit_x","angle"),&Generic6DOFJoint::_set_angular_lo_limit_x);
ClassDB::bind_method(_MD("_get_angular_lo_limit_x"),&Generic6DOFJoint::_get_angular_lo_limit_x);
ClassDB::bind_method(_MD("_set_angular_hi_limit_y","angle"),&Generic6DOFJoint::_set_angular_hi_limit_y);
ClassDB::bind_method(_MD("_get_angular_hi_limit_y"),&Generic6DOFJoint::_get_angular_hi_limit_y);
ClassDB::bind_method(_MD("_set_angular_lo_limit_y","angle"),&Generic6DOFJoint::_set_angular_lo_limit_y);
ClassDB::bind_method(_MD("_get_angular_lo_limit_y"),&Generic6DOFJoint::_get_angular_lo_limit_y);
ClassDB::bind_method(_MD("_set_angular_hi_limit_z","angle"),&Generic6DOFJoint::_set_angular_hi_limit_z);
ClassDB::bind_method(_MD("_get_angular_hi_limit_z"),&Generic6DOFJoint::_get_angular_hi_limit_z);
ClassDB::bind_method(_MD("_set_angular_lo_limit_z","angle"),&Generic6DOFJoint::_set_angular_lo_limit_z);
ClassDB::bind_method(_MD("_get_angular_lo_limit_z"),&Generic6DOFJoint::_get_angular_lo_limit_z);
ClassDB::bind_method(_MD("set_param_x","param","value"),&Generic6DOFJoint::set_param_x);
ClassDB::bind_method(_MD("get_param_x","param"),&Generic6DOFJoint::get_param_x);
ClassDB::bind_method(_MD("set_param_y","param","value"),&Generic6DOFJoint::set_param_y);
ClassDB::bind_method(_MD("get_param_y","param"),&Generic6DOFJoint::get_param_y);
ClassDB::bind_method(_MD("set_param_z","param","value"),&Generic6DOFJoint::set_param_z);
ClassDB::bind_method(_MD("get_param_z","param"),&Generic6DOFJoint::get_param_z);
ClassDB::bind_method(_MD("set_flag_x","flag","value"),&Generic6DOFJoint::set_flag_x);
ClassDB::bind_method(_MD("get_flag_x","flag"),&Generic6DOFJoint::get_flag_x);
ClassDB::bind_method(_MD("set_flag_y","flag","value"),&Generic6DOFJoint::set_flag_y);
ClassDB::bind_method(_MD("get_flag_y","flag"),&Generic6DOFJoint::get_flag_y);
ClassDB::bind_method(_MD("set_flag_z","flag","value"),&Generic6DOFJoint::set_flag_z);
ClassDB::bind_method(_MD("get_flag_z","flag"),&Generic6DOFJoint::get_flag_z);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"linear_limit_x/enabled"),_SCS("set_flag_x"),_SCS("get_flag_x"),FLAG_ENABLE_LINEAR_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/upper_distance"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_UPPER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/lower_distance"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_LOWER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_LINEAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_limit_x/enabled"),_SCS("set_flag_x"),_SCS("get_flag_x"),FLAG_ENABLE_ANGULAR_LIMIT);
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_x/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_hi_limit_x"),_SCS("_get_angular_hi_limit_x"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_x/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_lo_limit_x"),_SCS("_get_angular_lo_limit_x"));
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/force_limit"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/erp"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_ERP);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_motor_x/enabled"),_SCS("set_flag_x"),_SCS("get_flag_x"),FLAG_ENABLE_MOTOR);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_x/target_velocity"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_x/force_limit"),_SCS("set_param_x"),_SCS("get_param_x"),PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"linear_limit_y/enabled"),_SCS("set_flag_y"),_SCS("get_flag_y"),FLAG_ENABLE_LINEAR_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/upper_distance"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_UPPER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/lower_distance"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_LOWER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_LINEAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_limit_y/enabled"),_SCS("set_flag_y"),_SCS("get_flag_y"),FLAG_ENABLE_ANGULAR_LIMIT);
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_y/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_hi_limit_y"),_SCS("_get_angular_hi_limit_y"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_y/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_lo_limit_y"),_SCS("_get_angular_lo_limit_y"));
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/force_limit"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/erp"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_ERP);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_motor_y/enabled"),_SCS("set_flag_y"),_SCS("get_flag_y"),FLAG_ENABLE_MOTOR);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_y/target_velocity"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_y/force_limit"),_SCS("set_param_y"),_SCS("get_param_y"),PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"linear_limit_z/enabled"),_SCS("set_flag_z"),_SCS("get_flag_z"),FLAG_ENABLE_LINEAR_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/upper_distance"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_UPPER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/lower_distance"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_LOWER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_LINEAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_limit_z/enabled"),_SCS("set_flag_z"),_SCS("get_flag_z"),FLAG_ENABLE_ANGULAR_LIMIT);
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_z/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_hi_limit_z"),_SCS("_get_angular_hi_limit_z"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_z/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),_SCS("_set_angular_lo_limit_z"),_SCS("_get_angular_lo_limit_z"));
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/force_limit"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/erp"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_ERP);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_motor_z/enabled"),_SCS("set_flag_z"),_SCS("get_flag_z"),FLAG_ENABLE_MOTOR);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_z/target_velocity"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_z/force_limit"),_SCS("set_param_z"),_SCS("get_param_z"),PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
BIND_CONSTANT( PARAM_LINEAR_LOWER_LIMIT);
BIND_CONSTANT( PARAM_LINEAR_UPPER_LIMIT);
BIND_CONSTANT( PARAM_LINEAR_LIMIT_SOFTNESS);
BIND_CONSTANT( PARAM_LINEAR_RESTITUTION);
BIND_CONSTANT( PARAM_LINEAR_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_LOWER_LIMIT);
BIND_CONSTANT( PARAM_ANGULAR_UPPER_LIMIT);
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_SOFTNESS);
BIND_CONSTANT( PARAM_ANGULAR_DAMPING);
BIND_CONSTANT( PARAM_ANGULAR_RESTITUTION);
BIND_CONSTANT( PARAM_ANGULAR_FORCE_LIMIT);
BIND_CONSTANT( PARAM_ANGULAR_ERP);
BIND_CONSTANT( PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
BIND_CONSTANT( PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
BIND_CONSTANT( PARAM_MAX);
BIND_CONSTANT( FLAG_ENABLE_LINEAR_LIMIT);
BIND_CONSTANT( FLAG_ENABLE_ANGULAR_LIMIT);
BIND_CONSTANT( FLAG_ENABLE_MOTOR);
BIND_CONSTANT( FLAG_MAX );
}
void Generic6DOFJoint::set_param_x(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params_x[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(),Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisParam(p_param),p_value);
update_gizmo();
}
float Generic6DOFJoint::get_param_x(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params_x[p_param];
}
void Generic6DOFJoint::set_param_y(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params_y[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(),Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisParam(p_param),p_value);
update_gizmo();
}
float Generic6DOFJoint::get_param_y(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params_y[p_param];
}
void Generic6DOFJoint::set_param_z(Param p_param,float p_value){
ERR_FAIL_INDEX(p_param,PARAM_MAX);
params_z[p_param]=p_value;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(),Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisParam(p_param),p_value);
update_gizmo();
}
float Generic6DOFJoint::get_param_z(Param p_param) const{
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
return params_z[p_param];
}
void Generic6DOFJoint::set_flag_x(Flag p_flag,bool p_enabled){
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
flags_x[p_flag]=p_enabled;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(),Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisFlag(p_flag),p_enabled);
update_gizmo();
}
bool Generic6DOFJoint::get_flag_x(Flag p_flag) const{
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
return flags_x[p_flag];
}
void Generic6DOFJoint::set_flag_y(Flag p_flag,bool p_enabled){
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
flags_y[p_flag]=p_enabled;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(),Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisFlag(p_flag),p_enabled);
update_gizmo();
}
bool Generic6DOFJoint::get_flag_y(Flag p_flag) const{
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
return flags_y[p_flag];
}
void Generic6DOFJoint::set_flag_z(Flag p_flag,bool p_enabled){
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
flags_z[p_flag]=p_enabled;
if (get_joint().is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(),Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisFlag(p_flag),p_enabled);
update_gizmo();
}
bool Generic6DOFJoint::get_flag_z(Flag p_flag) const{
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
return flags_z[p_flag];
}
RID Generic6DOFJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
Transform gt = get_global_transform();
//Vector3 cone_twistpos = gt.origin;
//Vector3 cone_twistdir = gt.basis.get_axis(2);
Transform ainv = body_a->get_global_transform().affine_inverse();
Transform local_a = ainv * gt;
local_a.orthonormalize();
Transform local_b = gt;
if (body_b) {
Transform binv = body_b->get_global_transform().affine_inverse();
local_b = binv * gt;
}
local_b.orthonormalize();
RID j = PhysicsServer::get_singleton()->joint_create_generic_6dof(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
for(int i=0;i<PARAM_MAX;i++) {
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j,Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisParam(i),params_x[i]);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j,Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisParam(i),params_y[i]);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j,Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisParam(i),params_z[i]);
}
for(int i=0;i<FLAG_MAX;i++) {
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j,Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisFlag(i),flags_x[i]);
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j,Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisFlag(i),flags_y[i]);
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j,Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisFlag(i),flags_z[i]);
}
return j;
}
Generic6DOFJoint::Generic6DOFJoint() {
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_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_flag_x( FLAG_ENABLE_ANGULAR_LIMIT,true);
set_flag_x( FLAG_ENABLE_LINEAR_LIMIT,true);
set_flag_x( FLAG_ENABLE_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_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_flag_y( FLAG_ENABLE_ANGULAR_LIMIT,true);
set_flag_y( FLAG_ENABLE_LINEAR_LIMIT,true);
set_flag_y( FLAG_ENABLE_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_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_flag_z( FLAG_ENABLE_ANGULAR_LIMIT,true);
set_flag_z( FLAG_ENABLE_LINEAR_LIMIT,true);
set_flag_z( FLAG_ENABLE_MOTOR,false);
}
#if 0
void PhysicsJoint::_set(const String& p_name, const Variant& p_value) {
if (p_name=="body_A")
set_body_A(p_value);
else if (p_name=="body_B")
set_body_B(p_value);
else if (p_name=="active")
set_active(p_value);
else if (p_name=="no_collision")
set_disable_collision(p_value);
}
Variant PhysicsJoint::_get(const String& p_name) const {
if (p_name=="body_A")
return get_body_A();
else if (p_name=="body_B")
return get_body_B();
else if (p_name=="active")
return is_active();
else if (p_name=="no_collision")
return has_disable_collision();
return Variant();
}
void PhysicsJoint::_get_property_list( List<PropertyInfo> *p_list) const {
p_list->push_back( PropertyInfo( Variant::NODE_PATH, "body_A" ) );
p_list->push_back( PropertyInfo( Variant::NODE_PATH, "body_B" ) );
p_list->push_back( PropertyInfo( Variant::BOOL, "active" ) );
p_list->push_back( PropertyInfo( Variant::BOOL, "no_collision" ) );
}
void PhysicsJoint::_notification(int p_what) {
switch(p_what) {
case NOTIFICATION_PARENT_CONFIGURED: {
_connect();
if (get_root_node()->get_editor() && !indicator.is_valid()) {
indicator=VisualServer::get_singleton()->poly_create();
RID mat=VisualServer::get_singleton()->fixed_material_create();
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_UNSHADED, true );
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_ONTOP, true );
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_WIREFRAME, true );
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_DOUBLE_SIDED, true );
VisualServer::get_singleton()->material_set_line_width( mat, 3 );
VisualServer::get_singleton()->poly_set_material(indicator,mat,true);
_update_indicator();
}
if (indicator.is_valid()) {
indicator_instance=VisualServer::get_singleton()->instance_create(indicator,get_world()->get_scenario());
VisualServer::get_singleton()->instance_attach_object_instance_ID( indicator_instance,get_instance_ID() );
}
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
if (indicator_instance.is_valid()) {
VisualServer::get_singleton()->instance_set_transform(indicator_instance,get_global_transform());
}
} break;
case NOTIFICATION_EXIT_SCENE: {
if (indicator_instance.is_valid()) {
VisualServer::get_singleton()->free(indicator_instance);
}
_disconnect();
} break;
}
}
RID PhysicsJoint::_get_visual_instance_rid() const {
return indicator_instance;
}
void PhysicsJoint::_bind_methods() {
ClassDB::bind_method(_MD("_get_visual_instance_rid"),&PhysicsJoint::_get_visual_instance_rid);
ClassDB::bind_method(_MD("set_body_A","path"),&PhysicsJoint::set_body_A);
ClassDB::bind_method(_MD("set_body_B"),&PhysicsJoint::set_body_B);
ClassDB::bind_method(_MD("get_body_A","path"),&PhysicsJoint::get_body_A);
ClassDB::bind_method(_MD("get_body_B"),&PhysicsJoint::get_body_B);
ClassDB::bind_method(_MD("set_active","active"),&PhysicsJoint::set_active);
ClassDB::bind_method(_MD("is_active"),&PhysicsJoint::is_active);
ClassDB::bind_method(_MD("set_disable_collision","disable"),&PhysicsJoint::set_disable_collision);
ClassDB::bind_method(_MD("has_disable_collision"),&PhysicsJoint::has_disable_collision);
ClassDB::bind_method("reconnect",&PhysicsJoint::reconnect);
ClassDB::bind_method(_MD("get_rid"),&PhysicsJoint::get_rid);
}
void PhysicsJoint::set_body_A(const NodePath& p_path) {
_disconnect();
body_A=p_path;
_connect();
_change_notify("body_A");
}
void PhysicsJoint::set_body_B(const NodePath& p_path) {
_disconnect();
body_B=p_path;
_connect();
_change_notify("body_B");
}
NodePath PhysicsJoint::get_body_A() const {
return body_A;
}
NodePath PhysicsJoint::get_body_B() const {
return body_B;
}
void PhysicsJoint::set_active(bool p_active) {
active=p_active;
if (is_inside_scene()) {
PhysicsServer::get_singleton()->joint_set_active(joint,active);
}
_change_notify("active");
}
void PhysicsJoint::set_disable_collision(bool p_active) {
if (no_collision==p_active)
return;
_disconnect();
no_collision=p_active;
_connect();
_change_notify("no_collision");
}
bool PhysicsJoint::has_disable_collision() const {
return no_collision;
}
bool PhysicsJoint::is_active() const {
return active;
}
void PhysicsJoint::_disconnect() {
if (!is_inside_scene())
return;
if (joint.is_valid())
PhysicsServer::get_singleton()->free(joint);
joint=RID();
Node *nA = get_node(body_A);
Node *nB = get_node(body_B);
PhysicsBody *A = nA?nA->cast_to<PhysicsBody>():NULL;
PhysicsBody *B = nA?nB->cast_to<PhysicsBody>():NULL;
if (!A ||!B)
return;
if (no_collision)
PhysicsServer::get_singleton()->body_remove_collision_exception(A->get_body(),B->get_body());
}
void PhysicsJoint::_connect() {
if (!is_inside_scene())
return;
ERR_FAIL_COND(joint.is_valid());
Node *nA = get_node(body_A);
Node *nB = get_node(body_B);
PhysicsBody *A = nA?nA->cast_to<PhysicsBody>():NULL;
PhysicsBody *B = nA?nB->cast_to<PhysicsBody>():NULL;
if (!A && !B)
return;
if (B && !A)
SWAP(B,A);
joint = create(A,B);
if (A<B)
SWAP(A,B);
if (no_collision)
PhysicsServer::get_singleton()->body_add_collision_exception(A->get_body(),B->get_body());
}
void PhysicsJoint::reconnect() {
_disconnect();
_connect();
}
RID PhysicsJoint::get_rid() {
return joint;
}
PhysicsJoint::PhysicsJoint() {
active=true;
no_collision=true;
}
PhysicsJoint::~PhysicsJoint() {
if (indicator.is_valid()) {
VisualServer::get_singleton()->free(indicator);
}
}
/* PIN */
void PhysicsJointPin::_update_indicator() {
VisualServer::get_singleton()->poly_clear(indicator);
Vector<Color> colors;
colors.push_back( Color(0.3,0.9,0.2,0.7) );
colors.push_back( Color(0.3,0.9,0.2,0.7) );
Vector<Vector3> points;
points.resize(2);
points[0]=Vector3(Vector3(-0.2,0,0));
points[1]=Vector3(Vector3(0.2,0,0));
VisualServer::get_singleton()->poly_add_primitive(indicator,points,Vector<Vector3>(),colors,Vector<Vector3>());
points[0]=Vector3(Vector3(0,-0.2,0));
points[1]=Vector3(Vector3(0,0.2,0));
VisualServer::get_singleton()->poly_add_primitive(indicator,points,Vector<Vector3>(),colors,Vector<Vector3>());
points[0]=Vector3(Vector3(0,0,-0.2));
points[1]=Vector3(Vector3(0,0,0.2));
VisualServer::get_singleton()->poly_add_primitive(indicator,points,Vector<Vector3>(),colors,Vector<Vector3>());
}
RID PhysicsJointPin::create(PhysicsBody*A,PhysicsBody*B) {
RID body_A = A->get_body();
RID body_B = B?B->get_body():RID();
ERR_FAIL_COND_V( !body_A.is_valid(), RID() );
Vector3 pin_pos = get_global_transform().origin;
if (body_B.is_valid())
return PhysicsServer::get_singleton()->joint_create_double_pin_global(body_A,pin_pos,body_B,pin_pos);
else
return PhysicsServer::get_singleton()->joint_create_pin(body_A,A->get_global_transform().xform_inv(pin_pos),pin_pos);
}
PhysicsJointPin::PhysicsJointPin() {
}
#endif
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