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97 lines
4.4 KiB
C++
97 lines
4.4 KiB
C++
/**************************************************************************/
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/* jolt_slider_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_SLIDER_JOINT_3D_H
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#define JOLT_SLIDER_JOINT_3D_H
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#include "../jolt_physics_server_3d.h"
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#include "jolt_joint_3d.h"
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#include "Jolt/Jolt.h"
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#include "Jolt/Physics/Constraints/SliderConstraint.h"
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class JoltSliderJoint3D final : public JoltJoint3D {
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typedef PhysicsServer3D::SliderJointParam Parameter;
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typedef JoltPhysicsServer3D::SliderJointParamJolt JoltParameter;
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typedef JoltPhysicsServer3D::SliderJointFlagJolt JoltFlag;
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double limit_upper = 0.0;
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double limit_lower = 0.0;
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double limit_spring_frequency = 0.0;
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double limit_spring_damping = 0.0;
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double motor_target_speed = 0.0f;
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double motor_max_force = FLT_MAX;
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bool limits_enabled = true;
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bool limit_spring_enabled = false;
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bool motor_enabled = false;
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JPH::Constraint *_build_slider(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b, float p_limit) const;
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JPH::Constraint *_build_fixed(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b) const;
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bool _is_sprung() const { return limit_spring_enabled && limit_spring_frequency > 0.0; }
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bool _is_fixed() const { return limits_enabled && limit_lower == limit_upper && !_is_sprung(); }
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void _update_motor_state();
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void _update_motor_velocity();
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void _update_motor_limit();
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void _limits_changed();
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void _limit_spring_changed();
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void _motor_state_changed();
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void _motor_speed_changed();
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void _motor_limit_changed();
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public:
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JoltSliderJoint3D(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 PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_SLIDER; }
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double get_param(PhysicsServer3D::SliderJointParam p_param) const;
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void set_param(PhysicsServer3D::SliderJointParam p_param, double p_value);
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double get_jolt_param(JoltParameter p_param) const;
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void set_jolt_param(JoltParameter p_param, double p_value);
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bool get_jolt_flag(JoltFlag p_flag) const;
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void set_jolt_flag(JoltFlag p_flag, bool p_enabled);
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float get_applied_force() const;
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float get_applied_torque() const;
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virtual void rebuild() override;
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};
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#endif // JOLT_SLIDER_JOINT_3D_H
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