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Implemented interface for bullet joint motors

This commit is contained in:
Geoffrey 2018-03-16 13:07:52 +01:00
parent cc617dc5d1
commit 09c887f38e
7 changed files with 107 additions and 20 deletions
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57
doc/classes/Generic6DOFJoint.xml
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@ -167,6 +167,33 @@
<member name="linear_limit_z/upper_distance" type="float" setter="set_param_z" getter="get_param_z"> <member name="linear_limit_z/upper_distance" type="float" setter="set_param_z" getter="get_param_z">
The maximum difference between the pivot points' z-axis. The maximum difference between the pivot points' z-axis.
</member> </member>
<member name="linear_motor_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x">
If [code]true[/code] then there is a linear motor on the x-axis. It will attempt to reach the target velocity while staying within the force limits.
</member>
<member name="linear_motor_x/force_limit" type="float" setter="set_param_x" getter="get_param_x">
The maximum force the linear motor can apply on the x-axis while trying to reach the target velocity.
</member>
<member name="linear_motor_x/target_velocity" type="float" setter="set_param_x" getter="get_param_x">
The speed that the linear motor will attempt to reach on the x-axis.
</member>
<member name="linear_motor_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y">
If [code]true[/code] then there is a linear motor on the y-axis. It will attempt to reach the target velocity while staying within the force limits.
</member>
<member name="linear_motor_y/force_limit" type="float" setter="set_param_y" getter="get_param_y">
The maximum force the linear motor can apply on the y-axis while trying to reach the target velocity.
</member>
<member name="linear_motor_y/target_velocity" type="float" setter="set_param_y" getter="get_param_y">
The speed that the linear motor will attempt to reach on the y-axis.
</member>
<member name="linear_motor_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z">
If [code]true[/code] then there is a linear motor on the z-axis. It will attempt to reach the target velocity while staying within the force limits.
</member>
<member name="linear_motor_z/force_limit" type="float" setter="set_param_z" getter="get_param_z">
The maximum force the linear motor can apply on the z-axis while trying to reach the target velocity.
</member>
<member name="linear_motor_z/target_velocity" type="float" setter="set_param_z" getter="get_param_z">
The speed that the linear motor will attempt to reach on the z-axis.
</member>
</members> </members>
<constants> <constants>
<constant name="PARAM_LINEAR_LOWER_LIMIT" value="0" enum="Param"> <constant name="PARAM_LINEAR_LOWER_LIMIT" value="0" enum="Param">
@ -184,34 +211,40 @@
<constant name="PARAM_LINEAR_DAMPING" value="4" enum="Param"> <constant name="PARAM_LINEAR_DAMPING" value="4" enum="Param">
The amount of damping that happens at the linear motion across the axes. The amount of damping that happens at the linear motion across the axes.
</constant> </constant>
<constant name="PARAM_ANGULAR_LOWER_LIMIT" value="5" enum="Param"> <constant name="PARAM_LINEAR_MOTOR_TARGET_VELOCITY" value="5" enum="Param">
The velocity the linear motor will try to reach.
</constant>
<constant name="PARAM_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="Param">
The maximum force the linear motor will apply while trying to reach the velocity target.
</constant>
<constant name="PARAM_ANGULAR_LOWER_LIMIT" value="7" enum="Param">
The minimum rotation in negative direction to break loose and rotate around the axes. The minimum rotation in negative direction to break loose and rotate around the axes.
</constant> </constant>
<constant name="PARAM_ANGULAR_UPPER_LIMIT" value="6" enum="Param"> <constant name="PARAM_ANGULAR_UPPER_LIMIT" value="8" enum="Param">
The minimum rotation in positive direction to break loose and rotate around the axes. The minimum rotation in positive direction to break loose and rotate around the axes.
</constant> </constant>
<constant name="PARAM_ANGULAR_LIMIT_SOFTNESS" value="7" enum="Param"> <constant name="PARAM_ANGULAR_LIMIT_SOFTNESS" value="9" enum="Param">
The speed of all rotations across the axes. The speed of all rotations across the axes.
</constant> </constant>
<constant name="PARAM_ANGULAR_DAMPING" value="8" enum="Param"> <constant name="PARAM_ANGULAR_DAMPING" value="10" enum="Param">
The amount of rotational damping across the axes. The lower, the more dampening occurs. The amount of rotational damping across the axes. The lower, the more dampening occurs.
</constant> </constant>
<constant name="PARAM_ANGULAR_RESTITUTION" value="9" enum="Param"> <constant name="PARAM_ANGULAR_RESTITUTION" value="11" enum="Param">
The amount of rotational restitution across the axes. The lower, the more restitution occurs. The amount of rotational restitution across the axes. The lower, the more restitution occurs.
</constant> </constant>
<constant name="PARAM_ANGULAR_FORCE_LIMIT" value="10" enum="Param"> <constant name="PARAM_ANGULAR_FORCE_LIMIT" value="12" enum="Param">
The maximum amount of force that can occur, when rotating around the axes. The maximum amount of force that can occur, when rotating around the axes.
</constant> </constant>
<constant name="PARAM_ANGULAR_ERP" value="11" enum="Param"> <constant name="PARAM_ANGULAR_ERP" value="13" enum="Param">
When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower. When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
</constant> </constant>
<constant name="PARAM_ANGULAR_MOTOR_TARGET_VELOCITY" value="12" enum="Param"> <constant name="PARAM_ANGULAR_MOTOR_TARGET_VELOCITY" value="14" enum="Param">
Target speed for the motor at the axes. Target speed for the motor at the axes.
</constant> </constant>
<constant name="PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value="13" enum="Param"> <constant name="PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value="15" enum="Param">
Maximum acceleration for the motor at the axes. Maximum acceleration for the motor at the axes.
</constant> </constant>
<constant name="PARAM_MAX" value="14" enum="Param"> <constant name="PARAM_MAX" value="16" enum="Param">
End flag of PARAM_* constants, used internally. End flag of PARAM_* constants, used internally.
</constant> </constant>
<constant name="FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="Flag"> <constant name="FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="Flag">
@ -223,7 +256,9 @@
<constant name="FLAG_ENABLE_MOTOR" value="2" enum="Flag"> <constant name="FLAG_ENABLE_MOTOR" value="2" enum="Flag">
If [code]set[/code] there is a rotational motor across these axes. If [code]set[/code] there is a rotational motor across these axes.
</constant> </constant>
<constant name="FLAG_MAX" value="3" enum="Flag"> <constant name="FLAG_ENABLE_LINEAR_MOTOR" value="3" enum="Flag">
</constant>
<constant name="FLAG_MAX" value="4" enum="Flag">
End flag of FLAG_* constants, used internally. End flag of FLAG_* constants, used internally.
</constant> </constant>
</constants> </constants>

27
doc/classes/PhysicsServer.xml
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@ -1331,31 +1331,37 @@
<constant name="G6DOF_JOINT_LINEAR_DAMPING" value="4" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_LINEAR_DAMPING" value="4" enum="G6DOFJointAxisParam">
The amount of damping that happens at the linear motion across the axes. The amount of damping that happens at the linear motion across the axes.
</constant> </constant>
<constant name="G6DOF_JOINT_ANGULAR_LOWER_LIMIT" value="5" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY" value="5" enum="G6DOFJointAxisParam">
The velocity that the joint's linear motor will attempt to reach.
</constant>
<constant name="G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="G6DOFJointAxisParam">
The maximum force that the linear motor can apply while trying to reach the target velocity.
</constant>
<constant name="G6DOF_JOINT_ANGULAR_LOWER_LIMIT" value="7" enum="G6DOFJointAxisParam">
The minimum rotation in negative direction to break loose and rotate around the axes. The minimum rotation in negative direction to break loose and rotate around the axes.
</constant> </constant>
<constant name="G6DOF_JOINT_ANGULAR_UPPER_LIMIT" value="6" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_ANGULAR_UPPER_LIMIT" value="8" enum="G6DOFJointAxisParam">
The minimum rotation in positive direction to break loose and rotate around the axes. The minimum rotation in positive direction to break loose and rotate around the axes.
</constant> </constant>
<constant name="G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS" value="7" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS" value="9" enum="G6DOFJointAxisParam">
A factor that gets multiplied onto all rotations across the axes. A factor that gets multiplied onto all rotations across the axes.
</constant> </constant>
<constant name="G6DOF_JOINT_ANGULAR_DAMPING" value="8" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_ANGULAR_DAMPING" value="10" enum="G6DOFJointAxisParam">
The amount of rotational damping across the axes. The lower, the more dampening occurs. The amount of rotational damping across the axes. The lower, the more dampening occurs.
</constant> </constant>
<constant name="G6DOF_JOINT_ANGULAR_RESTITUTION" value="9" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_ANGULAR_RESTITUTION" value="11" enum="G6DOFJointAxisParam">
The amount of rotational restitution across the axes. The lower, the more restitution occurs. The amount of rotational restitution across the axes. The lower, the more restitution occurs.
</constant> </constant>
<constant name="G6DOF_JOINT_ANGULAR_FORCE_LIMIT" value="10" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_ANGULAR_FORCE_LIMIT" value="12" enum="G6DOFJointAxisParam">
The maximum amount of force that can occur, when rotating around the axes. The maximum amount of force that can occur, when rotating around the axes.
</constant> </constant>
<constant name="G6DOF_JOINT_ANGULAR_ERP" value="11" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_ANGULAR_ERP" value="13" enum="G6DOFJointAxisParam">
When correcting the crossing of limits in rotation across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower. When correcting the crossing of limits in rotation across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
</constant> </constant>
<constant name="G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY" value="12" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY" value="14" enum="G6DOFJointAxisParam">
Target speed for the motor at the axes. Target speed for the motor at the axes.
</constant> </constant>
<constant name="G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT" value="13" enum="G6DOFJointAxisParam"> <constant name="G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT" value="15" enum="G6DOFJointAxisParam">
Maximum acceleration for the motor at the axes. Maximum acceleration for the motor at the axes.
</constant> </constant>
<constant name="G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="G6DOFJointAxisFlag"> <constant name="G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="G6DOFJointAxisFlag">
@ -1367,6 +1373,9 @@
<constant name="G6DOF_JOINT_FLAG_ENABLE_MOTOR" value="2" enum="G6DOFJointAxisFlag"> <constant name="G6DOF_JOINT_FLAG_ENABLE_MOTOR" value="2" enum="G6DOFJointAxisFlag">
If [code]set[/code] there is a rotational motor across these axes. If [code]set[/code] there is a rotational motor across these axes.
</constant> </constant>
<constant name="G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR" value="3" enum="G6DOFJointAxisFlag">
If [code]set[/code] there is a linear motor on this axis that targets a specific velocity.
</constant>
<constant name="SHAPE_PLANE" value="0" enum="ShapeType"> <constant name="SHAPE_PLANE" value="0" enum="ShapeType">
The [Shape] is a [PlaneShape]. The [Shape] is a [PlaneShape].
</constant> </constant>

13
modules/bullet/generic_6dof_joint_bullet.cpp
View File

@ -138,6 +138,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value; sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
break; break;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
limits_lower[1][p_axis] = p_value; limits_lower[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
@ -185,6 +191,10 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution; return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution;
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_damping; return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
return limits_lower[1][p_axis]; return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
@ -232,6 +242,9 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag]; sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
break; break;
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
break;
default: default:
WARN_PRINT("This flag is not supported by Bullet engine"); WARN_PRINT("This flag is not supported by Bullet engine");
return; return;

21
scene/3d/physics_joint.cpp
View File

@ -716,6 +716,9 @@ void Generic6DOFJoint::_bind_methods() {
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_LIMIT_SOFTNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_RESTITUTION); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_MOTOR);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_LIMIT); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_LIMIT);
ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_x", "_get_angular_hi_limit_x"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_x", "_get_angular_hi_limit_x");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_x", "_get_angular_lo_limit_x"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_x", "_get_angular_lo_limit_x");
@ -734,6 +737,9 @@ void Generic6DOFJoint::_bind_methods() {
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_LIMIT_SOFTNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_RESTITUTION); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_MOTOR);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_LIMIT); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_LIMIT);
ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_y", "_get_angular_hi_limit_y"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_y", "_get_angular_hi_limit_y");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_y", "_get_angular_lo_limit_y"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_y", "_get_angular_lo_limit_y");
@ -752,6 +758,9 @@ void Generic6DOFJoint::_bind_methods() {
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_LIMIT_SOFTNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_LIMIT_SOFTNESS);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_RESTITUTION); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_RESTITUTION);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_MOTOR);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_LIMIT); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_LIMIT);
ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_z", "_get_angular_hi_limit_z"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_z", "_get_angular_hi_limit_z");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_z", "_get_angular_lo_limit_z"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_z", "_get_angular_lo_limit_z");
@ -769,6 +778,8 @@ void Generic6DOFJoint::_bind_methods() {
BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(PARAM_LINEAR_RESTITUTION); BIND_ENUM_CONSTANT(PARAM_LINEAR_RESTITUTION);
BIND_ENUM_CONSTANT(PARAM_LINEAR_DAMPING); BIND_ENUM_CONSTANT(PARAM_LINEAR_DAMPING);
BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTOR_FORCE_LIMIT);
BIND_ENUM_CONSTANT(PARAM_ANGULAR_LOWER_LIMIT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LOWER_LIMIT);
BIND_ENUM_CONSTANT(PARAM_ANGULAR_UPPER_LIMIT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_UPPER_LIMIT);
BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS);
@ -783,6 +794,7 @@ void Generic6DOFJoint::_bind_methods() {
BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_LIMIT); BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_LIMIT);
BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_LIMIT); BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_LIMIT);
BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR);
BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_MOTOR);
BIND_ENUM_CONSTANT(FLAG_MAX); BIND_ENUM_CONSTANT(FLAG_MAX);
} }
@ -912,6 +924,8 @@ Generic6DOFJoint::Generic6DOFJoint() {
set_param_x(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7); set_param_x(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7);
set_param_x(PARAM_LINEAR_RESTITUTION, 0.5); set_param_x(PARAM_LINEAR_RESTITUTION, 0.5);
set_param_x(PARAM_LINEAR_DAMPING, 1.0); set_param_x(PARAM_LINEAR_DAMPING, 1.0);
set_param_x(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
set_param_x(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
set_param_x(PARAM_ANGULAR_LOWER_LIMIT, 0); set_param_x(PARAM_ANGULAR_LOWER_LIMIT, 0);
set_param_x(PARAM_ANGULAR_UPPER_LIMIT, 0); set_param_x(PARAM_ANGULAR_UPPER_LIMIT, 0);
set_param_x(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f); set_param_x(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@ -925,12 +939,15 @@ Generic6DOFJoint::Generic6DOFJoint() {
set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true); set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true);
set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true); set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true);
set_flag_x(FLAG_ENABLE_MOTOR, false); set_flag_x(FLAG_ENABLE_MOTOR, false);
set_flag_x(FLAG_ENABLE_LINEAR_MOTOR, false);
set_param_y(PARAM_LINEAR_LOWER_LIMIT, 0); set_param_y(PARAM_LINEAR_LOWER_LIMIT, 0);
set_param_y(PARAM_LINEAR_UPPER_LIMIT, 0); set_param_y(PARAM_LINEAR_UPPER_LIMIT, 0);
set_param_y(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7); set_param_y(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7);
set_param_y(PARAM_LINEAR_RESTITUTION, 0.5); set_param_y(PARAM_LINEAR_RESTITUTION, 0.5);
set_param_y(PARAM_LINEAR_DAMPING, 1.0); set_param_y(PARAM_LINEAR_DAMPING, 1.0);
set_param_y(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
set_param_y(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
set_param_y(PARAM_ANGULAR_LOWER_LIMIT, 0); set_param_y(PARAM_ANGULAR_LOWER_LIMIT, 0);
set_param_y(PARAM_ANGULAR_UPPER_LIMIT, 0); set_param_y(PARAM_ANGULAR_UPPER_LIMIT, 0);
set_param_y(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f); set_param_y(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@ -944,12 +961,15 @@ Generic6DOFJoint::Generic6DOFJoint() {
set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true); set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true);
set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true); set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true);
set_flag_y(FLAG_ENABLE_MOTOR, false); set_flag_y(FLAG_ENABLE_MOTOR, false);
set_flag_y(FLAG_ENABLE_LINEAR_MOTOR, false);
set_param_z(PARAM_LINEAR_LOWER_LIMIT, 0); set_param_z(PARAM_LINEAR_LOWER_LIMIT, 0);
set_param_z(PARAM_LINEAR_UPPER_LIMIT, 0); set_param_z(PARAM_LINEAR_UPPER_LIMIT, 0);
set_param_z(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7); set_param_z(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7);
set_param_z(PARAM_LINEAR_RESTITUTION, 0.5); set_param_z(PARAM_LINEAR_RESTITUTION, 0.5);
set_param_z(PARAM_LINEAR_DAMPING, 1.0); set_param_z(PARAM_LINEAR_DAMPING, 1.0);
set_param_z(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
set_param_z(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
set_param_z(PARAM_ANGULAR_LOWER_LIMIT, 0); set_param_z(PARAM_ANGULAR_LOWER_LIMIT, 0);
set_param_z(PARAM_ANGULAR_UPPER_LIMIT, 0); set_param_z(PARAM_ANGULAR_UPPER_LIMIT, 0);
set_param_z(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f); set_param_z(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@ -963,4 +983,5 @@ Generic6DOFJoint::Generic6DOFJoint() {
set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true); set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true);
set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true); set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true);
set_flag_z(FLAG_ENABLE_MOTOR, false); set_flag_z(FLAG_ENABLE_MOTOR, false);
set_flag_z(FLAG_ENABLE_LINEAR_MOTOR, false);
} }

3
scene/3d/physics_joint.h
View File

@ -249,6 +249,8 @@ public:
PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
PARAM_LINEAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION, PARAM_LINEAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION,
PARAM_LINEAR_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING, PARAM_LINEAR_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING,
PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
@ -265,6 +267,7 @@ public:
FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
FLAG_ENABLE_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR, FLAG_ENABLE_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
FLAG_MAX = PhysicsServer::G6DOF_JOINT_FLAG_MAX FLAG_MAX = PhysicsServer::G6DOF_JOINT_FLAG_MAX
}; };

3
servers/physics_server.cpp
View File

@ -603,6 +603,8 @@ void PhysicsServer::_bind_methods() {
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS); BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_RESTITUTION); BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_RESTITUTION);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_DAMPING); BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_DAMPING);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LOWER_LIMIT); BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LOWER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_UPPER_LIMIT); BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_UPPER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS); BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS);
@ -616,6 +618,7 @@ void PhysicsServer::_bind_methods() {
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT); BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT); BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_MOTOR); BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_MOTOR);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR);
ClassDB::bind_method(D_METHOD("joint_get_type", "joint"), &PhysicsServer::joint_get_type); ClassDB::bind_method(D_METHOD("joint_get_type", "joint"), &PhysicsServer::joint_get_type);

3
servers/physics_server.h
View File

@ -594,6 +594,8 @@ public:
G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
G6DOF_JOINT_LINEAR_RESTITUTION, G6DOF_JOINT_LINEAR_RESTITUTION,
G6DOF_JOINT_LINEAR_DAMPING, G6DOF_JOINT_LINEAR_DAMPING,
G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
G6DOF_JOINT_ANGULAR_LOWER_LIMIT, G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
G6DOF_JOINT_ANGULAR_UPPER_LIMIT, G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
@ -611,6 +613,7 @@ public:
G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
G6DOF_JOINT_FLAG_ENABLE_MOTOR, G6DOF_JOINT_FLAG_ENABLE_MOTOR,
G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
G6DOF_JOINT_FLAG_MAX G6DOF_JOINT_FLAG_MAX
}; };