/*************************************************************************/ /* physics_joint.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef PHYSICS_JOINT_H #define PHYSICS_JOINT_H #include "scene/3d/physics_body.h" #include "scene/3d/spatial.h" class Joint : public Spatial { OBJ_TYPE(Joint, Spatial); RID ba, bb; RID joint; NodePath a; NodePath b; int solver_priority; bool exclude_from_collision; protected: void _update_joint(bool p_only_free = false); void _notification(int p_what); virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) = 0; static void _bind_methods(); public: void set_node_a(const NodePath &p_node_a); NodePath get_node_a() const; void set_node_b(const NodePath &p_node_b); NodePath get_node_b() const; void set_solver_priority(int p_priority); int get_solver_priority() const; void set_exclude_nodes_from_collision(bool p_enable); bool get_exclude_nodes_from_collision() const; RID get_joint() const { return joint; } Joint(); }; /////////////////////////////////////////// class PinJoint : public Joint { OBJ_TYPE(PinJoint, Joint); public: enum Param { PARAM_BIAS = PhysicsServer::PIN_JOINT_BIAS, PARAM_DAMPING = PhysicsServer::PIN_JOINT_DAMPING, PARAM_IMPULSE_CLAMP = PhysicsServer::PIN_JOINT_IMPULSE_CLAMP }; protected: float params[3]; virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); static void _bind_methods(); public: void set_param(Param p_param, float p_value); float get_param(Param p_param) const; PinJoint(); }; VARIANT_ENUM_CAST(PinJoint::Param); class HingeJoint : public Joint { OBJ_TYPE(HingeJoint, Joint); public: enum Param { PARAM_BIAS = PhysicsServer::HINGE_JOINT_BIAS, PARAM_LIMIT_UPPER = PhysicsServer::HINGE_JOINT_LIMIT_UPPER, PARAM_LIMIT_LOWER = PhysicsServer::HINGE_JOINT_LIMIT_LOWER, PARAM_LIMIT_BIAS = PhysicsServer::HINGE_JOINT_LIMIT_BIAS, PARAM_LIMIT_SOFTNESS = PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS, PARAM_LIMIT_RELAXATION = PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION, PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY, PARAM_MOTOR_MAX_IMPULSE = PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE, PARAM_MAX = PhysicsServer::HINGE_JOINT_MAX }; enum Flag { FLAG_USE_LIMIT = PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT, FLAG_ENABLE_MOTOR = PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR, FLAG_MAX = PhysicsServer::HINGE_JOINT_FLAG_MAX }; protected: float params[PARAM_MAX]; bool flags[FLAG_MAX]; virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); static void _bind_methods(); void _set_upper_limit(float p_limit); float _get_upper_limit() const; void _set_lower_limit(float p_limit); float _get_lower_limit() const; public: void set_param(Param p_param, float p_value); float get_param(Param p_param) const; void set_flag(Flag p_flag, bool p_value); bool get_flag(Flag p_flag) const; HingeJoint(); }; VARIANT_ENUM_CAST(HingeJoint::Param); VARIANT_ENUM_CAST(HingeJoint::Flag); class SliderJoint : public Joint { OBJ_TYPE(SliderJoint, Joint); public: enum Param { PARAM_LINEAR_LIMIT_UPPER = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER, PARAM_LINEAR_LIMIT_LOWER = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER, PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, PARAM_LINEAR_MOTION_DAMPING = PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING, PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING, PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, PARAM_MAX = PhysicsServer::SLIDER_JOINT_MAX }; protected: void _set_upper_limit_angular(float p_limit_angular); float _get_upper_limit_angular() const; void _set_lower_limit_angular(float p_limit_angular); float _get_lower_limit_angular() const; float params[PARAM_MAX]; virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); static void _bind_methods(); public: void set_param(Param p_param, float p_value); float get_param(Param p_param) const; SliderJoint(); }; VARIANT_ENUM_CAST(SliderJoint::Param); class ConeTwistJoint : public Joint { OBJ_TYPE(ConeTwistJoint, Joint); public: enum Param { PARAM_SWING_SPAN, PARAM_TWIST_SPAN, PARAM_BIAS, PARAM_SOFTNESS, PARAM_RELAXATION, PARAM_MAX }; protected: void _set_swing_span(float p_limit_angular); float _get_swing_span() const; void _set_twist_span(float p_limit_angular); float _get_twist_span() const; float params[PARAM_MAX]; virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); static void _bind_methods(); public: void set_param(Param p_param, float p_value); float get_param(Param p_param) const; ConeTwistJoint(); }; VARIANT_ENUM_CAST(ConeTwistJoint::Param); class Generic6DOFJoint : public Joint { OBJ_TYPE(Generic6DOFJoint, Joint); public: enum Param { PARAM_LINEAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT, PARAM_LINEAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT, PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, PARAM_LINEAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION, PARAM_LINEAR_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING, PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, PARAM_ANGULAR_DAMPING = PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING, PARAM_ANGULAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION, PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT, PARAM_ANGULAR_ERP = PhysicsServer::G6DOF_JOINT_ANGULAR_ERP, PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, PARAM_MAX = PhysicsServer::G6DOF_JOINT_MAX, }; enum Flag { FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, FLAG_ENABLE_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR, FLAG_MAX = PhysicsServer::G6DOF_JOINT_FLAG_MAX }; protected: void _set_angular_hi_limit_x(float p_limit_angular); float _get_angular_hi_limit_x() const; void _set_angular_hi_limit_y(float p_limit_angular); float _get_angular_hi_limit_y() const; void _set_angular_hi_limit_z(float p_limit_angular); float _get_angular_hi_limit_z() const; void _set_angular_lo_limit_x(float p_limit_angular); float _get_angular_lo_limit_x() const; void _set_angular_lo_limit_y(float p_limit_angular); float _get_angular_lo_limit_y() const; void _set_angular_lo_limit_z(float p_limit_angular); float _get_angular_lo_limit_z() const; float params_x[PARAM_MAX]; bool flags_x[FLAG_MAX]; float params_y[PARAM_MAX]; bool flags_y[FLAG_MAX]; float params_z[PARAM_MAX]; bool flags_z[FLAG_MAX]; virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); static void _bind_methods(); public: void set_param_x(Param p_param, float p_value); float get_param_x(Param p_param) const; void set_param_y(Param p_param, float p_value); float get_param_y(Param p_param) const; void set_param_z(Param p_param, float p_value); float get_param_z(Param p_param) const; void set_flag_x(Flag p_flag, bool p_enabled); bool get_flag_x(Flag p_flag) const; void set_flag_y(Flag p_flag, bool p_enabled); bool get_flag_y(Flag p_flag) const; void set_flag_z(Flag p_flag, bool p_enabled); bool get_flag_z(Flag p_flag) const; Generic6DOFJoint(); }; VARIANT_ENUM_CAST(Generic6DOFJoint::Param); VARIANT_ENUM_CAST(Generic6DOFJoint::Flag); #if 0 class PhysicsJoint : public Spatial { OBJ_TYPE(PhysicsJoint,Spatial); OBJ_CATEGORY("3D Physics Nodes"); NodePath body_A; NodePath body_B; bool active; bool no_collision; RID indicator_instance; RID _get_visual_instance_rid() const; protected: RID joint; RID indicator; bool _set(const StringName& p_name, const Variant& p_value); bool _get(const StringName& p_name,Variant &r_ret) const; void _get_property_list( List *p_list) const; void _notification(int p_what); static void _bind_methods(); virtual RID create(PhysicsBody*A,PhysicsBody*B)=0; virtual void _update_indicator()=0; void _disconnect(); void _connect(); public: void set_body_A(const NodePath& p_path); void set_body_B(const NodePath& p_path); NodePath get_body_A() const; NodePath get_body_B() const; void set_active(bool p_active); bool is_active() const; void set_disable_collision(bool p_active); bool has_disable_collision() const; void reconnect(); RID get_rid(); PhysicsJoint(); ~PhysicsJoint(); }; class PhysicsJointPin : public PhysicsJoint { OBJ_TYPE( PhysicsJointPin, PhysicsJoint ); protected: virtual void _update_indicator(); virtual RID create(PhysicsBody*A,PhysicsBody*B); public: PhysicsJointPin(); }; #endif // PHYSICS_JOINT_H #endif