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godot/scene/3d/physics_joint.h

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/*************************************************************************/
/* physics_joint.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 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<PropertyInfo> *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
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