1265 lines
51 KiB
C++
1265 lines
51 KiB
C++
/*************************************************************************/
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/* physics_joint.cpp */
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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) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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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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#include "physics_joint.h"
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void Joint::_update_joint(bool p_only_free) {
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if (joint.is_valid()) {
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if (ba.is_valid() && bb.is_valid())
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PhysicsServer::get_singleton()->body_remove_collision_exception(ba, bb);
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PhysicsServer::get_singleton()->free(joint);
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joint = RID();
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ba = RID();
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bb = RID();
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}
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if (p_only_free || !is_inside_tree())
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return;
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Node *node_a = has_node(get_node_a()) ? get_node(get_node_a()) : (Node *)NULL;
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Node *node_b = has_node(get_node_b()) ? get_node(get_node_b()) : (Node *)NULL;
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if (!node_a && !node_b)
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return;
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PhysicsBody *body_a = node_a ? node_a->cast_to<PhysicsBody>() : (PhysicsBody *)NULL;
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PhysicsBody *body_b = node_b ? node_b->cast_to<PhysicsBody>() : (PhysicsBody *)NULL;
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if (!body_a && !body_b)
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return;
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if (!body_a) {
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SWAP(body_a, body_b);
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}
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joint = _configure_joint(body_a, body_b);
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if (!joint.is_valid())
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return;
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PhysicsServer::get_singleton()->joint_set_solver_priority(joint, solver_priority);
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ba = body_a->get_rid();
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bb = body_b ? body_b->get_rid() : RID();
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if (exclude_from_collision && bb.is_valid())
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PhysicsServer::get_singleton()->body_add_collision_exception(ba, bb);
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}
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void Joint::set_node_a(const NodePath &p_node_a) {
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if (a == p_node_a)
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return;
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a = p_node_a;
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_update_joint();
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}
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NodePath Joint::get_node_a() const {
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return a;
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}
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void Joint::set_node_b(const NodePath &p_node_b) {
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if (b == p_node_b)
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return;
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b = p_node_b;
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_update_joint();
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}
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NodePath Joint::get_node_b() const {
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return b;
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}
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void Joint::set_solver_priority(int p_priority) {
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solver_priority = p_priority;
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if (joint.is_valid())
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PhysicsServer::get_singleton()->joint_set_solver_priority(joint, solver_priority);
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}
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int Joint::get_solver_priority() const {
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return solver_priority;
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}
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void Joint::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_READY: {
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_update_joint();
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} break;
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case NOTIFICATION_EXIT_TREE: {
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if (joint.is_valid()) {
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_update_joint(true);
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}
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} break;
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}
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}
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void Joint::set_exclude_nodes_from_collision(bool p_enable) {
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if (exclude_from_collision == p_enable)
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return;
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exclude_from_collision = p_enable;
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_update_joint();
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}
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bool Joint::get_exclude_nodes_from_collision() const {
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return exclude_from_collision;
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}
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void Joint::_bind_methods() {
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ObjectTypeDB::bind_method(_MD("set_node_a", "node"), &Joint::set_node_a);
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ObjectTypeDB::bind_method(_MD("get_node_a"), &Joint::get_node_a);
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ObjectTypeDB::bind_method(_MD("set_node_b", "node"), &Joint::set_node_b);
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ObjectTypeDB::bind_method(_MD("get_node_b"), &Joint::get_node_b);
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ObjectTypeDB::bind_method(_MD("set_solver_priority", "priority"), &Joint::set_solver_priority);
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ObjectTypeDB::bind_method(_MD("get_solver_priority"), &Joint::get_solver_priority);
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ObjectTypeDB::bind_method(_MD("set_exclude_nodes_from_collision", "enable"), &Joint::set_exclude_nodes_from_collision);
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ObjectTypeDB::bind_method(_MD("get_exclude_nodes_from_collision"), &Joint::get_exclude_nodes_from_collision);
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ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "nodes/node_a"), _SCS("set_node_a"), _SCS("get_node_a"));
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ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "nodes/node_b"), _SCS("set_node_b"), _SCS("get_node_b"));
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ADD_PROPERTY(PropertyInfo(Variant::INT, "solver/priority", PROPERTY_HINT_RANGE, "1,8,1"), _SCS("set_solver_priority"), _SCS("get_solver_priority"));
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collision/exclude_nodes"), _SCS("set_exclude_nodes_from_collision"), _SCS("get_exclude_nodes_from_collision"));
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}
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Joint::Joint() {
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exclude_from_collision = true;
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solver_priority = 1;
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}
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///////////////////////////////////
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void PinJoint::_bind_methods() {
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ObjectTypeDB::bind_method(_MD("set_param", "param", "value"), &PinJoint::set_param);
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ObjectTypeDB::bind_method(_MD("get_param", "param"), &PinJoint::get_param);
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ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), _SCS("set_param"), _SCS("get_param"), PARAM_BIAS);
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ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"), _SCS("set_param"), _SCS("get_param"), PARAM_DAMPING);
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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);
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BIND_CONSTANT(PARAM_BIAS);
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BIND_CONSTANT(PARAM_DAMPING);
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BIND_CONSTANT(PARAM_IMPULSE_CLAMP);
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}
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void PinJoint::set_param(Param p_param, float p_value) {
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ERR_FAIL_INDEX(p_param, 3);
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params[p_param] = p_value;
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if (get_joint().is_valid())
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PhysicsServer::get_singleton()->pin_joint_set_param(get_joint(), PhysicsServer::PinJointParam(p_param), p_value);
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}
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float PinJoint::get_param(Param p_param) const {
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ERR_FAIL_INDEX_V(p_param, 3, 0);
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return params[p_param];
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}
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RID PinJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) {
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Vector3 pinpos = get_global_transform().origin;
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Vector3 local_a = body_a->get_global_transform().affine_inverse().xform(pinpos);
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Vector3 local_b;
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if (body_b)
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local_b = body_b->get_global_transform().affine_inverse().xform(pinpos);
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else
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local_b = pinpos;
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RID j = PhysicsServer::get_singleton()->joint_create_pin(body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b);
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for (int i = 0; i < 3; i++) {
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PhysicsServer::get_singleton()->pin_joint_set_param(j, PhysicsServer::PinJointParam(i), params[i]);
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}
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return j;
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}
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PinJoint::PinJoint() {
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params[PARAM_BIAS] = 0.3;
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params[PARAM_DAMPING] = 1;
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params[PARAM_IMPULSE_CLAMP] = 0;
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}
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/////////////////////////////////////////////////
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///////////////////////////////////
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void HingeJoint::_set_upper_limit(float p_limit) {
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set_param(PARAM_LIMIT_UPPER, Math::deg2rad(p_limit));
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}
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float HingeJoint::_get_upper_limit() const {
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return Math::rad2deg(get_param(PARAM_LIMIT_UPPER));
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}
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void HingeJoint::_set_lower_limit(float p_limit) {
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set_param(PARAM_LIMIT_LOWER, Math::deg2rad(p_limit));
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}
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float HingeJoint::_get_lower_limit() const {
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return Math::rad2deg(get_param(PARAM_LIMIT_LOWER));
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}
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void HingeJoint::_bind_methods() {
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ObjectTypeDB::bind_method(_MD("set_param", "param", "value"), &HingeJoint::set_param);
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ObjectTypeDB::bind_method(_MD("get_param", "param"), &HingeJoint::get_param);
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ObjectTypeDB::bind_method(_MD("set_flag", "flag", "enabled"), &HingeJoint::set_flag);
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ObjectTypeDB::bind_method(_MD("get_flag", "flag"), &HingeJoint::get_flag);
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ObjectTypeDB::bind_method(_MD("_set_upper_limit", "upper_limit"), &HingeJoint::_set_upper_limit);
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ObjectTypeDB::bind_method(_MD("_get_upper_limit"), &HingeJoint::_get_upper_limit);
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ObjectTypeDB::bind_method(_MD("_set_lower_limit", "lower_limit"), &HingeJoint::_set_lower_limit);
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ObjectTypeDB::bind_method(_MD("_get_lower_limit"), &HingeJoint::_get_lower_limit);
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ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), _SCS("set_param"), _SCS("get_param"), PARAM_BIAS);
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit/enable"), _SCS("set_flag"), _SCS("get_flag"), FLAG_USE_LIMIT);
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1"), _SCS("_set_upper_limit"), _SCS("_get_upper_limit"));
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1"), _SCS("_set_lower_limit"), _SCS("_get_lower_limit"));
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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);
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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);
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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);
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "motor/enable"), _SCS("set_flag"), _SCS("get_flag"), FLAG_ENABLE_MOTOR);
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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);
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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);
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BIND_CONSTANT(PARAM_BIAS);
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BIND_CONSTANT(PARAM_LIMIT_UPPER);
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BIND_CONSTANT(PARAM_LIMIT_LOWER);
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BIND_CONSTANT(PARAM_LIMIT_BIAS);
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BIND_CONSTANT(PARAM_LIMIT_SOFTNESS);
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BIND_CONSTANT(PARAM_LIMIT_RELAXATION);
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BIND_CONSTANT(PARAM_MOTOR_TARGET_VELOCITY);
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BIND_CONSTANT(PARAM_MOTOR_MAX_IMPULSE);
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BIND_CONSTANT(PARAM_MAX);
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BIND_CONSTANT(FLAG_USE_LIMIT);
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BIND_CONSTANT(FLAG_ENABLE_MOTOR);
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BIND_CONSTANT(FLAG_MAX);
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}
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void HingeJoint::set_param(Param p_param, float p_value) {
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ERR_FAIL_INDEX(p_param, PARAM_MAX);
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params[p_param] = p_value;
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if (get_joint().is_valid())
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PhysicsServer::get_singleton()->hinge_joint_set_param(get_joint(), PhysicsServer::HingeJointParam(p_param), p_value);
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update_gizmo();
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}
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float HingeJoint::get_param(Param p_param) const {
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ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0);
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return params[p_param];
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}
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void HingeJoint::set_flag(Flag p_flag, bool p_value) {
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ERR_FAIL_INDEX(p_flag, FLAG_MAX);
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flags[p_flag] = p_value;
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if (get_joint().is_valid())
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PhysicsServer::get_singleton()->hinge_joint_set_flag(get_joint(), PhysicsServer::HingeJointFlag(p_flag), p_value);
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update_gizmo();
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}
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bool HingeJoint::get_flag(Flag p_flag) const {
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ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false);
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return flags[p_flag];
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}
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RID HingeJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) {
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Transform gt = get_global_transform();
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Transform ainv = body_a->get_global_transform().affine_inverse();
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Transform local_a = ainv * gt;
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local_a.orthonormalize();
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Transform local_b = gt;
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if (body_b) {
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Transform binv = body_b->get_global_transform().affine_inverse();
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local_b = binv * gt;
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}
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local_b.orthonormalize();
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RID j = PhysicsServer::get_singleton()->joint_create_hinge(body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b);
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for (int i = 0; i < PARAM_MAX; i++) {
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PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HingeJointParam(i), params[i]);
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}
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for (int i = 0; i < FLAG_MAX; i++) {
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set_flag(Flag(i), flags[i]);
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PhysicsServer::get_singleton()->hinge_joint_set_flag(j, PhysicsServer::HingeJointFlag(i), flags[i]);
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}
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return j;
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}
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HingeJoint::HingeJoint() {
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params[PARAM_BIAS] = 0.3;
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params[PARAM_LIMIT_UPPER] = Math_PI * 0.5;
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params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5;
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params[PARAM_LIMIT_BIAS] = 0.3;
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params[PARAM_LIMIT_SOFTNESS] = 0.9;
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params[PARAM_LIMIT_RELAXATION] = 1.0;
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params[PARAM_MOTOR_TARGET_VELOCITY] = 1;
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params[PARAM_MOTOR_MAX_IMPULSE] = 1;
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flags[FLAG_USE_LIMIT] = false;
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flags[FLAG_ENABLE_MOTOR] = false;
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}
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/////////////////////////////////////////////////
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//////////////////////////////////
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void SliderJoint::_set_upper_limit_angular(float p_limit_angular) {
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set_param(PARAM_ANGULAR_LIMIT_UPPER, Math::deg2rad(p_limit_angular));
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}
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float SliderJoint::_get_upper_limit_angular() const {
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return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_UPPER));
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}
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void SliderJoint::_set_lower_limit_angular(float p_limit_angular) {
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set_param(PARAM_ANGULAR_LIMIT_LOWER, Math::deg2rad(p_limit_angular));
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}
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float SliderJoint::_get_lower_limit_angular() const {
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return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_LOWER));
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}
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void SliderJoint::_bind_methods() {
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ObjectTypeDB::bind_method(_MD("set_param", "param", "value"), &SliderJoint::set_param);
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ObjectTypeDB::bind_method(_MD("get_param", "param"), &SliderJoint::get_param);
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ObjectTypeDB::bind_method(_MD("_set_upper_limit_angular", "upper_limit_angular"), &SliderJoint::_set_upper_limit_angular);
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ObjectTypeDB::bind_method(_MD("_get_upper_limit_angular"), &SliderJoint::_get_upper_limit_angular);
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ObjectTypeDB::bind_method(_MD("_set_lower_limit_angular", "lower_limit_angular"), &SliderJoint::_set_lower_limit_angular);
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ObjectTypeDB::bind_method(_MD("_get_lower_limit_angular"), &SliderJoint::_get_lower_limit_angular);
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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);
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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);
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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);
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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);
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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);
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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);
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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);
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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);
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|
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() {
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_param", "param", "value"), &ConeTwistJoint::set_param);
|
|
ObjectTypeDB::bind_method(_MD("get_param", "param"), &ConeTwistJoint::get_param);
|
|
|
|
ObjectTypeDB::bind_method(_MD("_set_swing_span", "swing_span"), &ConeTwistJoint::_set_swing_span);
|
|
ObjectTypeDB::bind_method(_MD("_get_swing_span"), &ConeTwistJoint::_get_swing_span);
|
|
|
|
ObjectTypeDB::bind_method(_MD("_set_twist_span", "twist_span"), &ConeTwistJoint::_set_twist_span);
|
|
ObjectTypeDB::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() {
|
|
|
|
ObjectTypeDB::bind_method(_MD("_set_angular_hi_limit_x", "angle"), &Generic6DOFJoint::_set_angular_hi_limit_x);
|
|
ObjectTypeDB::bind_method(_MD("_get_angular_hi_limit_x"), &Generic6DOFJoint::_get_angular_hi_limit_x);
|
|
|
|
ObjectTypeDB::bind_method(_MD("_set_angular_lo_limit_x", "angle"), &Generic6DOFJoint::_set_angular_lo_limit_x);
|
|
ObjectTypeDB::bind_method(_MD("_get_angular_lo_limit_x"), &Generic6DOFJoint::_get_angular_lo_limit_x);
|
|
|
|
ObjectTypeDB::bind_method(_MD("_set_angular_hi_limit_y", "angle"), &Generic6DOFJoint::_set_angular_hi_limit_y);
|
|
ObjectTypeDB::bind_method(_MD("_get_angular_hi_limit_y"), &Generic6DOFJoint::_get_angular_hi_limit_y);
|
|
|
|
ObjectTypeDB::bind_method(_MD("_set_angular_lo_limit_y", "angle"), &Generic6DOFJoint::_set_angular_lo_limit_y);
|
|
ObjectTypeDB::bind_method(_MD("_get_angular_lo_limit_y"), &Generic6DOFJoint::_get_angular_lo_limit_y);
|
|
|
|
ObjectTypeDB::bind_method(_MD("_set_angular_hi_limit_z", "angle"), &Generic6DOFJoint::_set_angular_hi_limit_z);
|
|
ObjectTypeDB::bind_method(_MD("_get_angular_hi_limit_z"), &Generic6DOFJoint::_get_angular_hi_limit_z);
|
|
|
|
ObjectTypeDB::bind_method(_MD("_set_angular_lo_limit_z", "angle"), &Generic6DOFJoint::_set_angular_lo_limit_z);
|
|
ObjectTypeDB::bind_method(_MD("_get_angular_lo_limit_z"), &Generic6DOFJoint::_get_angular_lo_limit_z);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_param_x", "param", "value"), &Generic6DOFJoint::set_param_x);
|
|
ObjectTypeDB::bind_method(_MD("get_param_x", "param"), &Generic6DOFJoint::get_param_x);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_param_y", "param", "value"), &Generic6DOFJoint::set_param_y);
|
|
ObjectTypeDB::bind_method(_MD("get_param_y", "param"), &Generic6DOFJoint::get_param_y);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_param_z", "param", "value"), &Generic6DOFJoint::set_param_z);
|
|
ObjectTypeDB::bind_method(_MD("get_param_z", "param"), &Generic6DOFJoint::get_param_z);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_flag_x", "flag", "value"), &Generic6DOFJoint::set_flag_x);
|
|
ObjectTypeDB::bind_method(_MD("get_flag_x", "flag"), &Generic6DOFJoint::get_flag_x);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_flag_y", "flag", "value"), &Generic6DOFJoint::set_flag_y);
|
|
ObjectTypeDB::bind_method(_MD("get_flag_y", "flag"), &Generic6DOFJoint::get_flag_y);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_flag_z", "flag", "value"), &Generic6DOFJoint::set_flag_z);
|
|
ObjectTypeDB::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() {
|
|
|
|
ObjectTypeDB::bind_method(_MD("_get_visual_instance_rid"),&PhysicsJoint::_get_visual_instance_rid);
|
|
ObjectTypeDB::bind_method(_MD("set_body_A","path"),&PhysicsJoint::set_body_A);
|
|
ObjectTypeDB::bind_method(_MD("set_body_B"),&PhysicsJoint::set_body_B);
|
|
ObjectTypeDB::bind_method(_MD("get_body_A","path"),&PhysicsJoint::get_body_A);
|
|
ObjectTypeDB::bind_method(_MD("get_body_B"),&PhysicsJoint::get_body_B);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_active","active"),&PhysicsJoint::set_active);
|
|
ObjectTypeDB::bind_method(_MD("is_active"),&PhysicsJoint::is_active);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_disable_collision","disable"),&PhysicsJoint::set_disable_collision);
|
|
ObjectTypeDB::bind_method(_MD("has_disable_collision"),&PhysicsJoint::has_disable_collision);
|
|
|
|
|
|
ObjectTypeDB::bind_method("reconnect",&PhysicsJoint::reconnect);
|
|
|
|
ObjectTypeDB::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
|