340 lines
12 KiB
C++
340 lines
12 KiB
C++
/*************************************************************************/
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/* physics_joint.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 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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#ifndef PHYSICS_JOINT_H
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#define PHYSICS_JOINT_H
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#include "scene/3d/physics_body.h"
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#include "scene/3d/spatial.h"
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class Joint : public Spatial {
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GDCLASS(Joint, Spatial);
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RID ba, bb;
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RID joint;
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NodePath a;
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NodePath b;
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int solver_priority;
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bool exclude_from_collision;
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String warning;
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protected:
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void _update_joint(bool p_only_free = false);
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void _notification(int p_what);
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) = 0;
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static void _bind_methods();
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public:
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virtual String get_configuration_warning() const;
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void set_node_a(const NodePath &p_node_a);
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NodePath get_node_a() const;
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void set_node_b(const NodePath &p_node_b);
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NodePath get_node_b() const;
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void set_solver_priority(int p_priority);
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int get_solver_priority() const;
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void set_exclude_nodes_from_collision(bool p_enable);
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bool get_exclude_nodes_from_collision() const;
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RID get_joint() const { return joint; }
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Joint();
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};
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///////////////////////////////////////////
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class PinJoint : public Joint {
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GDCLASS(PinJoint, Joint);
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public:
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enum Param {
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PARAM_BIAS = PhysicsServer::PIN_JOINT_BIAS,
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PARAM_DAMPING = PhysicsServer::PIN_JOINT_DAMPING,
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PARAM_IMPULSE_CLAMP = PhysicsServer::PIN_JOINT_IMPULSE_CLAMP
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};
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protected:
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float params[3];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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public:
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void set_param(Param p_param, float p_value);
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float get_param(Param p_param) const;
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PinJoint();
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};
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VARIANT_ENUM_CAST(PinJoint::Param);
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class HingeJoint : public Joint {
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GDCLASS(HingeJoint, Joint);
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public:
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enum Param {
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PARAM_BIAS = PhysicsServer::HINGE_JOINT_BIAS,
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PARAM_LIMIT_UPPER = PhysicsServer::HINGE_JOINT_LIMIT_UPPER,
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PARAM_LIMIT_LOWER = PhysicsServer::HINGE_JOINT_LIMIT_LOWER,
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PARAM_LIMIT_BIAS = PhysicsServer::HINGE_JOINT_LIMIT_BIAS,
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PARAM_LIMIT_SOFTNESS = PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS,
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PARAM_LIMIT_RELAXATION = PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION,
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PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY,
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PARAM_MOTOR_MAX_IMPULSE = PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE,
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PARAM_MAX = PhysicsServer::HINGE_JOINT_MAX
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};
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enum Flag {
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FLAG_USE_LIMIT = PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT,
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FLAG_ENABLE_MOTOR = PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR,
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FLAG_MAX = PhysicsServer::HINGE_JOINT_FLAG_MAX
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};
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protected:
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float params[PARAM_MAX];
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bool flags[FLAG_MAX];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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void _set_upper_limit(float p_limit);
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float _get_upper_limit() const;
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void _set_lower_limit(float p_limit);
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float _get_lower_limit() const;
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public:
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void set_param(Param p_param, float p_value);
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float get_param(Param p_param) const;
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void set_flag(Flag p_flag, bool p_value);
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bool get_flag(Flag p_flag) const;
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HingeJoint();
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};
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VARIANT_ENUM_CAST(HingeJoint::Param);
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VARIANT_ENUM_CAST(HingeJoint::Flag);
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class SliderJoint : public Joint {
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GDCLASS(SliderJoint, Joint);
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public:
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enum Param {
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PARAM_LINEAR_LIMIT_UPPER = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER,
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PARAM_LINEAR_LIMIT_LOWER = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER,
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PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS,
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PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION,
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PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING,
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PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS,
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PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION,
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PARAM_LINEAR_MOTION_DAMPING = PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING,
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PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS,
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PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION,
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PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING,
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PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER,
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PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER,
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PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS,
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PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION,
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PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING,
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PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS,
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PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION,
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PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING,
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PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS,
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PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION,
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PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING,
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PARAM_MAX = PhysicsServer::SLIDER_JOINT_MAX
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};
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protected:
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void _set_upper_limit_angular(float p_limit_angular);
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float _get_upper_limit_angular() const;
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void _set_lower_limit_angular(float p_limit_angular);
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float _get_lower_limit_angular() const;
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float params[PARAM_MAX];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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public:
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void set_param(Param p_param, float p_value);
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float get_param(Param p_param) const;
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SliderJoint();
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};
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VARIANT_ENUM_CAST(SliderJoint::Param);
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class ConeTwistJoint : public Joint {
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GDCLASS(ConeTwistJoint, Joint);
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public:
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enum Param {
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PARAM_SWING_SPAN,
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PARAM_TWIST_SPAN,
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PARAM_BIAS,
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PARAM_SOFTNESS,
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PARAM_RELAXATION,
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PARAM_MAX
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};
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protected:
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void _set_swing_span(float p_limit_angular);
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float _get_swing_span() const;
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void _set_twist_span(float p_limit_angular);
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float _get_twist_span() const;
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float params[PARAM_MAX];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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public:
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void set_param(Param p_param, float p_value);
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float get_param(Param p_param) const;
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ConeTwistJoint();
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};
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VARIANT_ENUM_CAST(ConeTwistJoint::Param);
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class Generic6DOFJoint : public Joint {
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GDCLASS(Generic6DOFJoint, Joint);
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public:
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enum Param {
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PARAM_LINEAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT,
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PARAM_LINEAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT,
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PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
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PARAM_LINEAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION,
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PARAM_LINEAR_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING,
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PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
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PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
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PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS,
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PARAM_LINEAR_SPRING_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING,
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PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT,
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PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
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PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
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PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
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PARAM_ANGULAR_DAMPING = PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING,
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PARAM_ANGULAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION,
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PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT,
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PARAM_ANGULAR_ERP = PhysicsServer::G6DOF_JOINT_ANGULAR_ERP,
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PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
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PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
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PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
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PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
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PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
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PARAM_MAX = PhysicsServer::G6DOF_JOINT_MAX,
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};
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enum Flag {
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FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
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FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
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FLAG_ENABLE_LINEAR_SPRING = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING,
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FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING,
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FLAG_ENABLE_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
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FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
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FLAG_MAX = PhysicsServer::G6DOF_JOINT_FLAG_MAX
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};
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protected:
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void _set_angular_hi_limit_x(float p_limit_angular);
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float _get_angular_hi_limit_x() const;
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void _set_angular_hi_limit_y(float p_limit_angular);
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float _get_angular_hi_limit_y() const;
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void _set_angular_hi_limit_z(float p_limit_angular);
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float _get_angular_hi_limit_z() const;
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void _set_angular_lo_limit_x(float p_limit_angular);
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float _get_angular_lo_limit_x() const;
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void _set_angular_lo_limit_y(float p_limit_angular);
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float _get_angular_lo_limit_y() const;
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void _set_angular_lo_limit_z(float p_limit_angular);
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float _get_angular_lo_limit_z() const;
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float params_x[PARAM_MAX];
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bool flags_x[FLAG_MAX];
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float params_y[PARAM_MAX];
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bool flags_y[FLAG_MAX];
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float params_z[PARAM_MAX];
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bool flags_z[FLAG_MAX];
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virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
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static void _bind_methods();
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public:
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void set_param_x(Param p_param, float p_value);
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float get_param_x(Param p_param) const;
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void set_param_y(Param p_param, float p_value);
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float get_param_y(Param p_param) const;
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void set_param_z(Param p_param, float p_value);
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float get_param_z(Param p_param) const;
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void set_flag_x(Flag p_flag, bool p_enabled);
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bool get_flag_x(Flag p_flag) const;
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void set_flag_y(Flag p_flag, bool p_enabled);
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bool get_flag_y(Flag p_flag) const;
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void set_flag_z(Flag p_flag, bool p_enabled);
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bool get_flag_z(Flag p_flag) const;
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Generic6DOFJoint();
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};
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VARIANT_ENUM_CAST(Generic6DOFJoint::Param);
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VARIANT_ENUM_CAST(Generic6DOFJoint::Flag);
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#endif // PHYSICS_JOINT_H
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