102 lines
4.1 KiB
C++
102 lines
4.1 KiB
C++
/**************************************************************************/
|
|
/* godot_joint_3d.h */
|
|
/**************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/**************************************************************************/
|
|
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/**************************************************************************/
|
|
|
|
#ifndef GODOT_JOINT_3D_H
|
|
#define GODOT_JOINT_3D_H
|
|
|
|
#include "godot_body_3d.h"
|
|
#include "godot_constraint_3d.h"
|
|
|
|
class GodotJoint3D : public GodotConstraint3D {
|
|
protected:
|
|
bool dynamic_A = false;
|
|
bool dynamic_B = false;
|
|
|
|
void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
|
|
if (Math::abs(n.z) > Math_SQRT12) {
|
|
// choose p in y-z plane
|
|
real_t a = n[1] * n[1] + n[2] * n[2];
|
|
real_t k = 1.0 / Math::sqrt(a);
|
|
p = Vector3(0, -n[2] * k, n[1] * k);
|
|
// set q = n x p
|
|
q = Vector3(a * k, -n[0] * p[2], n[0] * p[1]);
|
|
} else {
|
|
// choose p in x-y plane
|
|
real_t a = n.x * n.x + n.y * n.y;
|
|
real_t k = 1.0 / Math::sqrt(a);
|
|
p = Vector3(-n.y * k, n.x * k, 0);
|
|
// set q = n x p
|
|
q = Vector3(-n.z * p.y, n.z * p.x, a * k);
|
|
}
|
|
}
|
|
|
|
_FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
|
|
real_t coeff_1 = Math_PI / 4.0f;
|
|
real_t coeff_2 = 3.0f * coeff_1;
|
|
real_t abs_y = Math::abs(y);
|
|
real_t angle;
|
|
if (x >= 0.0f) {
|
|
real_t r = (x - abs_y) / (x + abs_y);
|
|
angle = coeff_1 - coeff_1 * r;
|
|
} else {
|
|
real_t r = (x + abs_y) / (abs_y - x);
|
|
angle = coeff_2 - coeff_1 * r;
|
|
}
|
|
return (y < 0.0f) ? -angle : angle;
|
|
}
|
|
|
|
public:
|
|
virtual bool setup(real_t p_step) override { return false; }
|
|
virtual bool pre_solve(real_t p_step) override { return true; }
|
|
virtual void solve(real_t p_step) override {}
|
|
|
|
void copy_settings_from(GodotJoint3D *p_joint) {
|
|
set_self(p_joint->get_self());
|
|
set_priority(p_joint->get_priority());
|
|
disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
|
|
}
|
|
|
|
virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; }
|
|
_FORCE_INLINE_ GodotJoint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
|
|
GodotConstraint3D(p_body_ptr, p_body_count) {
|
|
}
|
|
|
|
virtual ~GodotJoint3D() {
|
|
for (int i = 0; i < get_body_count(); i++) {
|
|
GodotBody3D *body = get_body_ptr()[i];
|
|
if (body) {
|
|
body->remove_constraint(this);
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
#endif // GODOT_JOINT_3D_H
|