8cab401d08
-=-=-=-=-=-=-=-=-=-=-=-=-=-
3D Physics:
-Fixed "Bounce" parameter in 3D
-Fixed bug affecting Area (sometims it would not detect properly)
-Vehicle Body has seen heavy work
-Added Query API for doing space queries in 3D. Needs some docs though.
-Added JOINTS! Adapted Bullet Joints: and created easy gizmos for setting them up:
-PinJoint
-HingeJoint (with motor)
-SliderJoint
-ConeTwistJoint
-Generic6DOFJoint
-Added OBJECT PICKING! based on the new query API. Any physics object now (Area or Body) has the following signals and virtual functions:
-input_event (mouse or multitouch input over the body)
-mouse_enter (mouse entered the body area)
-mouse_exit (mouse exited body area)
For Area it needs to be activated manually, as it isn't by default (ray goes thru).
Other:
-Begun working on Windows 8 (RT) port. Compiles but does not work yet.
-Added TheoraPlayer library for improved to-texture and portable video support.
-Fixed a few bugs in the renderer, collada importer, collada exporter, etc.
167 lines
4.4 KiB
C++
167 lines
4.4 KiB
C++
/*************************************************************************/
|
|
/* joints_sw.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* 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 JOINTS_SW_H
|
|
#define JOINTS_SW_H
|
|
|
|
#include "constraint_sw.h"
|
|
#include "body_sw.h"
|
|
|
|
|
|
|
|
class JointSW : public ConstraintSW {
|
|
|
|
|
|
public:
|
|
|
|
virtual PhysicsServer::JointType get_type() const=0;
|
|
_FORCE_INLINE_ JointSW(BodySW **p_body_ptr=NULL,int p_body_count=0) : ConstraintSW(p_body_ptr,p_body_count) {
|
|
}
|
|
|
|
};
|
|
|
|
#if 0
|
|
class PinJointSW : public JointSW {
|
|
|
|
union {
|
|
struct {
|
|
BodySW *A;
|
|
BodySW *B;
|
|
};
|
|
|
|
BodySW *_arr[2];
|
|
};
|
|
|
|
Vector2 anchor_A;
|
|
Vector2 anchor_B;
|
|
real_t dist;
|
|
real_t jn_acc;
|
|
real_t jn_max;
|
|
real_t max_distance;
|
|
real_t mass_normal;
|
|
real_t bias;
|
|
|
|
Vector2 rA,rB;
|
|
Vector2 n; //normal
|
|
bool correct;
|
|
|
|
|
|
public:
|
|
|
|
virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_PIN; }
|
|
|
|
virtual bool setup(float p_step);
|
|
virtual void solve(float p_step);
|
|
|
|
|
|
PinJointSW(const Vector2& p_pos,BodySW* p_body_a,BodySW* p_body_b=NULL);
|
|
~PinJointSW();
|
|
};
|
|
|
|
|
|
class GrooveJointSW : public JointSW {
|
|
|
|
union {
|
|
struct {
|
|
BodySW *A;
|
|
BodySW *B;
|
|
};
|
|
|
|
BodySW *_arr[2];
|
|
};
|
|
|
|
Vector2 A_groove_1;
|
|
Vector2 A_groove_2;
|
|
Vector2 A_groove_normal;
|
|
Vector2 B_anchor;
|
|
Vector2 jn_acc;
|
|
Vector2 gbias;
|
|
real_t jn_max;
|
|
real_t clamp;
|
|
Vector2 xf_normal;
|
|
Vector2 rA,rB;
|
|
Vector2 k1,k2;
|
|
|
|
|
|
bool correct;
|
|
|
|
public:
|
|
|
|
virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_GROOVE; }
|
|
|
|
virtual bool setup(float p_step);
|
|
virtual void solve(float p_step);
|
|
|
|
|
|
GrooveJointSW(const Vector2& p_a_groove1,const Vector2& p_a_groove2, const Vector2& p_b_anchor, BodySW* p_body_a,BodySW* p_body_b);
|
|
~GrooveJointSW();
|
|
};
|
|
|
|
|
|
class DampedSpringJointSW : public JointSW {
|
|
|
|
union {
|
|
struct {
|
|
BodySW *A;
|
|
BodySW *B;
|
|
};
|
|
|
|
BodySW *_arr[2];
|
|
};
|
|
|
|
|
|
Vector2 anchor_A;
|
|
Vector2 anchor_B;
|
|
|
|
real_t rest_length;
|
|
real_t damping;
|
|
real_t stiffness;
|
|
|
|
Vector2 rA,rB;
|
|
Vector2 n;
|
|
real_t n_mass;
|
|
real_t target_vrn;
|
|
real_t v_coef;
|
|
|
|
public:
|
|
|
|
virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_DAMPED_SPRING; }
|
|
|
|
virtual bool setup(float p_step);
|
|
virtual void solve(float p_step);
|
|
|
|
void set_param(PhysicsServer::DampedStringParam p_param, real_t p_value);
|
|
real_t get_param(PhysicsServer::DampedStringParam p_param) const;
|
|
|
|
DampedSpringJointSW(const Vector2& p_anchor_a,const Vector2& p_anchor_b, BodySW* p_body_a,BodySW* p_body_b);
|
|
~DampedSpringJointSW();
|
|
};
|
|
#endif
|
|
|
|
#endif // JOINTS__SW_H
|