49646383f1
Happy new year to the wonderful Godot community!
2020 has been a tough year for most of us personally, but a good year for
Godot development nonetheless with a huge amount of work done towards Godot
4.0 and great improvements backported to the long-lived 3.2 branch.
We've had close to 400 contributors to engine code this year, authoring near
7,000 commit! (And that's only for the `master` branch and for the engine code,
there's a lot more when counting docs, demos and other first-party repos.)
Here's to a great year 2021 for all Godot users 🎆
(cherry picked from commit b5334d14f7)
166 lines
5.1 KiB
C++
166 lines
5.1 KiB
C++
/*************************************************************************/
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/* joints_2d_sw.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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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 JOINTS_2D_SW_H
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#define JOINTS_2D_SW_H
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#include "body_2d_sw.h"
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#include "constraint_2d_sw.h"
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class Joint2DSW : public Constraint2DSW {
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real_t max_force;
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real_t bias;
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real_t max_bias;
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public:
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_FORCE_INLINE_ void set_max_force(real_t p_force) { max_force = p_force; }
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_FORCE_INLINE_ real_t get_max_force() const { return max_force; }
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_FORCE_INLINE_ void set_bias(real_t p_bias) { bias = p_bias; }
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_FORCE_INLINE_ real_t get_bias() const { return bias; }
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_FORCE_INLINE_ void set_max_bias(real_t p_bias) { max_bias = p_bias; }
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_FORCE_INLINE_ real_t get_max_bias() const { return max_bias; }
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virtual Physics2DServer::JointType get_type() const = 0;
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Joint2DSW(Body2DSW **p_body_ptr = NULL, int p_body_count = 0) :
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Constraint2DSW(p_body_ptr, p_body_count) {
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bias = 0;
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max_force = max_bias = 3.40282e+38;
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};
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};
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class PinJoint2DSW : public Joint2DSW {
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union {
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struct {
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Body2DSW *A;
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Body2DSW *B;
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};
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Body2DSW *_arr[2];
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};
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Transform2D M;
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Vector2 rA, rB;
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Vector2 anchor_A;
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Vector2 anchor_B;
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Vector2 bias;
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Vector2 P;
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real_t softness;
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public:
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virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_PIN; }
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virtual bool setup(real_t p_step);
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virtual void solve(real_t p_step);
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void set_param(Physics2DServer::PinJointParam p_param, real_t p_value);
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real_t get_param(Physics2DServer::PinJointParam p_param) const;
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PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b = NULL);
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~PinJoint2DSW();
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};
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class GrooveJoint2DSW : public Joint2DSW {
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union {
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struct {
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Body2DSW *A;
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Body2DSW *B;
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};
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Body2DSW *_arr[2];
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};
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Vector2 A_groove_1;
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Vector2 A_groove_2;
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Vector2 A_groove_normal;
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Vector2 B_anchor;
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Vector2 jn_acc;
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Vector2 gbias;
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real_t jn_max;
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real_t clamp;
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Vector2 xf_normal;
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Vector2 rA, rB;
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Vector2 k1, k2;
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bool correct;
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public:
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virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_GROOVE; }
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virtual bool setup(real_t p_step);
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virtual void solve(real_t p_step);
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GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b);
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~GrooveJoint2DSW();
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};
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class DampedSpringJoint2DSW : public Joint2DSW {
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union {
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struct {
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Body2DSW *A;
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Body2DSW *B;
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};
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Body2DSW *_arr[2];
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};
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Vector2 anchor_A;
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Vector2 anchor_B;
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real_t rest_length;
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real_t damping;
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real_t stiffness;
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Vector2 rA, rB;
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Vector2 n;
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real_t n_mass;
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real_t target_vrn;
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real_t v_coef;
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public:
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virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_DAMPED_SPRING; }
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virtual bool setup(real_t p_step);
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virtual void solve(real_t p_step);
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void set_param(Physics2DServer::DampedStringParam p_param, real_t p_value);
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real_t get_param(Physics2DServer::DampedStringParam p_param) const;
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DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b);
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~DampedSpringJoint2DSW();
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};
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#endif // JOINTS_2D_SW_H
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