143 lines
5.2 KiB
C++
143 lines
5.2 KiB
C++
/*************************************************************************/
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/* cone_twist_joint_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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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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/*
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Adapted to Godot from the Bullet library.
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*/
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/*
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Bullet Continuous Collision Detection and Physics Library
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ConeTwistJointSW is Copyright (c) 2007 Starbreeze Studios
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Written by: Marcus Hennix
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*/
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#ifndef CONE_TWIST_JOINT_SW_H
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#define CONE_TWIST_JOINT_SW_H
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#include "servers/physics/joints/jacobian_entry_sw.h"
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#include "servers/physics/joints_sw.h"
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///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc)
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class ConeTwistJointSW : public JointSW {
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#ifdef IN_PARALLELL_SOLVER
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public:
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#endif
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union {
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struct {
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BodySW *A;
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BodySW *B;
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};
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BodySW *_arr[2];
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};
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JacobianEntrySW m_jac[3]; //3 orthogonal linear constraints
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real_t m_appliedImpulse;
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Transform m_rbAFrame;
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Transform m_rbBFrame;
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real_t m_limitSoftness;
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real_t m_biasFactor;
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real_t m_relaxationFactor;
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real_t m_swingSpan1;
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real_t m_swingSpan2;
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real_t m_twistSpan;
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Vector3 m_swingAxis;
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Vector3 m_twistAxis;
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real_t m_kSwing;
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real_t m_kTwist;
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real_t m_twistLimitSign;
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real_t m_swingCorrection;
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real_t m_twistCorrection;
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real_t m_accSwingLimitImpulse;
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real_t m_accTwistLimitImpulse;
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bool m_angularOnly;
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bool m_solveTwistLimit;
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bool m_solveSwingLimit;
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public:
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virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }
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virtual bool setup(real_t p_timestep);
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virtual void solve(real_t p_timestep);
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ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rbAFrame, const Transform &rbBFrame);
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void setAngularOnly(bool angularOnly) {
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m_angularOnly = angularOnly;
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}
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void setLimit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f) {
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m_swingSpan1 = _swingSpan1;
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m_swingSpan2 = _swingSpan2;
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m_twistSpan = _twistSpan;
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m_limitSoftness = _softness;
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m_biasFactor = _biasFactor;
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m_relaxationFactor = _relaxationFactor;
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}
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inline int getSolveTwistLimit() {
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return m_solveTwistLimit;
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}
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inline int getSolveSwingLimit() {
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return m_solveTwistLimit;
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}
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inline real_t getTwistLimitSign() {
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return m_twistLimitSign;
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}
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void set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value);
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real_t get_param(PhysicsServer::ConeTwistJointParam p_param) const;
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};
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#endif // CONE_TWIST_JOINT_SW_H
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