312 lines
10 KiB
C++
312 lines
10 KiB
C++
/**************************************************************************/
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/* physical_bone_3d.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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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 PHYSICAL_BONE_3D_H
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#define PHYSICAL_BONE_3D_H
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#include "scene/3d/physical_bone_simulator_3d.h"
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#include "scene/3d/physics/physics_body_3d.h"
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class PhysicalBoneSimulator3D;
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class PhysicalBone3D : public PhysicsBody3D {
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GDCLASS(PhysicalBone3D, PhysicsBody3D);
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public:
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enum DampMode {
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DAMP_MODE_COMBINE,
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DAMP_MODE_REPLACE,
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};
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enum JointType {
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JOINT_TYPE_NONE,
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JOINT_TYPE_PIN,
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JOINT_TYPE_CONE,
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JOINT_TYPE_HINGE,
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JOINT_TYPE_SLIDER,
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JOINT_TYPE_6DOF
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};
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struct JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
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/// "j" is used to set the parameter inside the PhysicsServer3D
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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virtual ~JointData() {}
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};
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struct PinJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t bias = 0.3;
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real_t damping = 1.0;
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real_t impulse_clamp = 0.0;
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};
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struct ConeJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t swing_span = Math_PI * 0.25;
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real_t twist_span = Math_PI;
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real_t bias = 0.3;
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real_t softness = 0.8;
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real_t relaxation = 1.;
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};
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struct HingeJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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bool angular_limit_enabled = false;
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real_t angular_limit_upper = Math_PI * 0.5;
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real_t angular_limit_lower = -Math_PI * 0.5;
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real_t angular_limit_bias = 0.3;
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real_t angular_limit_softness = 0.9;
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real_t angular_limit_relaxation = 1.;
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};
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struct SliderJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t linear_limit_upper = 1.0;
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real_t linear_limit_lower = -1.0;
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real_t linear_limit_softness = 1.0;
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real_t linear_limit_restitution = 0.7;
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real_t linear_limit_damping = 1.0;
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real_t angular_limit_upper = 0.0;
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real_t angular_limit_lower = 0.0;
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real_t angular_limit_softness = 1.0;
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real_t angular_limit_restitution = 0.7;
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real_t angular_limit_damping = 1.0;
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};
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struct SixDOFJointData : public JointData {
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struct SixDOFAxisData {
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bool linear_limit_enabled = true;
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real_t linear_limit_upper = 0.0;
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real_t linear_limit_lower = 0.0;
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real_t linear_limit_softness = 0.7;
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real_t linear_restitution = 0.5;
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real_t linear_damping = 1.0;
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bool linear_spring_enabled = false;
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real_t linear_spring_stiffness = 0.0;
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real_t linear_spring_damping = 0.0;
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real_t linear_equilibrium_point = 0.0;
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bool angular_limit_enabled = true;
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real_t angular_limit_upper = 0.0;
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real_t angular_limit_lower = 0.0;
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real_t angular_limit_softness = 0.5;
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real_t angular_restitution = 0.0;
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real_t angular_damping = 1.0;
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real_t erp = 0.5;
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bool angular_spring_enabled = false;
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real_t angular_spring_stiffness = 0.0;
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real_t angular_spring_damping = 0.0;
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real_t angular_equilibrium_point = 0.0;
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};
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virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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SixDOFAxisData axis_data[3];
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SixDOFJointData() {}
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};
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private:
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#ifdef TOOLS_ENABLED
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// if false gizmo move body
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bool gizmo_move_joint = false;
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#endif
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JointData *joint_data = nullptr;
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Transform3D joint_offset;
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RID joint;
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ObjectID simulator_id;
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Transform3D body_offset;
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Transform3D body_offset_inverse;
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bool simulate_physics = false;
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bool _internal_simulate_physics = false;
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int bone_id = -1;
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String bone_name;
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real_t bounce = 0.0;
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real_t mass = 1.0;
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real_t friction = 1.0;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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real_t gravity_scale = 1.0;
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bool can_sleep = true;
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bool custom_integrator = false;
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DampMode linear_damp_mode = DAMP_MODE_COMBINE;
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DampMode angular_damp_mode = DAMP_MODE_COMBINE;
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real_t linear_damp = 0.0;
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real_t angular_damp = 0.0;
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protected:
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bool _set(const StringName &p_name, const Variant &p_value);
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bool _get(const StringName &p_name, Variant &r_ret) const;
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void _get_property_list(List<PropertyInfo> *p_list) const;
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void _notification(int p_what);
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GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
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static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
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void _body_state_changed(PhysicsDirectBodyState3D *p_state);
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static void _bind_methods();
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private:
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void _sync_body_state(PhysicsDirectBodyState3D *p_state);
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void _update_joint_offset();
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void _fix_joint_offset();
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void _reload_joint();
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void _update_simulator_path();
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public:
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void _on_bone_parent_changed();
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PhysicalBoneSimulator3D *get_simulator() const;
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Skeleton3D *get_skeleton() const;
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void set_linear_velocity(const Vector3 &p_velocity);
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Vector3 get_linear_velocity() const override;
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void set_angular_velocity(const Vector3 &p_velocity);
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Vector3 get_angular_velocity() const override;
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void set_use_custom_integrator(bool p_enable);
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bool is_using_custom_integrator();
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#ifdef TOOLS_ENABLED
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void _set_gizmo_move_joint(bool p_move_joint);
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virtual Transform3D get_global_gizmo_transform() const override;
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virtual Transform3D get_local_gizmo_transform() const override;
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#endif
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const JointData *get_joint_data() const;
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int get_bone_id() const {
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return bone_id;
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}
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void set_joint_type(JointType p_joint_type);
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JointType get_joint_type() const;
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void set_joint_offset(const Transform3D &p_offset);
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const Transform3D &get_joint_offset() const;
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void set_joint_rotation(const Vector3 &p_euler_rad);
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Vector3 get_joint_rotation() const;
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void set_body_offset(const Transform3D &p_offset);
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const Transform3D &get_body_offset() const;
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void set_simulate_physics(bool p_simulate);
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bool get_simulate_physics();
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bool is_simulating_physics();
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void set_bone_name(const String &p_name);
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const String &get_bone_name() const;
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void set_mass(real_t p_mass);
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real_t get_mass() const;
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void set_friction(real_t p_friction);
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real_t get_friction() const;
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void set_bounce(real_t p_bounce);
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real_t get_bounce() const;
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void set_gravity_scale(real_t p_gravity_scale);
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real_t get_gravity_scale() const;
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void set_linear_damp_mode(DampMode p_mode);
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DampMode get_linear_damp_mode() const;
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void set_angular_damp_mode(DampMode p_mode);
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DampMode get_angular_damp_mode() const;
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void set_linear_damp(real_t p_linear_damp);
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real_t get_linear_damp() const;
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void set_angular_damp(real_t p_angular_damp);
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real_t get_angular_damp() const;
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void set_can_sleep(bool p_active);
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bool is_able_to_sleep() const;
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
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void reset_physics_simulation_state();
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void reset_to_rest_position();
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PhysicalBone3D();
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~PhysicalBone3D();
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private:
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void update_bone_id();
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void update_offset();
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void _start_physics_simulation();
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void _stop_physics_simulation();
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};
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VARIANT_ENUM_CAST(PhysicalBone3D::JointType);
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VARIANT_ENUM_CAST(PhysicalBone3D::DampMode);
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#endif // PHYSICAL_BONE_3D_H
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