diff options
Diffstat (limited to 'scene/3d/physics/joints/hinge_joint_3d.cpp')
| -rw-r--r-- | scene/3d/physics/joints/hinge_joint_3d.cpp | 135 |
1 files changed, 135 insertions, 0 deletions
diff --git a/scene/3d/physics/joints/hinge_joint_3d.cpp b/scene/3d/physics/joints/hinge_joint_3d.cpp new file mode 100644 index 0000000000..92472a45e4 --- /dev/null +++ b/scene/3d/physics/joints/hinge_joint_3d.cpp @@ -0,0 +1,135 @@ +/**************************************************************************/ +/* hinge_joint_3d.cpp */ +/**************************************************************************/ +/* 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. */ +/**************************************************************************/ + +#include "hinge_joint_3d.h" + +void HingeJoint3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &HingeJoint3D::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &HingeJoint3D::get_param); + + ClassDB::bind_method(D_METHOD("set_flag", "flag", "enabled"), &HingeJoint3D::set_flag); + ClassDB::bind_method(D_METHOD("get_flag", "flag"), &HingeJoint3D::get_flag); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.00,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit/enable"), "set_flag", "get_flag", FLAG_USE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_LIMIT_UPPER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_LIMIT_LOWER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_LIMIT_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_RELAXATION); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "motor/enable"), "set_flag", "get_flag", FLAG_ENABLE_MOTOR); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/target_velocity", PROPERTY_HINT_RANGE, U"-200,200,0.01,or_greater,or_less,radians_as_degrees,suffix:\u00B0/s"), "set_param", "get_param", PARAM_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/max_impulse", PROPERTY_HINT_RANGE, "0.01,1024,0.01"), "set_param", "get_param", PARAM_MOTOR_MAX_IMPULSE); + + BIND_ENUM_CONSTANT(PARAM_BIAS); + BIND_ENUM_CONSTANT(PARAM_LIMIT_UPPER); + BIND_ENUM_CONSTANT(PARAM_LIMIT_LOWER); + BIND_ENUM_CONSTANT(PARAM_LIMIT_BIAS); + BIND_ENUM_CONSTANT(PARAM_LIMIT_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LIMIT_RELAXATION); + BIND_ENUM_CONSTANT(PARAM_MOTOR_TARGET_VELOCITY); + BIND_ENUM_CONSTANT(PARAM_MOTOR_MAX_IMPULSE); + BIND_ENUM_CONSTANT(PARAM_MAX); + + BIND_ENUM_CONSTANT(FLAG_USE_LIMIT); + BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); + BIND_ENUM_CONSTANT(FLAG_MAX); +} + +void HingeJoint3D::set_param(Param p_param, real_t p_value) { + ERR_FAIL_INDEX(p_param, PARAM_MAX); + params[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(get_rid(), PhysicsServer3D::HingeJointParam(p_param), p_value); + } + + update_gizmos(); +} + +real_t HingeJoint3D::get_param(Param p_param) const { + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params[p_param]; +} + +void HingeJoint3D::set_flag(Flag p_flag, bool p_value) { + ERR_FAIL_INDEX(p_flag, FLAG_MAX); + flags[p_flag] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(get_rid(), PhysicsServer3D::HingeJointFlag(p_flag), p_value); + } + + update_gizmos(); +} + +bool HingeJoint3D::get_flag(Flag p_flag) const { + ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); + return flags[p_flag]; +} + +void HingeJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Transform3D gt = get_global_transform(); + Transform3D ainv = body_a->get_global_transform().affine_inverse(); + + Transform3D local_a = ainv * gt; + local_a.orthonormalize(); + Transform3D local_b = gt; + + if (body_b) { + Transform3D binv = body_b->get_global_transform().affine_inverse(); + local_b = binv * gt; + } + + local_b.orthonormalize(); + + PhysicsServer3D::get_singleton()->joint_make_hinge(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); + for (int i = 0; i < PARAM_MAX; i++) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(p_joint, PhysicsServer3D::HingeJointParam(i), params[i]); + } + for (int i = 0; i < FLAG_MAX; i++) { + set_flag(Flag(i), flags[i]); + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(p_joint, PhysicsServer3D::HingeJointFlag(i), flags[i]); + } +} + +HingeJoint3D::HingeJoint3D() { + params[PARAM_BIAS] = 0.3; + params[PARAM_LIMIT_UPPER] = Math_PI * 0.5; + params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5; + params[PARAM_LIMIT_BIAS] = 0.3; + params[PARAM_LIMIT_SOFTNESS] = 0.9; + params[PARAM_LIMIT_RELAXATION] = 1.0; + params[PARAM_MOTOR_TARGET_VELOCITY] = 1; + params[PARAM_MOTOR_MAX_IMPULSE] = 1; + + flags[FLAG_USE_LIMIT] = false; + flags[FLAG_ENABLE_MOTOR] = false; +} |