diff options
Diffstat (limited to 'scene/3d/physics/physical_bone_3d.cpp')
| -rw-r--r-- | scene/3d/physics/physical_bone_3d.cpp | 1346 |
1 files changed, 1346 insertions, 0 deletions
diff --git a/scene/3d/physics/physical_bone_3d.cpp b/scene/3d/physics/physical_bone_3d.cpp new file mode 100644 index 0000000000..10c1fceb94 --- /dev/null +++ b/scene/3d/physics/physical_bone_3d.cpp @@ -0,0 +1,1346 @@ +/**************************************************************************/ +/* physical_bone_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 "physical_bone_3d.h" + +bool PhysicalBone3D::JointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + return false; +} + +bool PhysicalBone3D::JointData::_get(const StringName &p_name, Variant &r_ret) const { + return false; +} + +void PhysicalBone3D::JointData::_get_property_list(List<PropertyInfo> *p_list) const { +} + +void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) { + PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); +} + +void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { + PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position); +} + +void PhysicalBone3D::set_linear_velocity(const Vector3 &p_velocity) { + linear_velocity = p_velocity; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); +} + +Vector3 PhysicalBone3D::get_linear_velocity() const { + return linear_velocity; +} + +void PhysicalBone3D::set_angular_velocity(const Vector3 &p_velocity) { + angular_velocity = p_velocity; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); +} + +Vector3 PhysicalBone3D::get_angular_velocity() const { + return angular_velocity; +} + +void PhysicalBone3D::set_use_custom_integrator(bool p_enable) { + if (custom_integrator == p_enable) { + return; + } + + custom_integrator = p_enable; + PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); +} + +bool PhysicalBone3D::is_using_custom_integrator() { + return custom_integrator; +} + +void PhysicalBone3D::reset_physics_simulation_state() { + if (simulate_physics) { + _start_physics_simulation(); + } else { + _stop_physics_simulation(); + } +} + +void PhysicalBone3D::reset_to_rest_position() { + if (parent_skeleton) { + Transform3D new_transform = parent_skeleton->get_global_transform(); + if (bone_id == -1) { + new_transform *= body_offset; + } else { + new_transform *= parent_skeleton->get_bone_global_pose(bone_id) * body_offset; + } + new_transform.orthonormalize(); + set_global_transform(new_transform); + } +} + +bool PhysicalBone3D::PinJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + bool is_valid_pin = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_PIN; + if ("joint_constraints/bias" == p_name) { + bias = p_value; + if (is_valid_pin) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_BIAS, bias); + } + + } else if ("joint_constraints/damping" == p_name) { + damping = p_value; + if (is_valid_pin) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_DAMPING, damping); + } + + } else if ("joint_constraints/impulse_clamp" == p_name) { + impulse_clamp = p_value; + if (is_valid_pin) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, impulse_clamp); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::PinJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/bias" == p_name) { + r_ret = bias; + } else if ("joint_constraints/damping" == p_name) { + r_ret = damping; + } else if ("joint_constraints/impulse_clamp" == p_name) { + r_ret = impulse_clamp; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::PinJointData::_get_property_list(List<PropertyInfo> *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/bias"), PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/damping"), PROPERTY_HINT_RANGE, "0.01,8.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/impulse_clamp"), PROPERTY_HINT_RANGE, "0.0,64.0,0.01")); +} + +bool PhysicalBone3D::ConeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + bool is_valid_cone = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_CONE_TWIST; + if ("joint_constraints/swing_span" == p_name) { + swing_span = Math::deg_to_rad(real_t(p_value)); + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, swing_span); + } + + } else if ("joint_constraints/twist_span" == p_name) { + twist_span = Math::deg_to_rad(real_t(p_value)); + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, twist_span); + } + + } else if ("joint_constraints/bias" == p_name) { + bias = p_value; + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, bias); + } + + } else if ("joint_constraints/softness" == p_name) { + softness = p_value; + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, softness); + } + + } else if ("joint_constraints/relaxation" == p_name) { + relaxation = p_value; + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, relaxation); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::ConeJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/swing_span" == p_name) { + r_ret = Math::rad_to_deg(swing_span); + } else if ("joint_constraints/twist_span" == p_name) { + r_ret = Math::rad_to_deg(twist_span); + } else if ("joint_constraints/bias" == p_name) { + r_ret = bias; + } else if ("joint_constraints/softness" == p_name) { + r_ret = softness; + } else if ("joint_constraints/relaxation" == p_name) { + r_ret = relaxation; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::ConeJointData::_get_property_list(List<PropertyInfo> *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/swing_span"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/twist_span"), PROPERTY_HINT_RANGE, "-40000,40000,0.1,or_less,or_greater")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/bias"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/softness"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/relaxation"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); +} + +bool PhysicalBone3D::HingeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + bool is_valid_hinge = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_HINGE; + if ("joint_constraints/angular_limit_enabled" == p_name) { + angular_limit_enabled = p_value; + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(j, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, angular_limit_enabled); + } + + } else if ("joint_constraints/angular_limit_upper" == p_name) { + angular_limit_upper = Math::deg_to_rad(real_t(p_value)); + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, angular_limit_upper); + } + + } else if ("joint_constraints/angular_limit_lower" == p_name) { + angular_limit_lower = Math::deg_to_rad(real_t(p_value)); + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, angular_limit_lower); + } + + } else if ("joint_constraints/angular_limit_bias" == p_name) { + angular_limit_bias = p_value; + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, angular_limit_bias); + } + + } else if ("joint_constraints/angular_limit_softness" == p_name) { + angular_limit_softness = p_value; + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, angular_limit_softness); + } + + } else if ("joint_constraints/angular_limit_relaxation" == p_name) { + angular_limit_relaxation = p_value; + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, angular_limit_relaxation); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::HingeJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/angular_limit_enabled" == p_name) { + r_ret = angular_limit_enabled; + } else if ("joint_constraints/angular_limit_upper" == p_name) { + r_ret = Math::rad_to_deg(angular_limit_upper); + } else if ("joint_constraints/angular_limit_lower" == p_name) { + r_ret = Math::rad_to_deg(angular_limit_lower); + } else if ("joint_constraints/angular_limit_bias" == p_name) { + r_ret = angular_limit_bias; + } else if ("joint_constraints/angular_limit_softness" == p_name) { + r_ret = angular_limit_softness; + } else if ("joint_constraints/angular_limit_relaxation" == p_name) { + r_ret = angular_limit_relaxation; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::HingeJointData::_get_property_list(List<PropertyInfo> *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::BOOL, PNAME("joint_constraints/angular_limit_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_upper"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_lower"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_bias"), PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_relaxation"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); +} + +bool PhysicalBone3D::SliderJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + bool is_valid_slider = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_SLIDER; + if ("joint_constraints/linear_limit_upper" == p_name) { + linear_limit_upper = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, linear_limit_upper); + } + + } else if ("joint_constraints/linear_limit_lower" == p_name) { + linear_limit_lower = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, linear_limit_lower); + } + + } else if ("joint_constraints/linear_limit_softness" == p_name) { + linear_limit_softness = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, linear_limit_softness); + } + + } else if ("joint_constraints/linear_limit_restitution" == p_name) { + linear_limit_restitution = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, linear_limit_restitution); + } + + } else if ("joint_constraints/linear_limit_damping" == p_name) { + linear_limit_damping = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, linear_limit_restitution); + } + + } else if ("joint_constraints/angular_limit_upper" == p_name) { + angular_limit_upper = Math::deg_to_rad(real_t(p_value)); + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, angular_limit_upper); + } + + } else if ("joint_constraints/angular_limit_lower" == p_name) { + angular_limit_lower = Math::deg_to_rad(real_t(p_value)); + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, angular_limit_lower); + } + + } else if ("joint_constraints/angular_limit_softness" == p_name) { + angular_limit_softness = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); + } + + } else if ("joint_constraints/angular_limit_restitution" == p_name) { + angular_limit_restitution = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); + } + + } else if ("joint_constraints/angular_limit_damping" == p_name) { + angular_limit_damping = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, angular_limit_damping); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::SliderJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/linear_limit_upper" == p_name) { + r_ret = linear_limit_upper; + } else if ("joint_constraints/linear_limit_lower" == p_name) { + r_ret = linear_limit_lower; + } else if ("joint_constraints/linear_limit_softness" == p_name) { + r_ret = linear_limit_softness; + } else if ("joint_constraints/linear_limit_restitution" == p_name) { + r_ret = linear_limit_restitution; + } else if ("joint_constraints/linear_limit_damping" == p_name) { + r_ret = linear_limit_damping; + } else if ("joint_constraints/angular_limit_upper" == p_name) { + r_ret = Math::rad_to_deg(angular_limit_upper); + } else if ("joint_constraints/angular_limit_lower" == p_name) { + r_ret = Math::rad_to_deg(angular_limit_lower); + } else if ("joint_constraints/angular_limit_softness" == p_name) { + r_ret = angular_limit_softness; + } else if ("joint_constraints/angular_limit_restitution" == p_name) { + r_ret = angular_limit_restitution; + } else if ("joint_constraints/angular_limit_damping" == p_name) { + r_ret = angular_limit_damping; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::SliderJointData::_get_property_list(List<PropertyInfo> *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_upper"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_lower"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_restitution"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_damping"), PROPERTY_HINT_RANGE, "0,16.0,0.01")); + + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_upper"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_lower"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_restitution"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_damping"), PROPERTY_HINT_RANGE, "0,16.0,0.01")); +} + +bool PhysicalBone3D::SixDOFJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + String path = p_name; + + if (!path.begins_with("joint_constraints/")) { + return false; + } + + Vector3::Axis axis; + { + const String axis_s = path.get_slicec('/', 1); + if ("x" == axis_s) { + axis = Vector3::AXIS_X; + } else if ("y" == axis_s) { + axis = Vector3::AXIS_Y; + } else if ("z" == axis_s) { + axis = Vector3::AXIS_Z; + } else { + return false; + } + } + + String var_name = path.get_slicec('/', 2); + bool is_valid_6dof = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_6DOF; + if ("linear_limit_enabled" == var_name) { + axis_data[axis].linear_limit_enabled = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, axis_data[axis].linear_limit_enabled); + } + + } else if ("linear_limit_upper" == var_name) { + axis_data[axis].linear_limit_upper = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, axis_data[axis].linear_limit_upper); + } + + } else if ("linear_limit_lower" == var_name) { + axis_data[axis].linear_limit_lower = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, axis_data[axis].linear_limit_lower); + } + + } else if ("linear_limit_softness" == var_name) { + axis_data[axis].linear_limit_softness = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, axis_data[axis].linear_limit_softness); + } + + } else if ("linear_spring_enabled" == var_name) { + axis_data[axis].linear_spring_enabled = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, axis_data[axis].linear_spring_enabled); + } + + } else if ("linear_spring_stiffness" == var_name) { + axis_data[axis].linear_spring_stiffness = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, axis_data[axis].linear_spring_stiffness); + } + + } else if ("linear_spring_damping" == var_name) { + axis_data[axis].linear_spring_damping = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, axis_data[axis].linear_spring_damping); + } + + } else if ("linear_equilibrium_point" == var_name) { + axis_data[axis].linear_equilibrium_point = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].linear_equilibrium_point); + } + + } else if ("linear_restitution" == var_name) { + axis_data[axis].linear_restitution = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, axis_data[axis].linear_restitution); + } + + } else if ("linear_damping" == var_name) { + axis_data[axis].linear_damping = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, axis_data[axis].linear_damping); + } + + } else if ("angular_limit_enabled" == var_name) { + axis_data[axis].angular_limit_enabled = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, axis_data[axis].angular_limit_enabled); + } + + } else if ("angular_limit_upper" == var_name) { + axis_data[axis].angular_limit_upper = Math::deg_to_rad(real_t(p_value)); + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, axis_data[axis].angular_limit_upper); + } + + } else if ("angular_limit_lower" == var_name) { + axis_data[axis].angular_limit_lower = Math::deg_to_rad(real_t(p_value)); + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, axis_data[axis].angular_limit_lower); + } + + } else if ("angular_limit_softness" == var_name) { + axis_data[axis].angular_limit_softness = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, axis_data[axis].angular_limit_softness); + } + + } else if ("angular_restitution" == var_name) { + axis_data[axis].angular_restitution = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, axis_data[axis].angular_restitution); + } + + } else if ("angular_damping" == var_name) { + axis_data[axis].angular_damping = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, axis_data[axis].angular_damping); + } + + } else if ("erp" == var_name) { + axis_data[axis].erp = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, axis_data[axis].erp); + } + + } else if ("angular_spring_enabled" == var_name) { + axis_data[axis].angular_spring_enabled = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, axis_data[axis].angular_spring_enabled); + } + + } else if ("angular_spring_stiffness" == var_name) { + axis_data[axis].angular_spring_stiffness = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, axis_data[axis].angular_spring_stiffness); + } + + } else if ("angular_spring_damping" == var_name) { + axis_data[axis].angular_spring_damping = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, axis_data[axis].angular_spring_damping); + } + + } else if ("angular_equilibrium_point" == var_name) { + axis_data[axis].angular_equilibrium_point = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].angular_equilibrium_point); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::SixDOFJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + String path = p_name; + + if (!path.begins_with("joint_constraints/")) { + return false; + } + + int axis; + { + const String axis_s = path.get_slicec('/', 1); + if ("x" == axis_s) { + axis = 0; + } else if ("y" == axis_s) { + axis = 1; + } else if ("z" == axis_s) { + axis = 2; + } else { + return false; + } + } + + String var_name = path.get_slicec('/', 2); + + if ("linear_limit_enabled" == var_name) { + r_ret = axis_data[axis].linear_limit_enabled; + } else if ("linear_limit_upper" == var_name) { + r_ret = axis_data[axis].linear_limit_upper; + } else if ("linear_limit_lower" == var_name) { + r_ret = axis_data[axis].linear_limit_lower; + } else if ("linear_limit_softness" == var_name) { + r_ret = axis_data[axis].linear_limit_softness; + } else if ("linear_spring_enabled" == var_name) { + r_ret = axis_data[axis].linear_spring_enabled; + } else if ("linear_spring_stiffness" == var_name) { + r_ret = axis_data[axis].linear_spring_stiffness; + } else if ("linear_spring_damping" == var_name) { + r_ret = axis_data[axis].linear_spring_damping; + } else if ("linear_equilibrium_point" == var_name) { + r_ret = axis_data[axis].linear_equilibrium_point; + } else if ("linear_restitution" == var_name) { + r_ret = axis_data[axis].linear_restitution; + } else if ("linear_damping" == var_name) { + r_ret = axis_data[axis].linear_damping; + } else if ("angular_limit_enabled" == var_name) { + r_ret = axis_data[axis].angular_limit_enabled; + } else if ("angular_limit_upper" == var_name) { + r_ret = Math::rad_to_deg(axis_data[axis].angular_limit_upper); + } else if ("angular_limit_lower" == var_name) { + r_ret = Math::rad_to_deg(axis_data[axis].angular_limit_lower); + } else if ("angular_limit_softness" == var_name) { + r_ret = axis_data[axis].angular_limit_softness; + } else if ("angular_restitution" == var_name) { + r_ret = axis_data[axis].angular_restitution; + } else if ("angular_damping" == var_name) { + r_ret = axis_data[axis].angular_damping; + } else if ("erp" == var_name) { + r_ret = axis_data[axis].erp; + } else if ("angular_spring_enabled" == var_name) { + r_ret = axis_data[axis].angular_spring_enabled; + } else if ("angular_spring_stiffness" == var_name) { + r_ret = axis_data[axis].angular_spring_stiffness; + } else if ("angular_spring_damping" == var_name) { + r_ret = axis_data[axis].angular_spring_damping; + } else if ("angular_equilibrium_point" == var_name) { + r_ret = axis_data[axis].angular_equilibrium_point; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::SixDOFJointData::_get_property_list(List<PropertyInfo> *p_list) const { + const StringName axis_names[] = { PNAME("x"), PNAME("y"), PNAME("z") }; + for (int i = 0; i < 3; ++i) { + const String prefix = vformat("%s/%s/", PNAME("joint_constraints"), axis_names[i]); + p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("linear_limit_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_limit_upper"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_limit_lower"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("linear_spring_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_spring_stiffness"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_spring_damping"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_equilibrium_point"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_restitution"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_damping"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("angular_limit_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_limit_upper"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_limit_lower"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_restitution"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_damping"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("erp"))); + p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("angular_spring_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_spring_stiffness"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_spring_damping"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_equilibrium_point"))); + } +} + +bool PhysicalBone3D::_set(const StringName &p_name, const Variant &p_value) { + if (p_name == "bone_name") { + set_bone_name(p_value); + return true; + } + + if (joint_data) { + if (joint_data->_set(p_name, p_value, joint)) { +#ifdef TOOLS_ENABLED + update_gizmos(); +#endif + return true; + } + } + + return false; +} + +bool PhysicalBone3D::_get(const StringName &p_name, Variant &r_ret) const { + if (p_name == "bone_name") { + r_ret = get_bone_name(); + return true; + } + + if (joint_data) { + return joint_data->_get(p_name, r_ret); + } + + return false; +} + +void PhysicalBone3D::_get_property_list(List<PropertyInfo> *p_list) const { + Skeleton3D *parent = find_skeleton_parent(get_parent()); + + if (parent) { + String names; + for (int i = 0; i < parent->get_bone_count(); i++) { + if (i > 0) { + names += ","; + } + names += parent->get_bone_name(i); + } + + p_list->push_back(PropertyInfo(Variant::STRING_NAME, PNAME("bone_name"), PROPERTY_HINT_ENUM, names)); + } else { + p_list->push_back(PropertyInfo(Variant::STRING_NAME, PNAME("bone_name"))); + } + + if (joint_data) { + joint_data->_get_property_list(p_list); + } +} + +void PhysicalBone3D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: + parent_skeleton = find_skeleton_parent(get_parent()); + update_bone_id(); + reset_to_rest_position(); + reset_physics_simulation_state(); + if (joint_data) { + _reload_joint(); + } + break; + + case NOTIFICATION_EXIT_TREE: { + if (parent_skeleton) { + if (-1 != bone_id) { + parent_skeleton->unbind_physical_bone_from_bone(bone_id); + bone_id = -1; + } + } + parent_skeleton = nullptr; + PhysicsServer3D::get_singleton()->joint_clear(joint); + } break; + + case NOTIFICATION_TRANSFORM_CHANGED: { + if (Engine::get_singleton()->is_editor_hint()) { + update_offset(); + } + } break; + } +} + +void PhysicalBone3D::_sync_body_state(PhysicsDirectBodyState3D *p_state) { + set_ignore_transform_notification(true); + set_global_transform(p_state->get_transform()); + set_ignore_transform_notification(false); + + linear_velocity = p_state->get_linear_velocity(); + angular_velocity = p_state->get_angular_velocity(); +} + +void PhysicalBone3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { + if (!simulate_physics || !_internal_simulate_physics) { + return; + } + + if (GDVIRTUAL_IS_OVERRIDDEN(_integrate_forces)) { + _sync_body_state(p_state); + + Transform3D old_transform = get_global_transform(); + GDVIRTUAL_CALL(_integrate_forces, p_state); + Transform3D new_transform = get_global_transform(); + + if (new_transform != old_transform) { + // Update the physics server with the new transform, to prevent it from being overwritten at the sync below. + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform); + } + } + + _sync_body_state(p_state); + _on_transform_changed(); + + Transform3D global_transform(p_state->get_transform()); + + // Update skeleton + if (parent_skeleton) { + if (-1 != bone_id) { + parent_skeleton->set_bone_global_pose_override(bone_id, parent_skeleton->get_global_transform().affine_inverse() * (global_transform * body_offset_inverse), 1.0, true); + } + } +} + +void PhysicalBone3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicalBone3D::apply_impulse, Vector3()); + + ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone3D::set_joint_type); + ClassDB::bind_method(D_METHOD("get_joint_type"), &PhysicalBone3D::get_joint_type); + + ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone3D::set_joint_offset); + ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset); + ClassDB::bind_method(D_METHOD("set_joint_rotation", "euler"), &PhysicalBone3D::set_joint_rotation); + ClassDB::bind_method(D_METHOD("get_joint_rotation"), &PhysicalBone3D::get_joint_rotation); + + ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone3D::set_body_offset); + ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone3D::get_body_offset); + + ClassDB::bind_method(D_METHOD("get_simulate_physics"), &PhysicalBone3D::get_simulate_physics); + + ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBone3D::is_simulating_physics); + + ClassDB::bind_method(D_METHOD("get_bone_id"), &PhysicalBone3D::get_bone_id); + + ClassDB::bind_method(D_METHOD("set_mass", "mass"), &PhysicalBone3D::set_mass); + ClassDB::bind_method(D_METHOD("get_mass"), &PhysicalBone3D::get_mass); + + ClassDB::bind_method(D_METHOD("set_friction", "friction"), &PhysicalBone3D::set_friction); + ClassDB::bind_method(D_METHOD("get_friction"), &PhysicalBone3D::get_friction); + + ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &PhysicalBone3D::set_bounce); + ClassDB::bind_method(D_METHOD("get_bounce"), &PhysicalBone3D::get_bounce); + + ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone3D::set_gravity_scale); + ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone3D::get_gravity_scale); + + ClassDB::bind_method(D_METHOD("set_linear_damp_mode", "linear_damp_mode"), &PhysicalBone3D::set_linear_damp_mode); + ClassDB::bind_method(D_METHOD("get_linear_damp_mode"), &PhysicalBone3D::get_linear_damp_mode); + + ClassDB::bind_method(D_METHOD("set_angular_damp_mode", "angular_damp_mode"), &PhysicalBone3D::set_angular_damp_mode); + ClassDB::bind_method(D_METHOD("get_angular_damp_mode"), &PhysicalBone3D::get_angular_damp_mode); + + ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &PhysicalBone3D::set_linear_damp); + ClassDB::bind_method(D_METHOD("get_linear_damp"), &PhysicalBone3D::get_linear_damp); + + ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp); + ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp); + + ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &PhysicalBone3D::set_linear_velocity); + ClassDB::bind_method(D_METHOD("get_linear_velocity"), &PhysicalBone3D::get_linear_velocity); + + ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &PhysicalBone3D::set_angular_velocity); + ClassDB::bind_method(D_METHOD("get_angular_velocity"), &PhysicalBone3D::get_angular_velocity); + + ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &PhysicalBone3D::set_use_custom_integrator); + ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &PhysicalBone3D::is_using_custom_integrator); + + ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep); + ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep); + + GDVIRTUAL_BIND(_integrate_forces, "state"); + + ADD_GROUP("Joint", "joint_"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type"); + ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "joint_offset", PROPERTY_HINT_NONE, "suffix:m"), "set_joint_offset", "get_joint_offset"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation", PROPERTY_HINT_RANGE, "-360,360,0.01,or_less,or_greater,radians_as_degrees"), "set_joint_rotation", "get_joint_rotation"); + + ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "body_offset", PROPERTY_HINT_NONE, "suffix:m"), "set_body_offset", "get_body_offset"); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp,suffix:kg"), "set_mass", "get_mass"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-8,8,0.001,or_less,or_greater"), "set_gravity_scale", "get_gravity_scale"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_linear_velocity", "get_linear_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_angular_velocity", "get_angular_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep"); + + BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE); + BIND_ENUM_CONSTANT(DAMP_MODE_REPLACE); + + BIND_ENUM_CONSTANT(JOINT_TYPE_NONE); + BIND_ENUM_CONSTANT(JOINT_TYPE_PIN); + BIND_ENUM_CONSTANT(JOINT_TYPE_CONE); + BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE); + BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER); + BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF); +} + +Skeleton3D *PhysicalBone3D::find_skeleton_parent(Node *p_parent) { + if (!p_parent) { + return nullptr; + } + Skeleton3D *s = Object::cast_to<Skeleton3D>(p_parent); + return s ? s : find_skeleton_parent(p_parent->get_parent()); +} + +void PhysicalBone3D::_update_joint_offset() { + _fix_joint_offset(); + + set_ignore_transform_notification(true); + reset_to_rest_position(); + set_ignore_transform_notification(false); + +#ifdef TOOLS_ENABLED + update_gizmos(); +#endif +} + +void PhysicalBone3D::_fix_joint_offset() { + // Clamp joint origin to bone origin + if (parent_skeleton) { + joint_offset.origin = body_offset.affine_inverse().origin; + } +} + +void PhysicalBone3D::_reload_joint() { + if (!parent_skeleton) { + PhysicsServer3D::get_singleton()->joint_clear(joint); + return; + } + + PhysicalBone3D *body_a = parent_skeleton->get_physical_bone_parent(bone_id); + if (!body_a) { + PhysicsServer3D::get_singleton()->joint_clear(joint); + return; + } + + Transform3D joint_transf = get_global_transform() * joint_offset; + Transform3D local_a = body_a->get_global_transform().affine_inverse() * joint_transf; + local_a.orthonormalize(); + + switch (get_joint_type()) { + case JOINT_TYPE_PIN: { + PhysicsServer3D::get_singleton()->joint_make_pin(joint, body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin); + const PinJointData *pjd(static_cast<const PinJointData *>(joint_data)); + PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_BIAS, pjd->bias); + PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_DAMPING, pjd->damping); + PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, pjd->impulse_clamp); + + } break; + case JOINT_TYPE_CONE: { + PhysicsServer3D::get_singleton()->joint_make_cone_twist(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); + const ConeJointData *cjd(static_cast<const ConeJointData *>(joint_data)); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, cjd->bias); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, cjd->softness); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, cjd->relaxation); + + } break; + case JOINT_TYPE_HINGE: { + PhysicsServer3D::get_singleton()->joint_make_hinge(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); + const HingeJointData *hjd(static_cast<const HingeJointData *>(joint_data)); + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, hjd->angular_limit_lower); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, hjd->angular_limit_bias); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, hjd->angular_limit_softness); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, hjd->angular_limit_relaxation); + + } break; + case JOINT_TYPE_SLIDER: { + PhysicsServer3D::get_singleton()->joint_make_slider(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); + const SliderJointData *sjd(static_cast<const SliderJointData *>(joint_data)); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, sjd->linear_limit_softness); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, sjd->linear_limit_restitution); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, sjd->linear_limit_restitution); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, sjd->angular_limit_upper); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, sjd->angular_limit_lower); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, sjd->angular_limit_damping); + + } break; + case JOINT_TYPE_6DOF: { + PhysicsServer3D::get_singleton()->joint_make_generic_6dof(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); + const SixDOFJointData *g6dofjd(static_cast<const SixDOFJointData *>(joint_data)); + for (int axis = 0; axis < 3; ++axis) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, g6dofjd->axis_data[axis].linear_limit_upper); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, g6dofjd->axis_data[axis].linear_limit_lower); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].linear_limit_softness); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, g6dofjd->axis_data[axis].linear_spring_enabled); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].linear_spring_stiffness); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, g6dofjd->axis_data[axis].linear_spring_damping); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].linear_equilibrium_point); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, g6dofjd->axis_data[axis].linear_restitution); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, g6dofjd->axis_data[axis].linear_damping); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, g6dofjd->axis_data[axis].angular_limit_enabled); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, g6dofjd->axis_data[axis].angular_limit_upper); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, g6dofjd->axis_data[axis].angular_limit_lower); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].angular_limit_softness); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, g6dofjd->axis_data[axis].angular_restitution); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, g6dofjd->axis_data[axis].angular_damping); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, g6dofjd->axis_data[axis].erp); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, g6dofjd->axis_data[axis].angular_spring_enabled); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].angular_spring_stiffness); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, g6dofjd->axis_data[axis].angular_spring_damping); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].angular_equilibrium_point); + } + + } break; + case JOINT_TYPE_NONE: { + } break; + } +} + +void PhysicalBone3D::_on_bone_parent_changed() { + _reload_joint(); +} + +#ifdef TOOLS_ENABLED +void PhysicalBone3D::_set_gizmo_move_joint(bool p_move_joint) { + gizmo_move_joint = p_move_joint; +} + +Transform3D PhysicalBone3D::get_global_gizmo_transform() const { + return gizmo_move_joint ? get_global_transform() * joint_offset : get_global_transform(); +} + +Transform3D PhysicalBone3D::get_local_gizmo_transform() const { + return gizmo_move_joint ? get_transform() * joint_offset : get_transform(); +} +#endif + +const PhysicalBone3D::JointData *PhysicalBone3D::get_joint_data() const { + return joint_data; +} + +Skeleton3D *PhysicalBone3D::find_skeleton_parent() { + return find_skeleton_parent(this); +} + +void PhysicalBone3D::set_joint_type(JointType p_joint_type) { + if (p_joint_type == get_joint_type()) { + return; + } + + if (joint_data) { + memdelete(joint_data); + } + joint_data = nullptr; + switch (p_joint_type) { + case JOINT_TYPE_PIN: + joint_data = memnew(PinJointData); + break; + case JOINT_TYPE_CONE: + joint_data = memnew(ConeJointData); + break; + case JOINT_TYPE_HINGE: + joint_data = memnew(HingeJointData); + break; + case JOINT_TYPE_SLIDER: + joint_data = memnew(SliderJointData); + break; + case JOINT_TYPE_6DOF: + joint_data = memnew(SixDOFJointData); + break; + case JOINT_TYPE_NONE: + break; + } + + _reload_joint(); + +#ifdef TOOLS_ENABLED + notify_property_list_changed(); + update_gizmos(); +#endif +} + +PhysicalBone3D::JointType PhysicalBone3D::get_joint_type() const { + return joint_data ? joint_data->get_joint_type() : JOINT_TYPE_NONE; +} + +void PhysicalBone3D::set_joint_offset(const Transform3D &p_offset) { + joint_offset = p_offset; + + _update_joint_offset(); +} + +const Transform3D &PhysicalBone3D::get_joint_offset() const { + return joint_offset; +} + +void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) { + joint_offset.basis.set_euler_scale(p_euler_rad, joint_offset.basis.get_scale()); + + _update_joint_offset(); +} + +Vector3 PhysicalBone3D::get_joint_rotation() const { + return joint_offset.basis.get_euler_normalized(); +} + +const Transform3D &PhysicalBone3D::get_body_offset() const { + return body_offset; +} + +void PhysicalBone3D::set_body_offset(const Transform3D &p_offset) { + body_offset = p_offset; + body_offset_inverse = body_offset.affine_inverse(); + + _update_joint_offset(); +} + +void PhysicalBone3D::set_simulate_physics(bool p_simulate) { + if (simulate_physics == p_simulate) { + return; + } + + simulate_physics = p_simulate; + reset_physics_simulation_state(); +} + +bool PhysicalBone3D::get_simulate_physics() { + return simulate_physics; +} + +bool PhysicalBone3D::is_simulating_physics() { + return _internal_simulate_physics; +} + +void PhysicalBone3D::set_bone_name(const String &p_name) { + bone_name = p_name; + bone_id = -1; + + update_bone_id(); + reset_to_rest_position(); +} + +const String &PhysicalBone3D::get_bone_name() const { + return bone_name; +} + +void PhysicalBone3D::set_mass(real_t p_mass) { + ERR_FAIL_COND(p_mass <= 0); + mass = p_mass; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass); +} + +real_t PhysicalBone3D::get_mass() const { + return mass; +} + +void PhysicalBone3D::set_friction(real_t p_friction) { + ERR_FAIL_COND(p_friction < 0 || p_friction > 1); + + friction = p_friction; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, friction); +} + +real_t PhysicalBone3D::get_friction() const { + return friction; +} + +void PhysicalBone3D::set_bounce(real_t p_bounce) { + ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); + + bounce = p_bounce; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, bounce); +} + +real_t PhysicalBone3D::get_bounce() const { + return bounce; +} + +void PhysicalBone3D::set_gravity_scale(real_t p_gravity_scale) { + gravity_scale = p_gravity_scale; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); +} + +real_t PhysicalBone3D::get_gravity_scale() const { + return gravity_scale; +} + +void PhysicalBone3D::set_linear_damp_mode(DampMode p_mode) { + linear_damp_mode = p_mode; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE, linear_damp_mode); +} + +PhysicalBone3D::DampMode PhysicalBone3D::get_linear_damp_mode() const { + return linear_damp_mode; +} + +void PhysicalBone3D::set_angular_damp_mode(DampMode p_mode) { + angular_damp_mode = p_mode; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE, angular_damp_mode); +} + +PhysicalBone3D::DampMode PhysicalBone3D::get_angular_damp_mode() const { + return angular_damp_mode; +} + +void PhysicalBone3D::set_linear_damp(real_t p_linear_damp) { + ERR_FAIL_COND(p_linear_damp < 0); + + linear_damp = p_linear_damp; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp); +} + +real_t PhysicalBone3D::get_linear_damp() const { + return linear_damp; +} + +void PhysicalBone3D::set_angular_damp(real_t p_angular_damp) { + ERR_FAIL_COND(p_angular_damp < 0); + + angular_damp = p_angular_damp; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp); +} + +real_t PhysicalBone3D::get_angular_damp() const { + return angular_damp; +} + +void PhysicalBone3D::set_can_sleep(bool p_active) { + can_sleep = p_active; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active); +} + +bool PhysicalBone3D::is_able_to_sleep() const { + return can_sleep; +} + +PhysicalBone3D::PhysicalBone3D() : + PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) { + joint = PhysicsServer3D::get_singleton()->joint_create(); + reset_physics_simulation_state(); +} + +PhysicalBone3D::~PhysicalBone3D() { + if (joint_data) { + memdelete(joint_data); + } + ERR_FAIL_NULL(PhysicsServer3D::get_singleton()); + PhysicsServer3D::get_singleton()->free(joint); +} + +void PhysicalBone3D::update_bone_id() { + if (!parent_skeleton) { + return; + } + + const int new_bone_id = parent_skeleton->find_bone(bone_name); + + if (new_bone_id != bone_id) { + if (-1 != bone_id) { + // Assert the unbind from old node + parent_skeleton->unbind_physical_bone_from_bone(bone_id); + } + + bone_id = new_bone_id; + + parent_skeleton->bind_physical_bone_to_bone(bone_id, this); + + _fix_joint_offset(); + reset_physics_simulation_state(); + } +} + +void PhysicalBone3D::update_offset() { +#ifdef TOOLS_ENABLED + if (parent_skeleton) { + Transform3D bone_transform(parent_skeleton->get_global_transform()); + if (-1 != bone_id) { + bone_transform *= parent_skeleton->get_bone_global_pose(bone_id); + } + + if (gizmo_move_joint) { + bone_transform *= body_offset; + set_joint_offset(bone_transform.affine_inverse() * get_global_transform()); + } else { + set_body_offset(bone_transform.affine_inverse() * get_global_transform()); + } + } +#endif +} + +void PhysicalBone3D::_start_physics_simulation() { + if (_internal_simulate_physics || !parent_skeleton) { + return; + } + reset_to_rest_position(); + set_body_mode(PhysicsServer3D::BODY_MODE_RIGID); + PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); + PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); + PhysicsServer3D::get_singleton()->body_set_collision_priority(get_rid(), get_collision_priority()); + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &PhysicalBone3D::_body_state_changed)); + set_as_top_level(true); + _internal_simulate_physics = true; +} + +void PhysicalBone3D::_stop_physics_simulation() { + if (!parent_skeleton) { + return; + } + if (parent_skeleton->get_animate_physical_bones()) { + set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC); + PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); + PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); + PhysicsServer3D::get_singleton()->body_set_collision_priority(get_rid(), get_collision_priority()); + } else { + set_body_mode(PhysicsServer3D::BODY_MODE_STATIC); + PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), 0); + PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), 0); + PhysicsServer3D::get_singleton()->body_set_collision_priority(get_rid(), 1.0); + } + if (_internal_simulate_physics) { + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), Callable()); + parent_skeleton->set_bone_global_pose_override(bone_id, Transform3D(), 0.0, false); + set_as_top_level(false); + _internal_simulate_physics = false; + } +} |