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Diffstat (limited to 'scene/3d/physics/physical_bone_3d.h')
| -rw-r--r-- | scene/3d/physics/physical_bone_3d.h | 306 |
1 files changed, 306 insertions, 0 deletions
diff --git a/scene/3d/physics/physical_bone_3d.h b/scene/3d/physics/physical_bone_3d.h new file mode 100644 index 0000000000..953400da2f --- /dev/null +++ b/scene/3d/physics/physical_bone_3d.h @@ -0,0 +1,306 @@ +/**************************************************************************/ +/* physical_bone_3d.h */ +/**************************************************************************/ +/* 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. */ +/**************************************************************************/ + +#ifndef PHYSICAL_BONE_3D_H +#define PHYSICAL_BONE_3D_H + +#include "scene/3d/physics/physics_body_3d.h" +#include "scene/3d/skeleton_3d.h" + +class PhysicalBone3D : public PhysicsBody3D { + GDCLASS(PhysicalBone3D, PhysicsBody3D); + +public: + enum DampMode { + DAMP_MODE_COMBINE, + DAMP_MODE_REPLACE, + }; + + enum JointType { + JOINT_TYPE_NONE, + JOINT_TYPE_PIN, + JOINT_TYPE_CONE, + JOINT_TYPE_HINGE, + JOINT_TYPE_SLIDER, + JOINT_TYPE_6DOF + }; + + struct JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_NONE; } + + /// "j" is used to set the parameter inside the PhysicsServer3D + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + virtual ~JointData() {} + }; + + struct PinJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_PIN; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t bias = 0.3; + real_t damping = 1.0; + real_t impulse_clamp = 0.0; + }; + + struct ConeJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_CONE; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t swing_span = Math_PI * 0.25; + real_t twist_span = Math_PI; + real_t bias = 0.3; + real_t softness = 0.8; + real_t relaxation = 1.; + }; + + struct HingeJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + bool angular_limit_enabled = false; + real_t angular_limit_upper = Math_PI * 0.5; + real_t angular_limit_lower = -Math_PI * 0.5; + real_t angular_limit_bias = 0.3; + real_t angular_limit_softness = 0.9; + real_t angular_limit_relaxation = 1.; + }; + + struct SliderJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t linear_limit_upper = 1.0; + real_t linear_limit_lower = -1.0; + real_t linear_limit_softness = 1.0; + real_t linear_limit_restitution = 0.7; + real_t linear_limit_damping = 1.0; + real_t angular_limit_upper = 0.0; + real_t angular_limit_lower = 0.0; + real_t angular_limit_softness = 1.0; + real_t angular_limit_restitution = 0.7; + real_t angular_limit_damping = 1.0; + }; + + struct SixDOFJointData : public JointData { + struct SixDOFAxisData { + bool linear_limit_enabled = true; + real_t linear_limit_upper = 0.0; + real_t linear_limit_lower = 0.0; + real_t linear_limit_softness = 0.7; + real_t linear_restitution = 0.5; + real_t linear_damping = 1.0; + bool linear_spring_enabled = false; + real_t linear_spring_stiffness = 0.0; + real_t linear_spring_damping = 0.0; + real_t linear_equilibrium_point = 0.0; + bool angular_limit_enabled = true; + real_t angular_limit_upper = 0.0; + real_t angular_limit_lower = 0.0; + real_t angular_limit_softness = 0.5; + real_t angular_restitution = 0.0; + real_t angular_damping = 1.0; + real_t erp = 0.5; + bool angular_spring_enabled = false; + real_t angular_spring_stiffness = 0.0; + real_t angular_spring_damping = 0.0; + real_t angular_equilibrium_point = 0.0; + }; + + virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + SixDOFAxisData axis_data[3]; + + SixDOFJointData() {} + }; + +private: +#ifdef TOOLS_ENABLED + // if false gizmo move body + bool gizmo_move_joint = false; +#endif + + JointData *joint_data = nullptr; + Transform3D joint_offset; + RID joint; + + Skeleton3D *parent_skeleton = nullptr; + Transform3D body_offset; + Transform3D body_offset_inverse; + bool simulate_physics = false; + bool _internal_simulate_physics = false; + int bone_id = -1; + + String bone_name; + real_t bounce = 0.0; + real_t mass = 1.0; + real_t friction = 1.0; + Vector3 linear_velocity; + Vector3 angular_velocity; + real_t gravity_scale = 1.0; + bool can_sleep = true; + + bool custom_integrator = false; + + DampMode linear_damp_mode = DAMP_MODE_COMBINE; + DampMode angular_damp_mode = DAMP_MODE_COMBINE; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; + +protected: + bool _set(const StringName &p_name, const Variant &p_value); + bool _get(const StringName &p_name, Variant &r_ret) const; + void _get_property_list(List<PropertyInfo> *p_list) const; + void _notification(int p_what); + GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *) + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); + void _body_state_changed(PhysicsDirectBodyState3D *p_state); + + static void _bind_methods(); + +private: + void _sync_body_state(PhysicsDirectBodyState3D *p_state); + static Skeleton3D *find_skeleton_parent(Node *p_parent); + + void _update_joint_offset(); + void _fix_joint_offset(); + void _reload_joint(); + +public: + void _on_bone_parent_changed(); + + void set_linear_velocity(const Vector3 &p_velocity); + Vector3 get_linear_velocity() const override; + + void set_angular_velocity(const Vector3 &p_velocity); + Vector3 get_angular_velocity() const override; + + void set_use_custom_integrator(bool p_enable); + bool is_using_custom_integrator(); + +#ifdef TOOLS_ENABLED + void _set_gizmo_move_joint(bool p_move_joint); + virtual Transform3D get_global_gizmo_transform() const override; + virtual Transform3D get_local_gizmo_transform() const override; +#endif + + const JointData *get_joint_data() const; + Skeleton3D *find_skeleton_parent(); + + int get_bone_id() const { + return bone_id; + } + + void set_joint_type(JointType p_joint_type); + JointType get_joint_type() const; + + void set_joint_offset(const Transform3D &p_offset); + const Transform3D &get_joint_offset() const; + + void set_joint_rotation(const Vector3 &p_euler_rad); + Vector3 get_joint_rotation() const; + + void set_body_offset(const Transform3D &p_offset); + const Transform3D &get_body_offset() const; + + void set_simulate_physics(bool p_simulate); + bool get_simulate_physics(); + bool is_simulating_physics(); + + void set_bone_name(const String &p_name); + const String &get_bone_name() const; + + void set_mass(real_t p_mass); + real_t get_mass() const; + + void set_friction(real_t p_friction); + real_t get_friction() const; + + void set_bounce(real_t p_bounce); + real_t get_bounce() const; + + void set_gravity_scale(real_t p_gravity_scale); + real_t get_gravity_scale() const; + + void set_linear_damp_mode(DampMode p_mode); + DampMode get_linear_damp_mode() const; + + void set_angular_damp_mode(DampMode p_mode); + DampMode get_angular_damp_mode() const; + + void set_linear_damp(real_t p_linear_damp); + real_t get_linear_damp() const; + + void set_angular_damp(real_t p_angular_damp); + real_t get_angular_damp() const; + + void set_can_sleep(bool p_active); + bool is_able_to_sleep() const; + + void apply_central_impulse(const Vector3 &p_impulse); + void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); + + void reset_physics_simulation_state(); + void reset_to_rest_position(); + + PhysicalBone3D(); + ~PhysicalBone3D(); + +private: + void update_bone_id(); + void update_offset(); + + void _start_physics_simulation(); + void _stop_physics_simulation(); +}; + +VARIANT_ENUM_CAST(PhysicalBone3D::JointType); +VARIANT_ENUM_CAST(PhysicalBone3D::DampMode); + +#endif // PHYSICAL_BONE_3D_H |