diff options
Diffstat (limited to 'scene/3d/physics_joint.h')
| -rw-r--r-- | scene/3d/physics_joint.h | 210 |
1 files changed, 91 insertions, 119 deletions
diff --git a/scene/3d/physics_joint.h b/scene/3d/physics_joint.h index 5debe87d38..90d86d652d 100644 --- a/scene/3d/physics_joint.h +++ b/scene/3d/physics_joint.h @@ -29,15 +29,14 @@ #ifndef PHYSICS_JOINT_H #define PHYSICS_JOINT_H -#include "scene/3d/spatial.h" #include "scene/3d/physics_body.h" - +#include "scene/3d/spatial.h" class Joint : public Spatial { - GDCLASS(Joint,Spatial); + GDCLASS(Joint, Spatial); - RID ba,bb; + RID ba, bb; RID joint; @@ -47,22 +46,20 @@ class Joint : public Spatial { int solver_priority; bool exclude_from_collision; - protected: - - void _update_joint(bool p_only_free=false); + void _update_joint(bool p_only_free = false); void _notification(int p_what); - virtual RID _configure_joint(PhysicsBody *body_a,PhysicsBody *body_b)=0; + virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) = 0; static void _bind_methods(); -public: - void set_node_a(const NodePath& p_node_a); +public: + void set_node_a(const NodePath &p_node_a); NodePath get_node_a() const; - void set_node_b(const NodePath& p_node_b); + void set_node_b(const NodePath &p_node_b); NodePath get_node_b() const; void set_solver_priority(int p_priority); @@ -73,31 +70,28 @@ public: RID get_joint() const { return joint; } Joint(); - }; /////////////////////////////////////////// - class PinJoint : public Joint { - GDCLASS(PinJoint,Joint); -public: + GDCLASS(PinJoint, Joint); +public: enum Param { - PARAM_BIAS=PhysicsServer::PIN_JOINT_BIAS, - PARAM_DAMPING=PhysicsServer::PIN_JOINT_DAMPING, - PARAM_IMPULSE_CLAMP=PhysicsServer::PIN_JOINT_IMPULSE_CLAMP + PARAM_BIAS = PhysicsServer::PIN_JOINT_BIAS, + PARAM_DAMPING = PhysicsServer::PIN_JOINT_DAMPING, + PARAM_IMPULSE_CLAMP = PhysicsServer::PIN_JOINT_IMPULSE_CLAMP }; protected: - float params[3]; virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); static void _bind_methods(); -public: - void set_param(Param p_param,float p_value); +public: + void set_param(Param p_param, float p_value); float get_param(Param p_param) const; PinJoint(); @@ -105,34 +99,30 @@ public: VARIANT_ENUM_CAST(PinJoint::Param); - class HingeJoint : public Joint { - GDCLASS(HingeJoint,Joint); -public: + GDCLASS(HingeJoint, Joint); +public: enum Param { - PARAM_BIAS=PhysicsServer::HINGE_JOINT_BIAS, - PARAM_LIMIT_UPPER=PhysicsServer::HINGE_JOINT_LIMIT_UPPER, - PARAM_LIMIT_LOWER=PhysicsServer::HINGE_JOINT_LIMIT_LOWER, - PARAM_LIMIT_BIAS=PhysicsServer::HINGE_JOINT_LIMIT_BIAS, - PARAM_LIMIT_SOFTNESS=PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS, - PARAM_LIMIT_RELAXATION=PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION, - PARAM_MOTOR_TARGET_VELOCITY=PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY, - PARAM_MOTOR_MAX_IMPULSE=PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE, - PARAM_MAX=PhysicsServer::HINGE_JOINT_MAX + PARAM_BIAS = PhysicsServer::HINGE_JOINT_BIAS, + PARAM_LIMIT_UPPER = PhysicsServer::HINGE_JOINT_LIMIT_UPPER, + PARAM_LIMIT_LOWER = PhysicsServer::HINGE_JOINT_LIMIT_LOWER, + PARAM_LIMIT_BIAS = PhysicsServer::HINGE_JOINT_LIMIT_BIAS, + PARAM_LIMIT_SOFTNESS = PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS, + PARAM_LIMIT_RELAXATION = PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION, + PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY, + PARAM_MOTOR_MAX_IMPULSE = PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE, + PARAM_MAX = PhysicsServer::HINGE_JOINT_MAX }; enum Flag { - FLAG_USE_LIMIT=PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT, - FLAG_ENABLE_MOTOR=PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR, - FLAG_MAX=PhysicsServer::HINGE_JOINT_FLAG_MAX + FLAG_USE_LIMIT = PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT, + FLAG_ENABLE_MOTOR = PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR, + FLAG_MAX = PhysicsServer::HINGE_JOINT_FLAG_MAX }; - - protected: - float params[PARAM_MAX]; bool flags[FLAG_MAX]; virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); @@ -145,11 +135,10 @@ protected: float _get_lower_limit() const; public: - - void set_param(Param p_param,float p_value); + void set_param(Param p_param, float p_value); float get_param(Param p_param) const; - void set_flag(Flag p_flag,bool p_value); + void set_flag(Flag p_flag, bool p_value); bool get_flag(Flag p_flag) const; HingeJoint(); @@ -158,44 +147,40 @@ public: VARIANT_ENUM_CAST(HingeJoint::Param); VARIANT_ENUM_CAST(HingeJoint::Flag); - class SliderJoint : public Joint { - GDCLASS(SliderJoint,Joint); -public: + GDCLASS(SliderJoint, Joint); +public: enum Param { - PARAM_LINEAR_LIMIT_UPPER=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER, - PARAM_LINEAR_LIMIT_LOWER=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER, - PARAM_LINEAR_LIMIT_SOFTNESS=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, - PARAM_LINEAR_LIMIT_RESTITUTION=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, - PARAM_LINEAR_LIMIT_DAMPING=PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, - PARAM_LINEAR_MOTION_SOFTNESS=PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, - PARAM_LINEAR_MOTION_RESTITUTION=PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, - PARAM_LINEAR_MOTION_DAMPING=PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING, - PARAM_LINEAR_ORTHOGONAL_SOFTNESS=PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, - PARAM_LINEAR_ORTHOGONAL_RESTITUTION=PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, - PARAM_LINEAR_ORTHOGONAL_DAMPING=PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, - - PARAM_ANGULAR_LIMIT_UPPER=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, - PARAM_ANGULAR_LIMIT_LOWER=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, - PARAM_ANGULAR_LIMIT_SOFTNESS=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, - PARAM_ANGULAR_LIMIT_RESTITUTION=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, - PARAM_ANGULAR_LIMIT_DAMPING=PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, - PARAM_ANGULAR_MOTION_SOFTNESS=PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, - PARAM_ANGULAR_MOTION_RESTITUTION=PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, - PARAM_ANGULAR_MOTION_DAMPING=PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING, - PARAM_ANGULAR_ORTHOGONAL_SOFTNESS=PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, - PARAM_ANGULAR_ORTHOGONAL_RESTITUTION=PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, - PARAM_ANGULAR_ORTHOGONAL_DAMPING=PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, - PARAM_MAX=PhysicsServer::SLIDER_JOINT_MAX + PARAM_LINEAR_LIMIT_UPPER = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER, + PARAM_LINEAR_LIMIT_LOWER = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER, + PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, + PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, + PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, + PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, + PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, + PARAM_LINEAR_MOTION_DAMPING = PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING, + PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, + PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, + PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, + + PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, + PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, + PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, + PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, + PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, + PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, + PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, + PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING, + PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, + PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, + PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, + PARAM_MAX = PhysicsServer::SLIDER_JOINT_MAX }; protected: - - - void _set_upper_limit_angular(float p_limit_angular); float _get_upper_limit_angular() const; @@ -205,25 +190,21 @@ protected: float params[PARAM_MAX]; virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); static void _bind_methods(); -public: - void set_param(Param p_param,float p_value); +public: + void set_param(Param p_param, float p_value); float get_param(Param p_param) const; SliderJoint(); }; - VARIANT_ENUM_CAST(SliderJoint::Param); - - - class ConeTwistJoint : public Joint { - GDCLASS(ConeTwistJoint,Joint); -public: + GDCLASS(ConeTwistJoint, Joint); +public: enum Param { PARAM_SWING_SPAN, @@ -235,8 +216,6 @@ public: }; protected: - - void _set_swing_span(float p_limit_angular); float _get_swing_span() const; @@ -246,53 +225,48 @@ protected: float params[PARAM_MAX]; virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); static void _bind_methods(); -public: - void set_param(Param p_param,float p_value); +public: + void set_param(Param p_param, float p_value); float get_param(Param p_param) const; ConeTwistJoint(); }; - VARIANT_ENUM_CAST(ConeTwistJoint::Param); - class Generic6DOFJoint : public Joint { - GDCLASS(Generic6DOFJoint,Joint); -public: + GDCLASS(Generic6DOFJoint, Joint); +public: enum Param { - PARAM_LINEAR_LOWER_LIMIT=PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT, - PARAM_LINEAR_UPPER_LIMIT=PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT, - PARAM_LINEAR_LIMIT_SOFTNESS=PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, - PARAM_LINEAR_RESTITUTION=PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION, - PARAM_LINEAR_DAMPING=PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING, - PARAM_ANGULAR_LOWER_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, - PARAM_ANGULAR_UPPER_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, - PARAM_ANGULAR_LIMIT_SOFTNESS=PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, - PARAM_ANGULAR_DAMPING=PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING, - PARAM_ANGULAR_RESTITUTION=PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION, - PARAM_ANGULAR_FORCE_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT, - PARAM_ANGULAR_ERP=PhysicsServer::G6DOF_JOINT_ANGULAR_ERP, - PARAM_ANGULAR_MOTOR_TARGET_VELOCITY=PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, - PARAM_ANGULAR_MOTOR_FORCE_LIMIT=PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, - PARAM_MAX=PhysicsServer::G6DOF_JOINT_MAX, + PARAM_LINEAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT, + PARAM_LINEAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT, + PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, + PARAM_LINEAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION, + PARAM_LINEAR_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING, + PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, + PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, + PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, + PARAM_ANGULAR_DAMPING = PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING, + PARAM_ANGULAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION, + PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT, + PARAM_ANGULAR_ERP = PhysicsServer::G6DOF_JOINT_ANGULAR_ERP, + PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, + PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, + PARAM_MAX = PhysicsServer::G6DOF_JOINT_MAX, }; enum Flag { - FLAG_ENABLE_LINEAR_LIMIT=PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, - FLAG_ENABLE_ANGULAR_LIMIT=PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, - FLAG_ENABLE_MOTOR=PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR, - FLAG_MAX=PhysicsServer::G6DOF_JOINT_FLAG_MAX + FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, + FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, + FLAG_ENABLE_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR, + FLAG_MAX = PhysicsServer::G6DOF_JOINT_FLAG_MAX }; - protected: - - void _set_angular_hi_limit_x(float p_limit_angular); float _get_angular_hi_limit_x() const; @@ -320,34 +294,32 @@ protected: virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b); static void _bind_methods(); -public: - void set_param_x(Param p_param,float p_value); +public: + void set_param_x(Param p_param, float p_value); float get_param_x(Param p_param) const; - void set_param_y(Param p_param,float p_value); + void set_param_y(Param p_param, float p_value); float get_param_y(Param p_param) const; - void set_param_z(Param p_param,float p_value); + void set_param_z(Param p_param, float p_value); float get_param_z(Param p_param) const; - void set_flag_x(Flag p_flag,bool p_enabled); + void set_flag_x(Flag p_flag, bool p_enabled); bool get_flag_x(Flag p_flag) const; - void set_flag_y(Flag p_flag,bool p_enabled); + void set_flag_y(Flag p_flag, bool p_enabled); bool get_flag_y(Flag p_flag) const; - void set_flag_z(Flag p_flag,bool p_enabled); + void set_flag_z(Flag p_flag, bool p_enabled); bool get_flag_z(Flag p_flag) const; Generic6DOFJoint(); }; - VARIANT_ENUM_CAST(Generic6DOFJoint::Param); VARIANT_ENUM_CAST(Generic6DOFJoint::Flag); - #if 0 class PhysicsJoint : public Spatial { |