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1379 lines
49 KiB
C++
1379 lines
49 KiB
C++
/*************************************************************************/
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/* physics_joint.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 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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#include "physics_joint.h"
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void Joint::_update_joint(bool p_only_free) {
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if (joint.is_valid()) {
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if (ba.is_valid() && bb.is_valid()) {
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if (exclude_from_collision)
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PhysicsServer::get_singleton()->body_add_collision_exception(ba,bb);
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else
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PhysicsServer::get_singleton()->body_remove_collision_exception(ba,bb);
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}
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PhysicsServer::get_singleton()->free(joint);
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joint=RID();
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ba=RID();
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bb=RID();
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}
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if (p_only_free || !is_inside_tree())
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return;
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Node *node_a = has_node( get_node_a() ) ? get_node( get_node_a() ) : (Node*)NULL;
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Node *node_b = has_node( get_node_b() ) ? get_node( get_node_b() ) : (Node*)NULL;
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if (!node_a && !node_b)
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return;
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PhysicsBody *body_a=node_a ? node_a->cast_to<PhysicsBody>() : (PhysicsBody*)NULL;
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PhysicsBody *body_b=node_b ? node_b->cast_to<PhysicsBody>() : (PhysicsBody*)NULL;
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if (!body_a && !body_b)
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return;
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if (!body_a) {
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SWAP(body_a,body_b);
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} else if (body_b) {
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//add a collision exception between both
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PhysicsServer::get_singleton()->body_add_collision_exception(body_a->get_rid(),body_b->get_rid());
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}
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joint = _configure_joint(body_a,body_b);
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if (joint.is_valid())
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PhysicsServer::get_singleton()->joint_set_solver_priority(joint,solver_priority);
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if (body_b && joint.is_valid()) {
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ba=body_a->get_rid();
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bb=body_b->get_rid();
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PhysicsServer::get_singleton()->body_add_collision_exception(body_a->get_rid(),body_b->get_rid());
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}
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}
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void Joint::set_node_a(const NodePath& p_node_a) {
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if (a==p_node_a)
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return;
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a=p_node_a;
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_update_joint();
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}
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NodePath Joint::get_node_a() const{
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return a;
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}
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void Joint::set_node_b(const NodePath& p_node_b){
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if (b==p_node_b)
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return;
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b=p_node_b;
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_update_joint();
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}
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NodePath Joint::get_node_b() const{
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return b;
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}
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void Joint::set_solver_priority(int p_priority) {
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solver_priority=p_priority;
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if (joint.is_valid())
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PhysicsServer::get_singleton()->joint_set_solver_priority(joint,solver_priority);
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}
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int Joint::get_solver_priority() const {
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return solver_priority;
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}
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void Joint::_notification(int p_what) {
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switch(p_what) {
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case NOTIFICATION_READY: {
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_update_joint();
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} break;
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case NOTIFICATION_EXIT_TREE: {
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if (joint.is_valid()) {
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_update_joint(true);
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//PhysicsServer::get_singleton()->free(joint);
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joint=RID();
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}
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} break;
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}
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}
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void Joint::set_exclude_nodes_from_collision(bool p_enable) {
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if (exclude_from_collision==p_enable)
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return;
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exclude_from_collision=p_enable;
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_update_joint();
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}
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bool Joint::get_exclude_nodes_from_collision() const{
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return exclude_from_collision;
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}
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void Joint::_bind_methods() {
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ClassDB::bind_method( D_METHOD("set_node_a","node"), &Joint::set_node_a );
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ClassDB::bind_method( D_METHOD("get_node_a"), &Joint::get_node_a );
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ClassDB::bind_method( D_METHOD("set_node_b","node"), &Joint::set_node_b );
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ClassDB::bind_method( D_METHOD("get_node_b"), &Joint::get_node_b );
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ClassDB::bind_method( D_METHOD("set_solver_priority","priority"), &Joint::set_solver_priority );
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ClassDB::bind_method( D_METHOD("get_solver_priority"), &Joint::get_solver_priority );
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ClassDB::bind_method( D_METHOD("set_exclude_nodes_from_collision","enable"), &Joint::set_exclude_nodes_from_collision );
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ClassDB::bind_method( D_METHOD("get_exclude_nodes_from_collision"), &Joint::get_exclude_nodes_from_collision );
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ADD_PROPERTY( PropertyInfo( Variant::NODE_PATH, "nodes/node_a"), "set_node_a","get_node_a") ;
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ADD_PROPERTY( PropertyInfo( Variant::NODE_PATH, "nodes/node_b"), "set_node_b","get_node_b") ;
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ADD_PROPERTY( PropertyInfo( Variant::INT, "solver/priority",PROPERTY_HINT_RANGE,"1,8,1"), "set_solver_priority","get_solver_priority") ;
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ADD_PROPERTY( PropertyInfo( Variant::BOOL, "collision/exclude_nodes"), "set_exclude_nodes_from_collision","get_exclude_nodes_from_collision") ;
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}
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Joint::Joint() {
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exclude_from_collision=true;
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solver_priority=1;
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set_notify_transform(true);
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}
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///////////////////////////////////
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void PinJoint::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_param","param","value"),&PinJoint::set_param);
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ClassDB::bind_method(D_METHOD("get_param","param"),&PinJoint::get_param);
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/bias",PROPERTY_HINT_RANGE,"0.01,0.99,0.01"),"set_param","get_param", PARAM_BIAS );
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/damping",PROPERTY_HINT_RANGE,"0.01,8.0,0.01"),"set_param","get_param", PARAM_DAMPING );
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/impulse_clamp",PROPERTY_HINT_RANGE,"0.0,64.0,0.01"),"set_param","get_param", PARAM_IMPULSE_CLAMP );
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BIND_CONSTANT( PARAM_BIAS );
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BIND_CONSTANT( PARAM_DAMPING );
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BIND_CONSTANT( PARAM_IMPULSE_CLAMP );
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}
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void PinJoint::set_param(Param p_param,float p_value){
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ERR_FAIL_INDEX(p_param,3);
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params[p_param]=p_value;
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if (get_joint().is_valid())
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PhysicsServer::get_singleton()->pin_joint_set_param(get_joint(),PhysicsServer::PinJointParam(p_param),p_value);
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}
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float PinJoint::get_param(Param p_param) const{
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ERR_FAIL_INDEX_V(p_param,3,0);
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return params[p_param];
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}
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RID PinJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
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Vector3 pinpos = get_global_transform().origin;
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Vector3 local_a = body_a->get_global_transform().affine_inverse().xform(pinpos);
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Vector3 local_b;
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if (body_b)
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local_b = body_b->get_global_transform().affine_inverse().xform(pinpos);
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else
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local_b=pinpos;
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RID j = PhysicsServer::get_singleton()->joint_create_pin(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
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for(int i=0;i<3;i++) {
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PhysicsServer::get_singleton()->pin_joint_set_param(j,PhysicsServer::PinJointParam(i),params[i]);
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}
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return j;
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}
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PinJoint::PinJoint() {
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params[PARAM_BIAS]=0.3;
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params[PARAM_DAMPING]=1;
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params[PARAM_IMPULSE_CLAMP]=0;
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}
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/////////////////////////////////////////////////
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///////////////////////////////////
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void HingeJoint::_set_upper_limit(float p_limit) {
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set_param(PARAM_LIMIT_UPPER,Math::deg2rad(p_limit));
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}
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float HingeJoint::_get_upper_limit() const {
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return Math::rad2deg(get_param(PARAM_LIMIT_UPPER));
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}
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void HingeJoint::_set_lower_limit(float p_limit) {
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set_param(PARAM_LIMIT_LOWER,Math::deg2rad(p_limit));
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}
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float HingeJoint::_get_lower_limit() const {
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return Math::rad2deg(get_param(PARAM_LIMIT_LOWER));
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}
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void HingeJoint::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_param","param","value"),&HingeJoint::set_param);
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ClassDB::bind_method(D_METHOD("get_param","param"),&HingeJoint::get_param);
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ClassDB::bind_method(D_METHOD("set_flag","flag","enabled"),&HingeJoint::set_flag);
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ClassDB::bind_method(D_METHOD("get_flag","flag"),&HingeJoint::get_flag);
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ClassDB::bind_method(D_METHOD("_set_upper_limit","upper_limit"),&HingeJoint::_set_upper_limit);
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ClassDB::bind_method(D_METHOD("_get_upper_limit"),&HingeJoint::_get_upper_limit);
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ClassDB::bind_method(D_METHOD("_set_lower_limit","lower_limit"),&HingeJoint::_set_lower_limit);
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ClassDB::bind_method(D_METHOD("_get_lower_limit"),&HingeJoint::_get_lower_limit);
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"params/bias",PROPERTY_HINT_RANGE,"0.01,0.99,0.01"),"set_param","get_param", PARAM_BIAS );
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ADD_PROPERTYI( PropertyInfo(Variant::BOOL,"angular_limit/enable"),"set_flag","get_flag", FLAG_USE_LIMIT );
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ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/upper",PROPERTY_HINT_RANGE,"-180,180,0.1"),"_set_upper_limit","_get_upper_limit") ;
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ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/lower",PROPERTY_HINT_RANGE,"-180,180,0.1"),"_set_lower_limit","_get_lower_limit") ;
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/bias",PROPERTY_HINT_RANGE,"0.01,0.99,0.01"),"set_param","get_param", PARAM_LIMIT_BIAS );
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param","get_param", PARAM_LIMIT_SOFTNESS );
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/relaxation",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param","get_param", PARAM_LIMIT_RELAXATION );
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ADD_PROPERTYI( PropertyInfo(Variant::BOOL,"motor/enable"),"set_flag","get_flag", FLAG_ENABLE_MOTOR );
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"motor/target_velocity",PROPERTY_HINT_RANGE,"0.01,4096,0.01"),"set_param","get_param", PARAM_MOTOR_TARGET_VELOCITY );
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"motor/max_impulse",PROPERTY_HINT_RANGE,"0.01,1024,0.01"),"set_param","get_param", PARAM_MOTOR_MAX_IMPULSE);
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BIND_CONSTANT( PARAM_BIAS );
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BIND_CONSTANT( PARAM_LIMIT_UPPER );
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BIND_CONSTANT( PARAM_LIMIT_LOWER );
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BIND_CONSTANT( PARAM_LIMIT_BIAS );
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BIND_CONSTANT( PARAM_LIMIT_SOFTNESS );
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BIND_CONSTANT( PARAM_LIMIT_RELAXATION );
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BIND_CONSTANT( PARAM_MOTOR_TARGET_VELOCITY );
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BIND_CONSTANT( PARAM_MOTOR_MAX_IMPULSE );
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BIND_CONSTANT( PARAM_MAX );
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BIND_CONSTANT( FLAG_USE_LIMIT );
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BIND_CONSTANT( FLAG_ENABLE_MOTOR );
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BIND_CONSTANT( FLAG_MAX );
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}
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void HingeJoint::set_param(Param p_param,float p_value){
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ERR_FAIL_INDEX(p_param,PARAM_MAX);
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params[p_param]=p_value;
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if (get_joint().is_valid())
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PhysicsServer::get_singleton()->hinge_joint_set_param(get_joint(),PhysicsServer::HingeJointParam(p_param),p_value);
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update_gizmo();
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}
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float HingeJoint::get_param(Param p_param) const{
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ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
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return params[p_param];
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}
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void HingeJoint::set_flag(Flag p_flag,bool p_value){
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ERR_FAIL_INDEX(p_flag,FLAG_MAX);
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flags[p_flag]=p_value;
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if (get_joint().is_valid())
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PhysicsServer::get_singleton()->hinge_joint_set_flag(get_joint(),PhysicsServer::HingeJointFlag(p_flag),p_value);
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update_gizmo();
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}
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bool HingeJoint::get_flag(Flag p_flag) const{
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ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
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return flags[p_flag];
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}
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RID HingeJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
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Transform gt = get_global_transform();
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Transform ainv = body_a->get_global_transform().affine_inverse();
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Transform local_a = ainv * gt;
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local_a.orthonormalize();
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Transform local_b = gt;
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if (body_b) {
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Transform binv = body_b->get_global_transform().affine_inverse();
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local_b = binv * gt;
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}
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local_b.orthonormalize();
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RID j = PhysicsServer::get_singleton()->joint_create_hinge(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
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for(int i=0;i<PARAM_MAX;i++) {
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PhysicsServer::get_singleton()->hinge_joint_set_param(j,PhysicsServer::HingeJointParam(i),params[i]);
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}
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for(int i=0;i<FLAG_MAX;i++) {
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set_flag(Flag(i),flags[i]);
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PhysicsServer::get_singleton()->hinge_joint_set_flag(j,PhysicsServer::HingeJointFlag(i),flags[i]);
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}
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return j;
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}
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HingeJoint::HingeJoint() {
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params[PARAM_BIAS]=0.3;
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params[PARAM_LIMIT_UPPER]=Math_PI*0.5;
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params[PARAM_LIMIT_LOWER]=-Math_PI*0.5;
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params[PARAM_LIMIT_BIAS]=0.3;
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params[PARAM_LIMIT_SOFTNESS]=0.9;
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params[PARAM_LIMIT_RELAXATION]=1.0;
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params[PARAM_MOTOR_TARGET_VELOCITY]=1;
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params[PARAM_MOTOR_MAX_IMPULSE]=1;
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flags[FLAG_USE_LIMIT]=false;
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flags[FLAG_ENABLE_MOTOR]=false;
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}
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/////////////////////////////////////////////////
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//////////////////////////////////
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void SliderJoint::_set_upper_limit_angular(float p_limit_angular) {
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set_param(PARAM_ANGULAR_LIMIT_UPPER,Math::deg2rad(p_limit_angular));
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}
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float SliderJoint::_get_upper_limit_angular() const {
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return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_UPPER));
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}
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void SliderJoint::_set_lower_limit_angular(float p_limit_angular) {
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set_param(PARAM_ANGULAR_LIMIT_LOWER,Math::deg2rad(p_limit_angular));
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}
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float SliderJoint::_get_lower_limit_angular() const {
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return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_LOWER));
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}
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void SliderJoint::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_param","param","value"),&SliderJoint::set_param);
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ClassDB::bind_method(D_METHOD("get_param","param"),&SliderJoint::get_param);
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ClassDB::bind_method(D_METHOD("_set_upper_limit_angular","upper_limit_angular"),&SliderJoint::_set_upper_limit_angular);
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ClassDB::bind_method(D_METHOD("_get_upper_limit_angular"),&SliderJoint::_get_upper_limit_angular);
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ClassDB::bind_method(D_METHOD("_set_lower_limit_angular","lower_limit_angular"),&SliderJoint::_set_lower_limit_angular);
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ClassDB::bind_method(D_METHOD("_get_lower_limit_angular"),&SliderJoint::_get_lower_limit_angular);
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/upper_distance",PROPERTY_HINT_RANGE,"-1024,1024,0.01"),"set_param","get_param", PARAM_LINEAR_LIMIT_UPPER);
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/lower_distance",PROPERTY_HINT_RANGE,"-1024,1024,0.01"),"set_param","get_param", PARAM_LINEAR_LIMIT_LOWER);
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_LINEAR_LIMIT_SOFTNESS);
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ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_LINEAR_LIMIT_RESTITUTION);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_limit/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,"set_param","get_param", PARAM_LINEAR_LIMIT_DAMPING);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_motion/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_LINEAR_MOTION_SOFTNESS);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_motion/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_LINEAR_MOTION_RESTITUTION);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_motion/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,"set_param","get_param", PARAM_LINEAR_MOTION_DAMPING);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_ortho/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_LINEAR_ORTHOGONAL_SOFTNESS);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_ortho/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_LINEAR_ORTHOGONAL_RESTITUTION);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"linear_ortho/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,"set_param","get_param", PARAM_LINEAR_ORTHOGONAL_DAMPING);
|
|
|
|
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.1"),"_set_upper_limit_angular","_get_upper_limit_angular") ;
|
|
ADD_PROPERTY( PropertyInfo(Variant::REAL,"angular_limit/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.1"),"_set_lower_limit_angular","_get_lower_limit_angular") ;
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_ANGULAR_LIMIT_SOFTNESS);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_ANGULAR_LIMIT_RESTITUTION);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_limit/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,"set_param","get_param", PARAM_ANGULAR_LIMIT_DAMPING);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_motion/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_ANGULAR_MOTION_SOFTNESS);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_motion/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_ANGULAR_MOTION_RESTITUTION);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_motion/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,"set_param","get_param", PARAM_ANGULAR_MOTION_DAMPING);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_ortho/softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_ANGULAR_ORTHOGONAL_SOFTNESS);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_ortho/restitution",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_ANGULAR_ORTHOGONAL_RESTITUTION);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"angular_ortho/damping",PROPERTY_HINT_RANGE,"0,16.0,0.01") ,"set_param","get_param", PARAM_ANGULAR_ORTHOGONAL_DAMPING);
|
|
|
|
|
|
BIND_CONSTANT( PARAM_LINEAR_LIMIT_UPPER);
|
|
BIND_CONSTANT( PARAM_LINEAR_LIMIT_LOWER);
|
|
BIND_CONSTANT( PARAM_LINEAR_LIMIT_SOFTNESS);
|
|
BIND_CONSTANT( PARAM_LINEAR_LIMIT_RESTITUTION);
|
|
BIND_CONSTANT( PARAM_LINEAR_LIMIT_DAMPING);
|
|
BIND_CONSTANT( PARAM_LINEAR_MOTION_SOFTNESS);
|
|
BIND_CONSTANT( PARAM_LINEAR_MOTION_RESTITUTION);
|
|
BIND_CONSTANT( PARAM_LINEAR_MOTION_DAMPING);
|
|
BIND_CONSTANT( PARAM_LINEAR_ORTHOGONAL_SOFTNESS);
|
|
BIND_CONSTANT( PARAM_LINEAR_ORTHOGONAL_RESTITUTION);
|
|
BIND_CONSTANT( PARAM_LINEAR_ORTHOGONAL_DAMPING);
|
|
|
|
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_UPPER);
|
|
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_LOWER);
|
|
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_SOFTNESS);
|
|
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_RESTITUTION);
|
|
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_DAMPING);
|
|
BIND_CONSTANT( PARAM_ANGULAR_MOTION_SOFTNESS);
|
|
BIND_CONSTANT( PARAM_ANGULAR_MOTION_RESTITUTION);
|
|
BIND_CONSTANT( PARAM_ANGULAR_MOTION_DAMPING);
|
|
BIND_CONSTANT( PARAM_ANGULAR_ORTHOGONAL_SOFTNESS);
|
|
BIND_CONSTANT( PARAM_ANGULAR_ORTHOGONAL_RESTITUTION);
|
|
BIND_CONSTANT( PARAM_ANGULAR_ORTHOGONAL_DAMPING);
|
|
|
|
BIND_CONSTANT( PARAM_MAX);
|
|
}
|
|
|
|
void SliderJoint::set_param(Param p_param,float p_value){
|
|
|
|
ERR_FAIL_INDEX(p_param,PARAM_MAX);
|
|
params[p_param]=p_value;
|
|
if (get_joint().is_valid())
|
|
PhysicsServer::get_singleton()->slider_joint_set_param(get_joint(),PhysicsServer::SliderJointParam(p_param),p_value);
|
|
update_gizmo();
|
|
|
|
}
|
|
float SliderJoint::get_param(Param p_param) const{
|
|
|
|
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
|
|
return params[p_param];
|
|
}
|
|
|
|
|
|
RID SliderJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
|
|
|
|
|
|
Transform gt = get_global_transform();
|
|
Transform ainv = body_a->get_global_transform().affine_inverse();
|
|
|
|
Transform local_a = ainv * gt;
|
|
local_a.orthonormalize();
|
|
Transform local_b = gt;
|
|
|
|
if (body_b) {
|
|
Transform binv = body_b->get_global_transform().affine_inverse();
|
|
local_b = binv * gt;
|
|
}
|
|
|
|
local_b.orthonormalize();
|
|
|
|
RID j = PhysicsServer::get_singleton()->joint_create_slider(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
|
|
for(int i=0;i<PARAM_MAX;i++) {
|
|
PhysicsServer::get_singleton()->slider_joint_set_param(j,PhysicsServer::SliderJointParam(i),params[i]);
|
|
}
|
|
|
|
return j;
|
|
}
|
|
|
|
|
|
SliderJoint::SliderJoint() {
|
|
|
|
|
|
|
|
params[ PARAM_LINEAR_LIMIT_UPPER ]=1.0;
|
|
params[ PARAM_LINEAR_LIMIT_LOWER ]=-1.0;
|
|
params[ PARAM_LINEAR_LIMIT_SOFTNESS ]=1.0;
|
|
params[ PARAM_LINEAR_LIMIT_RESTITUTION]=0.7;
|
|
params[ PARAM_LINEAR_LIMIT_DAMPING]=1.0;
|
|
params[ PARAM_LINEAR_MOTION_SOFTNESS ]=1.0;
|
|
params[ PARAM_LINEAR_MOTION_RESTITUTION]=0.7;
|
|
params[ PARAM_LINEAR_MOTION_DAMPING]=0;//1.0;
|
|
params[ PARAM_LINEAR_ORTHOGONAL_SOFTNESS ]=1.0;
|
|
params[ PARAM_LINEAR_ORTHOGONAL_RESTITUTION]=0.7;
|
|
params[ PARAM_LINEAR_ORTHOGONAL_DAMPING]=1.0;
|
|
|
|
params[ PARAM_ANGULAR_LIMIT_UPPER ]=0 ;
|
|
params[ PARAM_ANGULAR_LIMIT_LOWER ]=0 ;
|
|
params[ PARAM_ANGULAR_LIMIT_SOFTNESS ]=1.0;
|
|
params[ PARAM_ANGULAR_LIMIT_RESTITUTION]=0.7;
|
|
params[ PARAM_ANGULAR_LIMIT_DAMPING]=0;//1.0;
|
|
params[ PARAM_ANGULAR_MOTION_SOFTNESS ]=1.0;
|
|
params[ PARAM_ANGULAR_MOTION_RESTITUTION]=0.7;
|
|
params[ PARAM_ANGULAR_MOTION_DAMPING]=1.0;
|
|
params[ PARAM_ANGULAR_ORTHOGONAL_SOFTNESS ]=1.0;
|
|
params[ PARAM_ANGULAR_ORTHOGONAL_RESTITUTION]=0.7;
|
|
params[ PARAM_ANGULAR_ORTHOGONAL_DAMPING]=1.0;
|
|
}
|
|
|
|
|
|
|
|
//////////////////////////////////
|
|
|
|
|
|
|
|
void ConeTwistJoint::_set_swing_span(float p_limit_angular) {
|
|
|
|
set_param(PARAM_SWING_SPAN,Math::deg2rad(p_limit_angular));
|
|
}
|
|
|
|
float ConeTwistJoint::_get_swing_span() const {
|
|
|
|
return Math::rad2deg(get_param(PARAM_SWING_SPAN));
|
|
}
|
|
|
|
void ConeTwistJoint::_set_twist_span(float p_limit_angular) {
|
|
|
|
set_param(PARAM_TWIST_SPAN,Math::deg2rad(p_limit_angular));
|
|
|
|
}
|
|
|
|
float ConeTwistJoint::_get_twist_span() const {
|
|
|
|
return Math::rad2deg(get_param(PARAM_TWIST_SPAN));
|
|
|
|
}
|
|
|
|
|
|
void ConeTwistJoint::_bind_methods() {
|
|
|
|
ClassDB::bind_method(D_METHOD("set_param","param","value"),&ConeTwistJoint::set_param);
|
|
ClassDB::bind_method(D_METHOD("get_param","param"),&ConeTwistJoint::get_param);
|
|
|
|
|
|
ClassDB::bind_method(D_METHOD("_set_swing_span","swing_span"),&ConeTwistJoint::_set_swing_span);
|
|
ClassDB::bind_method(D_METHOD("_get_swing_span"),&ConeTwistJoint::_get_swing_span);
|
|
|
|
ClassDB::bind_method(D_METHOD("_set_twist_span","twist_span"),&ConeTwistJoint::_set_twist_span);
|
|
ClassDB::bind_method(D_METHOD("_get_twist_span"),&ConeTwistJoint::_get_twist_span);
|
|
|
|
|
|
ADD_PROPERTY( PropertyInfo(Variant::REAL,"swing_span",PROPERTY_HINT_RANGE,"-180,180,0.1"),"_set_swing_span","_get_swing_span") ;
|
|
ADD_PROPERTY( PropertyInfo(Variant::REAL,"twist_span",PROPERTY_HINT_RANGE,"-40000,40000,0.1"),"_set_twist_span","_get_twist_span") ;
|
|
|
|
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"bias",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_BIAS );
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"softness",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_SOFTNESS);
|
|
ADD_PROPERTYI( PropertyInfo(Variant::REAL,"relaxation",PROPERTY_HINT_RANGE,"0.01,16.0,0.01") ,"set_param","get_param", PARAM_RELAXATION);
|
|
|
|
BIND_CONSTANT( PARAM_SWING_SPAN );
|
|
BIND_CONSTANT( PARAM_TWIST_SPAN );
|
|
BIND_CONSTANT( PARAM_BIAS );
|
|
BIND_CONSTANT( PARAM_SOFTNESS );
|
|
BIND_CONSTANT( PARAM_RELAXATION );
|
|
BIND_CONSTANT( PARAM_MAX );
|
|
}
|
|
|
|
void ConeTwistJoint::set_param(Param p_param,float p_value){
|
|
|
|
ERR_FAIL_INDEX(p_param,PARAM_MAX);
|
|
params[p_param]=p_value;
|
|
if (get_joint().is_valid())
|
|
PhysicsServer::get_singleton()->cone_twist_joint_set_param(get_joint(),PhysicsServer::ConeTwistJointParam(p_param),p_value);
|
|
|
|
update_gizmo();
|
|
}
|
|
float ConeTwistJoint::get_param(Param p_param) const{
|
|
|
|
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
|
|
return params[p_param];
|
|
}
|
|
|
|
|
|
RID ConeTwistJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
|
|
|
|
|
|
Transform gt = get_global_transform();
|
|
//Vector3 cone_twistpos = gt.origin;
|
|
//Vector3 cone_twistdir = gt.basis.get_axis(2);
|
|
|
|
Transform ainv = body_a->get_global_transform().affine_inverse();
|
|
|
|
Transform local_a = ainv * gt;
|
|
local_a.orthonormalize();
|
|
Transform local_b = gt;
|
|
|
|
if (body_b) {
|
|
Transform binv = body_b->get_global_transform().affine_inverse();
|
|
local_b = binv * gt;
|
|
}
|
|
|
|
local_b.orthonormalize();
|
|
|
|
RID j = PhysicsServer::get_singleton()->joint_create_cone_twist(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
|
|
for(int i=0;i<PARAM_MAX;i++) {
|
|
PhysicsServer::get_singleton()->cone_twist_joint_set_param(j,PhysicsServer::ConeTwistJointParam(i),params[i]);
|
|
}
|
|
|
|
return j;
|
|
}
|
|
|
|
|
|
ConeTwistJoint::ConeTwistJoint() {
|
|
|
|
|
|
params[ PARAM_SWING_SPAN ]=Math_PI*0.25;
|
|
params[ PARAM_TWIST_SPAN ]=Math_PI;
|
|
params[ PARAM_BIAS ]=0.3;
|
|
params[ PARAM_SOFTNESS ]=0.8;
|
|
params[ PARAM_RELAXATION ]=1.0;
|
|
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
void Generic6DOFJoint::_set_angular_hi_limit_x(float p_limit_angular) {
|
|
|
|
set_param_x(PARAM_ANGULAR_UPPER_LIMIT,Math::deg2rad(p_limit_angular));
|
|
}
|
|
|
|
float Generic6DOFJoint::_get_angular_hi_limit_x() const{
|
|
|
|
return Math::rad2deg(get_param_x(PARAM_ANGULAR_UPPER_LIMIT));
|
|
|
|
}
|
|
|
|
void Generic6DOFJoint::_set_angular_lo_limit_x(float p_limit_angular) {
|
|
|
|
set_param_x(PARAM_ANGULAR_LOWER_LIMIT,Math::deg2rad(p_limit_angular));
|
|
}
|
|
|
|
float Generic6DOFJoint::_get_angular_lo_limit_x() const{
|
|
|
|
return Math::rad2deg(get_param_x(PARAM_ANGULAR_LOWER_LIMIT));
|
|
|
|
}
|
|
|
|
|
|
void Generic6DOFJoint::_set_angular_hi_limit_y(float p_limit_angular) {
|
|
|
|
set_param_y(PARAM_ANGULAR_UPPER_LIMIT,Math::deg2rad(p_limit_angular));
|
|
}
|
|
|
|
float Generic6DOFJoint::_get_angular_hi_limit_y() const{
|
|
|
|
return Math::rad2deg(get_param_y(PARAM_ANGULAR_UPPER_LIMIT));
|
|
|
|
}
|
|
|
|
void Generic6DOFJoint::_set_angular_lo_limit_y(float p_limit_angular) {
|
|
|
|
set_param_y(PARAM_ANGULAR_LOWER_LIMIT,Math::deg2rad(p_limit_angular));
|
|
}
|
|
|
|
float Generic6DOFJoint::_get_angular_lo_limit_y() const{
|
|
|
|
return Math::rad2deg(get_param_y(PARAM_ANGULAR_LOWER_LIMIT));
|
|
|
|
}
|
|
|
|
|
|
void Generic6DOFJoint::_set_angular_hi_limit_z(float p_limit_angular) {
|
|
|
|
set_param_z(PARAM_ANGULAR_UPPER_LIMIT,Math::deg2rad(p_limit_angular));
|
|
}
|
|
|
|
float Generic6DOFJoint::_get_angular_hi_limit_z() const{
|
|
|
|
return Math::rad2deg(get_param_z(PARAM_ANGULAR_UPPER_LIMIT));
|
|
|
|
}
|
|
|
|
void Generic6DOFJoint::_set_angular_lo_limit_z(float p_limit_angular) {
|
|
|
|
set_param_z(PARAM_ANGULAR_LOWER_LIMIT,Math::deg2rad(p_limit_angular));
|
|
}
|
|
|
|
float Generic6DOFJoint::_get_angular_lo_limit_z() const{
|
|
|
|
return Math::rad2deg(get_param_z(PARAM_ANGULAR_LOWER_LIMIT));
|
|
|
|
}
|
|
|
|
|
|
|
|
void Generic6DOFJoint::_bind_methods(){
|
|
|
|
|
|
ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_x","angle"),&Generic6DOFJoint::_set_angular_hi_limit_x);
|
|
ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_x"),&Generic6DOFJoint::_get_angular_hi_limit_x);
|
|
|
|
ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_x","angle"),&Generic6DOFJoint::_set_angular_lo_limit_x);
|
|
ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_x"),&Generic6DOFJoint::_get_angular_lo_limit_x);
|
|
|
|
ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_y","angle"),&Generic6DOFJoint::_set_angular_hi_limit_y);
|
|
ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_y"),&Generic6DOFJoint::_get_angular_hi_limit_y);
|
|
|
|
ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_y","angle"),&Generic6DOFJoint::_set_angular_lo_limit_y);
|
|
ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_y"),&Generic6DOFJoint::_get_angular_lo_limit_y);
|
|
|
|
ClassDB::bind_method(D_METHOD("_set_angular_hi_limit_z","angle"),&Generic6DOFJoint::_set_angular_hi_limit_z);
|
|
ClassDB::bind_method(D_METHOD("_get_angular_hi_limit_z"),&Generic6DOFJoint::_get_angular_hi_limit_z);
|
|
|
|
ClassDB::bind_method(D_METHOD("_set_angular_lo_limit_z","angle"),&Generic6DOFJoint::_set_angular_lo_limit_z);
|
|
ClassDB::bind_method(D_METHOD("_get_angular_lo_limit_z"),&Generic6DOFJoint::_get_angular_lo_limit_z);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_param_x","param","value"),&Generic6DOFJoint::set_param_x);
|
|
ClassDB::bind_method(D_METHOD("get_param_x","param"),&Generic6DOFJoint::get_param_x);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_param_y","param","value"),&Generic6DOFJoint::set_param_y);
|
|
ClassDB::bind_method(D_METHOD("get_param_y","param"),&Generic6DOFJoint::get_param_y);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_param_z","param","value"),&Generic6DOFJoint::set_param_z);
|
|
ClassDB::bind_method(D_METHOD("get_param_z","param"),&Generic6DOFJoint::get_param_z);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_flag_x","flag","value"),&Generic6DOFJoint::set_flag_x);
|
|
ClassDB::bind_method(D_METHOD("get_flag_x","flag"),&Generic6DOFJoint::get_flag_x);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_flag_y","flag","value"),&Generic6DOFJoint::set_flag_y);
|
|
ClassDB::bind_method(D_METHOD("get_flag_y","flag"),&Generic6DOFJoint::get_flag_y);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_flag_z","flag","value"),&Generic6DOFJoint::set_flag_z);
|
|
ClassDB::bind_method(D_METHOD("get_flag_z","flag"),&Generic6DOFJoint::get_flag_z);
|
|
|
|
|
|
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"linear_limit_x/enabled"),"set_flag_x","get_flag_x",FLAG_ENABLE_LINEAR_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/upper_distance"),"set_param_x","get_param_x",PARAM_LINEAR_UPPER_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/lower_distance"),"set_param_x","get_param_x",PARAM_LINEAR_LOWER_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_x","get_param_x",PARAM_LINEAR_LIMIT_SOFTNESS);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_x","get_param_x",PARAM_LINEAR_RESTITUTION);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_x/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_x","get_param_x",PARAM_LINEAR_DAMPING);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_limit_x/enabled"),"set_flag_x","get_flag_x",FLAG_ENABLE_ANGULAR_LIMIT);
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_x/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),"_set_angular_hi_limit_x","_get_angular_hi_limit_x");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_x/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),"_set_angular_lo_limit_x","_get_angular_lo_limit_x");
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_x","get_param_x",PARAM_ANGULAR_LIMIT_SOFTNESS);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_x","get_param_x",PARAM_ANGULAR_RESTITUTION);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_x","get_param_x",PARAM_ANGULAR_DAMPING);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/force_limit"),"set_param_x","get_param_x",PARAM_ANGULAR_FORCE_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_x/erp"),"set_param_x","get_param_x",PARAM_ANGULAR_ERP);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_motor_x/enabled"),"set_flag_x","get_flag_x",FLAG_ENABLE_MOTOR);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_x/target_velocity"),"set_param_x","get_param_x",PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_x/force_limit"),"set_param_x","get_param_x",PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
|
|
|
|
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"linear_limit_y/enabled"),"set_flag_y","get_flag_y",FLAG_ENABLE_LINEAR_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/upper_distance"),"set_param_y","get_param_y",PARAM_LINEAR_UPPER_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/lower_distance"),"set_param_y","get_param_y",PARAM_LINEAR_LOWER_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_y","get_param_y",PARAM_LINEAR_LIMIT_SOFTNESS);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_y","get_param_y",PARAM_LINEAR_RESTITUTION);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_y/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_y","get_param_y",PARAM_LINEAR_DAMPING);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_limit_y/enabled"),"set_flag_y","get_flag_y",FLAG_ENABLE_ANGULAR_LIMIT);
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_y/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),"_set_angular_hi_limit_y","_get_angular_hi_limit_y");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_y/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),"_set_angular_lo_limit_y","_get_angular_lo_limit_y");
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_y","get_param_y",PARAM_ANGULAR_LIMIT_SOFTNESS);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_y","get_param_y",PARAM_ANGULAR_RESTITUTION);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_y","get_param_y",PARAM_ANGULAR_DAMPING);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/force_limit"),"set_param_y","get_param_y",PARAM_ANGULAR_FORCE_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_y/erp"),"set_param_y","get_param_y",PARAM_ANGULAR_ERP);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_motor_y/enabled"),"set_flag_y","get_flag_y",FLAG_ENABLE_MOTOR);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_y/target_velocity"),"set_param_y","get_param_y",PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_y/force_limit"),"set_param_y","get_param_y",PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
|
|
|
|
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"linear_limit_z/enabled"),"set_flag_z","get_flag_z",FLAG_ENABLE_LINEAR_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/upper_distance"),"set_param_z","get_param_z",PARAM_LINEAR_UPPER_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/lower_distance"),"set_param_z","get_param_z",PARAM_LINEAR_LOWER_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_z","get_param_z",PARAM_LINEAR_LIMIT_SOFTNESS);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_z","get_param_z",PARAM_LINEAR_RESTITUTION);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"linear_limit_z/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_z","get_param_z",PARAM_LINEAR_DAMPING);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_limit_z/enabled"),"set_flag_z","get_flag_z",FLAG_ENABLE_ANGULAR_LIMIT);
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_z/upper_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),"_set_angular_hi_limit_z","_get_angular_hi_limit_z");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL,"angular_limit_z/lower_angle",PROPERTY_HINT_RANGE,"-180,180,0.01"),"_set_angular_lo_limit_z","_get_angular_lo_limit_z");
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/softness",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_z","get_param_z",PARAM_ANGULAR_LIMIT_SOFTNESS);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/restitution",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_z","get_param_z",PARAM_ANGULAR_RESTITUTION);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/damping",PROPERTY_HINT_RANGE,"0.01,16,0.01"),"set_param_z","get_param_z",PARAM_ANGULAR_DAMPING);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/force_limit"),"set_param_z","get_param_z",PARAM_ANGULAR_FORCE_LIMIT);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_limit_z/erp"),"set_param_z","get_param_z",PARAM_ANGULAR_ERP);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::BOOL,"angular_motor_z/enabled"),"set_flag_z","get_flag_z",FLAG_ENABLE_MOTOR);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_z/target_velocity"),"set_param_z","get_param_z",PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
|
|
ADD_PROPERTYI(PropertyInfo(Variant::REAL,"angular_motor_z/force_limit"),"set_param_z","get_param_z",PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
|
|
|
|
|
|
BIND_CONSTANT( PARAM_LINEAR_LOWER_LIMIT);
|
|
BIND_CONSTANT( PARAM_LINEAR_UPPER_LIMIT);
|
|
BIND_CONSTANT( PARAM_LINEAR_LIMIT_SOFTNESS);
|
|
BIND_CONSTANT( PARAM_LINEAR_RESTITUTION);
|
|
BIND_CONSTANT( PARAM_LINEAR_DAMPING);
|
|
BIND_CONSTANT( PARAM_ANGULAR_LOWER_LIMIT);
|
|
BIND_CONSTANT( PARAM_ANGULAR_UPPER_LIMIT);
|
|
BIND_CONSTANT( PARAM_ANGULAR_LIMIT_SOFTNESS);
|
|
BIND_CONSTANT( PARAM_ANGULAR_DAMPING);
|
|
BIND_CONSTANT( PARAM_ANGULAR_RESTITUTION);
|
|
BIND_CONSTANT( PARAM_ANGULAR_FORCE_LIMIT);
|
|
BIND_CONSTANT( PARAM_ANGULAR_ERP);
|
|
BIND_CONSTANT( PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
|
|
BIND_CONSTANT( PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
|
|
BIND_CONSTANT( PARAM_MAX);
|
|
|
|
BIND_CONSTANT( FLAG_ENABLE_LINEAR_LIMIT);
|
|
BIND_CONSTANT( FLAG_ENABLE_ANGULAR_LIMIT);
|
|
BIND_CONSTANT( FLAG_ENABLE_MOTOR);
|
|
BIND_CONSTANT( FLAG_MAX );
|
|
}
|
|
|
|
|
|
void Generic6DOFJoint::set_param_x(Param p_param,float p_value){
|
|
|
|
ERR_FAIL_INDEX(p_param,PARAM_MAX);
|
|
params_x[p_param]=p_value;
|
|
if (get_joint().is_valid())
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(),Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisParam(p_param),p_value);
|
|
|
|
update_gizmo();
|
|
}
|
|
float Generic6DOFJoint::get_param_x(Param p_param) const{
|
|
|
|
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
|
|
return params_x[p_param];
|
|
}
|
|
|
|
void Generic6DOFJoint::set_param_y(Param p_param,float p_value){
|
|
|
|
ERR_FAIL_INDEX(p_param,PARAM_MAX);
|
|
params_y[p_param]=p_value;
|
|
if (get_joint().is_valid())
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(),Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisParam(p_param),p_value);
|
|
update_gizmo();
|
|
|
|
}
|
|
float Generic6DOFJoint::get_param_y(Param p_param) const{
|
|
|
|
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
|
|
return params_y[p_param];
|
|
}
|
|
|
|
|
|
void Generic6DOFJoint::set_param_z(Param p_param,float p_value){
|
|
|
|
ERR_FAIL_INDEX(p_param,PARAM_MAX);
|
|
params_z[p_param]=p_value;
|
|
if (get_joint().is_valid())
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(get_joint(),Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisParam(p_param),p_value);
|
|
update_gizmo();
|
|
}
|
|
float Generic6DOFJoint::get_param_z(Param p_param) const{
|
|
|
|
ERR_FAIL_INDEX_V(p_param,PARAM_MAX,0);
|
|
return params_z[p_param];
|
|
}
|
|
|
|
|
|
void Generic6DOFJoint::set_flag_x(Flag p_flag,bool p_enabled){
|
|
|
|
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
|
|
flags_x[p_flag]=p_enabled;
|
|
if (get_joint().is_valid())
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(),Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisFlag(p_flag),p_enabled);
|
|
update_gizmo();
|
|
|
|
}
|
|
bool Generic6DOFJoint::get_flag_x(Flag p_flag) const{
|
|
|
|
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
|
|
return flags_x[p_flag];
|
|
|
|
}
|
|
|
|
void Generic6DOFJoint::set_flag_y(Flag p_flag,bool p_enabled){
|
|
|
|
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
|
|
flags_y[p_flag]=p_enabled;
|
|
if (get_joint().is_valid())
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(),Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisFlag(p_flag),p_enabled);
|
|
update_gizmo();
|
|
}
|
|
bool Generic6DOFJoint::get_flag_y(Flag p_flag) const{
|
|
|
|
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
|
|
return flags_y[p_flag];
|
|
|
|
}
|
|
|
|
void Generic6DOFJoint::set_flag_z(Flag p_flag,bool p_enabled){
|
|
|
|
ERR_FAIL_INDEX(p_flag,FLAG_MAX);
|
|
flags_z[p_flag]=p_enabled;
|
|
if (get_joint().is_valid())
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(get_joint(),Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisFlag(p_flag),p_enabled);
|
|
update_gizmo();
|
|
}
|
|
bool Generic6DOFJoint::get_flag_z(Flag p_flag) const{
|
|
|
|
ERR_FAIL_INDEX_V(p_flag,FLAG_MAX,false);
|
|
return flags_z[p_flag];
|
|
|
|
}
|
|
|
|
RID Generic6DOFJoint::_configure_joint(PhysicsBody *body_a,PhysicsBody *body_b) {
|
|
|
|
|
|
Transform gt = get_global_transform();
|
|
//Vector3 cone_twistpos = gt.origin;
|
|
//Vector3 cone_twistdir = gt.basis.get_axis(2);
|
|
|
|
Transform ainv = body_a->get_global_transform().affine_inverse();
|
|
|
|
Transform local_a = ainv * gt;
|
|
local_a.orthonormalize();
|
|
Transform local_b = gt;
|
|
|
|
if (body_b) {
|
|
Transform binv = body_b->get_global_transform().affine_inverse();
|
|
local_b = binv * gt;
|
|
}
|
|
|
|
local_b.orthonormalize();
|
|
|
|
RID j = PhysicsServer::get_singleton()->joint_create_generic_6dof(body_a->get_rid(),local_a,body_b?body_b->get_rid():RID(),local_b);
|
|
for(int i=0;i<PARAM_MAX;i++) {
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j,Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisParam(i),params_x[i]);
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j,Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisParam(i),params_y[i]);
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j,Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisParam(i),params_z[i]);
|
|
}
|
|
for(int i=0;i<FLAG_MAX;i++) {
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j,Vector3::AXIS_X,PhysicsServer::G6DOFJointAxisFlag(i),flags_x[i]);
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j,Vector3::AXIS_Y,PhysicsServer::G6DOFJointAxisFlag(i),flags_y[i]);
|
|
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j,Vector3::AXIS_Z,PhysicsServer::G6DOFJointAxisFlag(i),flags_z[i]);
|
|
}
|
|
|
|
return j;
|
|
}
|
|
|
|
|
|
Generic6DOFJoint::Generic6DOFJoint() {
|
|
|
|
set_param_x( PARAM_LINEAR_LOWER_LIMIT,0);
|
|
set_param_x( PARAM_LINEAR_UPPER_LIMIT,0);
|
|
set_param_x( PARAM_LINEAR_LIMIT_SOFTNESS,0.7);
|
|
set_param_x( PARAM_LINEAR_RESTITUTION,0.5);
|
|
set_param_x( PARAM_LINEAR_DAMPING,1.0);
|
|
set_param_x( PARAM_ANGULAR_LOWER_LIMIT,0);
|
|
set_param_x( PARAM_ANGULAR_UPPER_LIMIT,0);
|
|
set_param_x( PARAM_ANGULAR_LIMIT_SOFTNESS,0.5f);
|
|
set_param_x( PARAM_ANGULAR_DAMPING,1.0f);
|
|
set_param_x( PARAM_ANGULAR_RESTITUTION,0);
|
|
set_param_x( PARAM_ANGULAR_FORCE_LIMIT,0);
|
|
set_param_x( PARAM_ANGULAR_ERP,0.5);
|
|
set_param_x( PARAM_ANGULAR_MOTOR_TARGET_VELOCITY,0);
|
|
set_param_x( PARAM_ANGULAR_MOTOR_FORCE_LIMIT,300);
|
|
|
|
set_flag_x( FLAG_ENABLE_ANGULAR_LIMIT,true);
|
|
set_flag_x( FLAG_ENABLE_LINEAR_LIMIT,true);
|
|
set_flag_x( FLAG_ENABLE_MOTOR,false);
|
|
|
|
set_param_y( PARAM_LINEAR_LOWER_LIMIT,0);
|
|
set_param_y( PARAM_LINEAR_UPPER_LIMIT,0);
|
|
set_param_y( PARAM_LINEAR_LIMIT_SOFTNESS,0.7);
|
|
set_param_y( PARAM_LINEAR_RESTITUTION,0.5);
|
|
set_param_y( PARAM_LINEAR_DAMPING,1.0);
|
|
set_param_y( PARAM_ANGULAR_LOWER_LIMIT,0);
|
|
set_param_y( PARAM_ANGULAR_UPPER_LIMIT,0);
|
|
set_param_y( PARAM_ANGULAR_LIMIT_SOFTNESS,0.5f);
|
|
set_param_y( PARAM_ANGULAR_DAMPING,1.0f);
|
|
set_param_y( PARAM_ANGULAR_RESTITUTION,0);
|
|
set_param_y( PARAM_ANGULAR_FORCE_LIMIT,0);
|
|
set_param_y( PARAM_ANGULAR_ERP,0.5);
|
|
set_param_y( PARAM_ANGULAR_MOTOR_TARGET_VELOCITY,0);
|
|
set_param_y( PARAM_ANGULAR_MOTOR_FORCE_LIMIT,300);
|
|
|
|
set_flag_y( FLAG_ENABLE_ANGULAR_LIMIT,true);
|
|
set_flag_y( FLAG_ENABLE_LINEAR_LIMIT,true);
|
|
set_flag_y( FLAG_ENABLE_MOTOR,false);
|
|
|
|
|
|
set_param_z( PARAM_LINEAR_LOWER_LIMIT,0);
|
|
set_param_z( PARAM_LINEAR_UPPER_LIMIT,0);
|
|
set_param_z( PARAM_LINEAR_LIMIT_SOFTNESS,0.7);
|
|
set_param_z( PARAM_LINEAR_RESTITUTION,0.5);
|
|
set_param_z( PARAM_LINEAR_DAMPING,1.0);
|
|
set_param_z( PARAM_ANGULAR_LOWER_LIMIT,0);
|
|
set_param_z( PARAM_ANGULAR_UPPER_LIMIT,0);
|
|
set_param_z( PARAM_ANGULAR_LIMIT_SOFTNESS,0.5f);
|
|
set_param_z( PARAM_ANGULAR_DAMPING,1.0f);
|
|
set_param_z( PARAM_ANGULAR_RESTITUTION,0);
|
|
set_param_z( PARAM_ANGULAR_FORCE_LIMIT,0);
|
|
set_param_z( PARAM_ANGULAR_ERP,0.5);
|
|
set_param_z( PARAM_ANGULAR_MOTOR_TARGET_VELOCITY,0);
|
|
set_param_z( PARAM_ANGULAR_MOTOR_FORCE_LIMIT,300);
|
|
|
|
set_flag_z( FLAG_ENABLE_ANGULAR_LIMIT,true);
|
|
set_flag_z( FLAG_ENABLE_LINEAR_LIMIT,true);
|
|
set_flag_z( FLAG_ENABLE_MOTOR,false);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#if 0
|
|
|
|
void PhysicsJoint::_set(const String& p_name, const Variant& p_value) {
|
|
|
|
if (p_name=="body_A")
|
|
set_body_A(p_value);
|
|
else if (p_name=="body_B")
|
|
set_body_B(p_value);
|
|
else if (p_name=="active")
|
|
set_active(p_value);
|
|
else if (p_name=="no_collision")
|
|
set_disable_collision(p_value);
|
|
}
|
|
Variant PhysicsJoint::_get(const String& p_name) const {
|
|
|
|
if (p_name=="body_A")
|
|
return get_body_A();
|
|
else if (p_name=="body_B")
|
|
return get_body_B();
|
|
else if (p_name=="active")
|
|
return is_active();
|
|
else if (p_name=="no_collision")
|
|
return has_disable_collision();
|
|
|
|
return Variant();
|
|
}
|
|
void PhysicsJoint::_get_property_list( List<PropertyInfo> *p_list) const {
|
|
|
|
|
|
p_list->push_back( PropertyInfo( Variant::NODE_PATH, "body_A" ) );
|
|
p_list->push_back( PropertyInfo( Variant::NODE_PATH, "body_B" ) );
|
|
p_list->push_back( PropertyInfo( Variant::BOOL, "active" ) );
|
|
p_list->push_back( PropertyInfo( Variant::BOOL, "no_collision" ) );
|
|
}
|
|
void PhysicsJoint::_notification(int p_what) {
|
|
|
|
|
|
switch(p_what) {
|
|
|
|
case NOTIFICATION_PARENT_CONFIGURED: {
|
|
|
|
_connect();
|
|
if (get_root_node()->get_editor() && !indicator.is_valid()) {
|
|
|
|
indicator=VisualServer::get_singleton()->poly_create();
|
|
RID mat=VisualServer::get_singleton()->fixed_material_create();
|
|
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_UNSHADED, true );
|
|
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_ONTOP, true );
|
|
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_WIREFRAME, true );
|
|
VisualServer::get_singleton()->material_set_flag( mat, VisualServer::MATERIAL_FLAG_DOUBLE_SIDED, true );
|
|
VisualServer::get_singleton()->material_set_line_width( mat, 3 );
|
|
|
|
VisualServer::get_singleton()->poly_set_material(indicator,mat,true);
|
|
_update_indicator();
|
|
|
|
}
|
|
|
|
if (indicator.is_valid()) {
|
|
|
|
indicator_instance=VisualServer::get_singleton()->instance_create(indicator,get_world()->get_scenario());
|
|
VisualServer::get_singleton()->instance_attach_object_instance_ID( indicator_instance,get_instance_ID() );
|
|
}
|
|
} break;
|
|
case NOTIFICATION_TRANSFORM_CHANGED: {
|
|
|
|
if (indicator_instance.is_valid()) {
|
|
|
|
VisualServer::get_singleton()->instance_set_transform(indicator_instance,get_global_transform());
|
|
}
|
|
} break;
|
|
case NOTIFICATION_EXIT_SCENE: {
|
|
|
|
if (indicator_instance.is_valid()) {
|
|
|
|
VisualServer::get_singleton()->free(indicator_instance);
|
|
}
|
|
_disconnect();
|
|
|
|
} break;
|
|
|
|
}
|
|
}
|
|
|
|
|
|
RID PhysicsJoint::_get_visual_instance_rid() const {
|
|
|
|
return indicator_instance;
|
|
|
|
}
|
|
|
|
void PhysicsJoint::_bind_methods() {
|
|
|
|
ClassDB::bind_method(D_METHOD("_get_visual_instance_rid"),&PhysicsJoint::_get_visual_instance_rid);
|
|
ClassDB::bind_method(D_METHOD("set_body_A","path"),&PhysicsJoint::set_body_A);
|
|
ClassDB::bind_method(D_METHOD("set_body_B"),&PhysicsJoint::set_body_B);
|
|
ClassDB::bind_method(D_METHOD("get_body_A","path"),&PhysicsJoint::get_body_A);
|
|
ClassDB::bind_method(D_METHOD("get_body_B"),&PhysicsJoint::get_body_B);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_active","active"),&PhysicsJoint::set_active);
|
|
ClassDB::bind_method(D_METHOD("is_active"),&PhysicsJoint::is_active);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_disable_collision","disable"),&PhysicsJoint::set_disable_collision);
|
|
ClassDB::bind_method(D_METHOD("has_disable_collision"),&PhysicsJoint::has_disable_collision);
|
|
|
|
|
|
ClassDB::bind_method("reconnect",&PhysicsJoint::reconnect);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_rid"),&PhysicsJoint::get_rid);
|
|
|
|
}
|
|
|
|
void PhysicsJoint::set_body_A(const NodePath& p_path) {
|
|
|
|
_disconnect();
|
|
body_A=p_path;
|
|
_connect();
|
|
_change_notify("body_A");
|
|
}
|
|
void PhysicsJoint::set_body_B(const NodePath& p_path) {
|
|
|
|
_disconnect();
|
|
body_B=p_path;
|
|
_connect();
|
|
_change_notify("body_B");
|
|
|
|
}
|
|
NodePath PhysicsJoint::get_body_A() const {
|
|
|
|
return body_A;
|
|
}
|
|
NodePath PhysicsJoint::get_body_B() const {
|
|
|
|
return body_B;
|
|
}
|
|
|
|
void PhysicsJoint::set_active(bool p_active) {
|
|
|
|
active=p_active;
|
|
if (is_inside_scene()) {
|
|
PhysicsServer::get_singleton()->joint_set_active(joint,active);
|
|
}
|
|
_change_notify("active");
|
|
}
|
|
|
|
void PhysicsJoint::set_disable_collision(bool p_active) {
|
|
|
|
if (no_collision==p_active)
|
|
return;
|
|
_disconnect();
|
|
no_collision=p_active;
|
|
_connect();
|
|
|
|
_change_notify("no_collision");
|
|
}
|
|
bool PhysicsJoint::has_disable_collision() const {
|
|
|
|
return no_collision;
|
|
}
|
|
|
|
|
|
|
|
bool PhysicsJoint::is_active() const {
|
|
|
|
return active;
|
|
}
|
|
|
|
void PhysicsJoint::_disconnect() {
|
|
|
|
if (!is_inside_scene())
|
|
return;
|
|
|
|
if (joint.is_valid())
|
|
PhysicsServer::get_singleton()->free(joint);
|
|
|
|
joint=RID();
|
|
|
|
Node *nA = get_node(body_A);
|
|
Node *nB = get_node(body_B);
|
|
|
|
PhysicsBody *A = nA?nA->cast_to<PhysicsBody>():NULL;
|
|
PhysicsBody *B = nA?nB->cast_to<PhysicsBody>():NULL;
|
|
|
|
if (!A ||!B)
|
|
return;
|
|
|
|
if (no_collision)
|
|
PhysicsServer::get_singleton()->body_remove_collision_exception(A->get_body(),B->get_body());
|
|
|
|
}
|
|
void PhysicsJoint::_connect() {
|
|
|
|
if (!is_inside_scene())
|
|
return;
|
|
|
|
ERR_FAIL_COND(joint.is_valid());
|
|
|
|
Node *nA = get_node(body_A);
|
|
Node *nB = get_node(body_B);
|
|
|
|
PhysicsBody *A = nA?nA->cast_to<PhysicsBody>():NULL;
|
|
PhysicsBody *B = nA?nB->cast_to<PhysicsBody>():NULL;
|
|
|
|
if (!A && !B)
|
|
return;
|
|
|
|
if (B && !A)
|
|
SWAP(B,A);
|
|
|
|
joint = create(A,B);
|
|
|
|
if (A<B)
|
|
SWAP(A,B);
|
|
|
|
if (no_collision)
|
|
PhysicsServer::get_singleton()->body_add_collision_exception(A->get_body(),B->get_body());
|
|
|
|
|
|
|
|
}
|
|
|
|
void PhysicsJoint::reconnect() {
|
|
|
|
_disconnect();
|
|
_connect();
|
|
|
|
}
|
|
|
|
|
|
RID PhysicsJoint::get_rid() {
|
|
|
|
return joint;
|
|
}
|
|
|
|
|
|
PhysicsJoint::PhysicsJoint() {
|
|
|
|
active=true;
|
|
no_collision=true;
|
|
}
|
|
|
|
|
|
PhysicsJoint::~PhysicsJoint() {
|
|
|
|
if (indicator.is_valid()) {
|
|
|
|
VisualServer::get_singleton()->free(indicator);
|
|
}
|
|
|
|
}
|
|
|
|
/* PIN */
|
|
|
|
void PhysicsJointPin::_update_indicator() {
|
|
|
|
|
|
VisualServer::get_singleton()->poly_clear(indicator);
|
|
|
|
Vector<Color> colors;
|
|
colors.push_back( Color(0.3,0.9,0.2,0.7) );
|
|
colors.push_back( Color(0.3,0.9,0.2,0.7) );
|
|
|
|
Vector<Vector3> points;
|
|
points.resize(2);
|
|
points[0]=Vector3(Vector3(-0.2,0,0));
|
|
points[1]=Vector3(Vector3(0.2,0,0));
|
|
VisualServer::get_singleton()->poly_add_primitive(indicator,points,Vector<Vector3>(),colors,Vector<Vector3>());
|
|
|
|
points[0]=Vector3(Vector3(0,-0.2,0));
|
|
points[1]=Vector3(Vector3(0,0.2,0));
|
|
VisualServer::get_singleton()->poly_add_primitive(indicator,points,Vector<Vector3>(),colors,Vector<Vector3>());
|
|
|
|
points[0]=Vector3(Vector3(0,0,-0.2));
|
|
points[1]=Vector3(Vector3(0,0,0.2));
|
|
VisualServer::get_singleton()->poly_add_primitive(indicator,points,Vector<Vector3>(),colors,Vector<Vector3>());
|
|
|
|
}
|
|
|
|
RID PhysicsJointPin::create(PhysicsBody*A,PhysicsBody*B) {
|
|
|
|
RID body_A = A->get_body();
|
|
RID body_B = B?B->get_body():RID();
|
|
|
|
ERR_FAIL_COND_V( !body_A.is_valid(), RID() );
|
|
|
|
Vector3 pin_pos = get_global_transform().origin;
|
|
|
|
if (body_B.is_valid())
|
|
return PhysicsServer::get_singleton()->joint_create_double_pin_global(body_A,pin_pos,body_B,pin_pos);
|
|
else
|
|
return PhysicsServer::get_singleton()->joint_create_pin(body_A,A->get_global_transform().xform_inv(pin_pos),pin_pos);
|
|
}
|
|
|
|
PhysicsJointPin::PhysicsJointPin() {
|
|
|
|
|
|
}
|
|
#endif
|