/*************************************************************************/ /* physics_joint.cpp */ /*************************************************************************/ /* This file is part of: */ /* PANDEMONIUM ENGINE */ /* https://github.com/Relintai/pandemonium_engine */ /*************************************************************************/ /* Copyright (c) 2022-present Péter Magyar. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #include "physics_joint.h" #include "scene/3d/physics_body.h" #include "scene/main/scene_string_names.h" #include "scene/resources/shapes/shape.h" void Joint::_disconnect_signals() { Node *node_a = get_node_or_null(a); PhysicsBody *body_a = Object::cast_to(node_a); if (body_a) { body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, this, SceneStringNames::get_singleton()->_body_exit_tree); } Node *node_b = get_node_or_null(b); PhysicsBody *body_b = Object::cast_to(node_b); if (body_b) { body_b->disconnect(SceneStringNames::get_singleton()->tree_exiting, this, SceneStringNames::get_singleton()->_body_exit_tree); } } void Joint::_body_exit_tree() { _disconnect_signals(); _update_joint(true); } void Joint::_update_joint(bool p_only_free) { if (joint.is_valid()) { if (ba.is_valid() && bb.is_valid()) { PhysicsServer::get_singleton()->body_remove_collision_exception(ba, bb); PhysicsServer::get_singleton()->body_remove_collision_exception(bb, ba); } PhysicsServer::get_singleton()->free(joint); joint = RID(); ba = RID(); bb = RID(); } if (p_only_free || !is_inside_tree()) { warning = String(); return; } Node *node_a = get_node_or_null(a); Node *node_b = get_node_or_null(b); PhysicsBody *body_a = Object::cast_to(node_a); PhysicsBody *body_b = Object::cast_to(node_b); if (node_a && !body_a && node_b && !body_b) { warning = TTR("Node A and Node B must be PhysicsBodies"); update_configuration_warning(); return; } if (node_a && !body_a) { warning = TTR("Node A must be a PhysicsBody"); update_configuration_warning(); return; } if (node_b && !body_b) { warning = TTR("Node B must be a PhysicsBody"); update_configuration_warning(); return; } if (!body_a && !body_b) { warning = TTR("Joint is not connected to any PhysicsBodies"); update_configuration_warning(); return; } if (body_a == body_b) { warning = TTR("Node A and Node B must be different PhysicsBodies"); update_configuration_warning(); return; } warning = String(); update_configuration_warning(); if (body_a) { joint = _configure_joint(body_a, body_b); } else if (body_b) { joint = _configure_joint(body_b, nullptr); } ERR_FAIL_COND_MSG(!joint.is_valid(), "Failed to configure the joint."); PhysicsServer::get_singleton()->joint_set_solver_priority(joint, solver_priority); if (body_a) { ba = body_a->get_rid(); body_a->connect(SceneStringNames::get_singleton()->tree_exiting, this, SceneStringNames::get_singleton()->_body_exit_tree); } if (body_b) { bb = body_b->get_rid(); body_b->connect(SceneStringNames::get_singleton()->tree_exiting, this, SceneStringNames::get_singleton()->_body_exit_tree); } PhysicsServer::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); } void Joint::set_node_a(const NodePath &p_node_a) { if (a == p_node_a) { return; } if (joint.is_valid()) { _disconnect_signals(); } a = p_node_a; _update_joint(); } NodePath Joint::get_node_a() const { return a; } void Joint::set_node_b(const NodePath &p_node_b) { if (b == p_node_b) { return; } if (joint.is_valid()) { _disconnect_signals(); } b = p_node_b; _update_joint(); } NodePath Joint::get_node_b() const { return b; } void Joint::set_solver_priority(int p_priority) { solver_priority = p_priority; if (joint.is_valid()) { PhysicsServer::get_singleton()->joint_set_solver_priority(joint, solver_priority); } } int Joint::get_solver_priority() const { return solver_priority; } void Joint::_notification(int p_what) { switch (p_what) { case NOTIFICATION_POST_ENTER_TREE: { if (joint.is_valid()) { _disconnect_signals(); } _update_joint(); } break; case NOTIFICATION_EXIT_TREE: { if (joint.is_valid()) { _disconnect_signals(); } _update_joint(true); } break; } } void Joint::set_exclude_nodes_from_collision(bool p_enable) { if (exclude_from_collision == p_enable) { return; } if (joint.is_valid()) { _disconnect_signals(); } _update_joint(true); exclude_from_collision = p_enable; _update_joint(); } bool Joint::get_exclude_nodes_from_collision() const { return exclude_from_collision; } String Joint::get_configuration_warning() const { String node_warning = Node::get_configuration_warning(); if (!warning.empty()) { if (!node_warning.empty()) { node_warning += "\n\n"; } node_warning += warning; } return node_warning; } void Joint::_bind_methods() { ClassDB::bind_method(D_METHOD("_body_exit_tree"), &Joint::_body_exit_tree); ClassDB::bind_method(D_METHOD("set_node_a", "node"), &Joint::set_node_a); ClassDB::bind_method(D_METHOD("get_node_a"), &Joint::get_node_a); ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint::set_node_b); ClassDB::bind_method(D_METHOD("get_node_b"), &Joint::get_node_b); ClassDB::bind_method(D_METHOD("set_solver_priority", "priority"), &Joint::set_solver_priority); ClassDB::bind_method(D_METHOD("get_solver_priority"), &Joint::get_solver_priority); ClassDB::bind_method(D_METHOD("set_exclude_nodes_from_collision", "enable"), &Joint::set_exclude_nodes_from_collision); ClassDB::bind_method(D_METHOD("get_exclude_nodes_from_collision"), &Joint::get_exclude_nodes_from_collision); ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "nodes/node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody"), "set_node_a", "get_node_a"); ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "nodes/node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody"), "set_node_b", "get_node_b"); ADD_PROPERTY(PropertyInfo(Variant::INT, "solver/priority", PROPERTY_HINT_RANGE, "1,8,1"), "set_solver_priority", "get_solver_priority"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collision/exclude_nodes"), "set_exclude_nodes_from_collision", "get_exclude_nodes_from_collision"); } Joint::Joint() { exclude_from_collision = true; solver_priority = 1; set_notify_transform(true); } /////////////////////////////////// void PinJoint::_bind_methods() { ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &PinJoint::set_param); ClassDB::bind_method(D_METHOD("get_param", "param"), &PinJoint::get_param); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"), "set_param", "get_param", PARAM_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01"), "set_param", "get_param", PARAM_IMPULSE_CLAMP); BIND_ENUM_CONSTANT(PARAM_BIAS); BIND_ENUM_CONSTANT(PARAM_DAMPING); BIND_ENUM_CONSTANT(PARAM_IMPULSE_CLAMP); } void PinJoint::set_param(Param p_param, float p_value) { ERR_FAIL_INDEX(p_param, 3); params[p_param] = p_value; if (get_joint().is_valid()) { PhysicsServer::get_singleton()->pin_joint_set_param(get_joint(), PhysicsServer::PinJointParam(p_param), p_value); } } float PinJoint::get_param(Param p_param) const { ERR_FAIL_INDEX_V(p_param, 3, 0); return params[p_param]; } RID PinJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) { Vector3 pinpos = get_global_transform().origin; Vector3 local_a = body_a->get_global_transform().affine_inverse().xform(pinpos); Vector3 local_b; if (body_b) { local_b = body_b->get_global_transform().affine_inverse().xform(pinpos); } else { local_b = pinpos; } RID j = PhysicsServer::get_singleton()->joint_create_pin(body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); for (int i = 0; i < 3; i++) { PhysicsServer::get_singleton()->pin_joint_set_param(j, PhysicsServer::PinJointParam(i), params[i]); } return j; } PinJoint::PinJoint() { params[PARAM_BIAS] = 0.3; params[PARAM_DAMPING] = 1; params[PARAM_IMPULSE_CLAMP] = 0; } ///////////////////////////////////////////////// /////////////////////////////////// void HingeJoint::_set_upper_limit(float p_limit) { set_param(PARAM_LIMIT_UPPER, Math::deg2rad(p_limit)); } float HingeJoint::_get_upper_limit() const { return Math::rad2deg(get_param(PARAM_LIMIT_UPPER)); } void HingeJoint::_set_lower_limit(float p_limit) { set_param(PARAM_LIMIT_LOWER, Math::deg2rad(p_limit)); } float HingeJoint::_get_lower_limit() const { return Math::rad2deg(get_param(PARAM_LIMIT_LOWER)); } void HingeJoint::_bind_methods() { ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &HingeJoint::set_param); ClassDB::bind_method(D_METHOD("get_param", "param"), &HingeJoint::get_param); ClassDB::bind_method(D_METHOD("set_flag", "flag", "enabled"), &HingeJoint::set_flag); ClassDB::bind_method(D_METHOD("get_flag", "flag"), &HingeJoint::get_flag); ClassDB::bind_method(D_METHOD("_set_upper_limit", "upper_limit"), &HingeJoint::_set_upper_limit); ClassDB::bind_method(D_METHOD("_get_upper_limit"), &HingeJoint::_get_upper_limit); ClassDB::bind_method(D_METHOD("_set_lower_limit", "lower_limit"), &HingeJoint::_set_lower_limit); ClassDB::bind_method(D_METHOD("_get_lower_limit"), &HingeJoint::_get_lower_limit); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "params/bias", PROPERTY_HINT_RANGE, "0.00,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit/enable"), "set_flag", "get_flag", FLAG_USE_LIMIT); ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_upper_limit", "_get_upper_limit"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1"), "_set_lower_limit", "_get_lower_limit"); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_LIMIT_BIAS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_SOFTNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_limit/relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_RELAXATION); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "motor/enable"), "set_flag", "get_flag", FLAG_ENABLE_MOTOR); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "motor/target_velocity", PROPERTY_HINT_RANGE, "-200,200,0.01,or_greater,or_lesser"), "set_param", "get_param", PARAM_MOTOR_TARGET_VELOCITY); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "motor/max_impulse", PROPERTY_HINT_RANGE, "0.01,1024,0.01"), "set_param", "get_param", PARAM_MOTOR_MAX_IMPULSE); BIND_ENUM_CONSTANT(PARAM_BIAS); BIND_ENUM_CONSTANT(PARAM_LIMIT_UPPER); BIND_ENUM_CONSTANT(PARAM_LIMIT_LOWER); BIND_ENUM_CONSTANT(PARAM_LIMIT_BIAS); BIND_ENUM_CONSTANT(PARAM_LIMIT_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_LIMIT_RELAXATION); BIND_ENUM_CONSTANT(PARAM_MOTOR_TARGET_VELOCITY); BIND_ENUM_CONSTANT(PARAM_MOTOR_MAX_IMPULSE); BIND_ENUM_CONSTANT(PARAM_MAX); BIND_ENUM_CONSTANT(FLAG_USE_LIMIT); BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); BIND_ENUM_CONSTANT(FLAG_MAX); } void HingeJoint::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()->hinge_joint_set_param(get_joint(), PhysicsServer::HingeJointParam(p_param), p_value); } update_gizmos(); } float HingeJoint::get_param(Param p_param) const { ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); return params[p_param]; } void HingeJoint::set_flag(Flag p_flag, bool p_value) { ERR_FAIL_INDEX(p_flag, FLAG_MAX); flags[p_flag] = p_value; if (get_joint().is_valid()) { PhysicsServer::get_singleton()->hinge_joint_set_flag(get_joint(), PhysicsServer::HingeJointFlag(p_flag), p_value); } update_gizmos(); } bool HingeJoint::get_flag(Flag p_flag) const { ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); return flags[p_flag]; } RID HingeJoint::_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 = RID_PRIME(PhysicsServer::get_singleton()->joint_create_hinge(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()->hinge_joint_set_param(j, PhysicsServer::HingeJointParam(i), params[i]); } for (int i = 0; i < FLAG_MAX; i++) { set_flag(Flag(i), flags[i]); PhysicsServer::get_singleton()->hinge_joint_set_flag(j, PhysicsServer::HingeJointFlag(i), flags[i]); } return j; } HingeJoint::HingeJoint() { params[PARAM_BIAS] = 0.3; params[PARAM_LIMIT_UPPER] = Math_PI * 0.5; params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5; params[PARAM_LIMIT_BIAS] = 0.3; params[PARAM_LIMIT_SOFTNESS] = 0.9; params[PARAM_LIMIT_RELAXATION] = 1.0; params[PARAM_MOTOR_TARGET_VELOCITY] = 1; params[PARAM_MOTOR_MAX_IMPULSE] = 1; flags[FLAG_USE_LIMIT] = false; flags[FLAG_ENABLE_MOTOR] = false; } ///////////////////////////////////////////////// ////////////////////////////////// void SliderJoint::_set_upper_limit_angular(float p_limit_angular) { set_param(PARAM_ANGULAR_LIMIT_UPPER, Math::deg2rad(p_limit_angular)); } float SliderJoint::_get_upper_limit_angular() const { return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_UPPER)); } void SliderJoint::_set_lower_limit_angular(float p_limit_angular) { set_param(PARAM_ANGULAR_LIMIT_LOWER, Math::deg2rad(p_limit_angular)); } float SliderJoint::_get_lower_limit_angular() const { return Math::rad2deg(get_param(PARAM_ANGULAR_LIMIT_LOWER)); } void SliderJoint::_bind_methods() { ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &SliderJoint::set_param); ClassDB::bind_method(D_METHOD("get_param", "param"), &SliderJoint::get_param); ClassDB::bind_method(D_METHOD("_set_upper_limit_angular", "upper_limit_angular"), &SliderJoint::_set_upper_limit_angular); ClassDB::bind_method(D_METHOD("_get_upper_limit_angular"), &SliderJoint::_get_upper_limit_angular); ClassDB::bind_method(D_METHOD("_set_lower_limit_angular", "lower_limit_angular"), &SliderJoint::_set_lower_limit_angular); ClassDB::bind_method(D_METHOD("_get_lower_limit_angular"), &SliderJoint::_get_lower_limit_angular); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit/upper_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_UPPER); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit/lower_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_LOWER); 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); 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_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_UPPER); BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_LOWER); BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_RESTITUTION); BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_DAMPING); BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_RESTITUTION); BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_DAMPING); BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_RESTITUTION); BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_DAMPING); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_UPPER); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_LOWER); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_RESTITUTION); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_DAMPING); BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_RESTITUTION); BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_DAMPING); BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_DAMPING); BIND_ENUM_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_gizmos(); } 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_ENUM_CONSTANT(PARAM_SWING_SPAN); BIND_ENUM_CONSTANT(PARAM_TWIST_SPAN); BIND_ENUM_CONSTANT(PARAM_BIAS); BIND_ENUM_CONSTANT(PARAM_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_RELAXATION); BIND_ENUM_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_gizmos(); } 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, "linear_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_MOTOR); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_FORCE_LIMIT); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_SPRING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_STIFFNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_x/damping"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); 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, "angular_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_SPRING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_STIFFNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_x/damping"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT); 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, "linear_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_MOTOR); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_FORCE_LIMIT); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_SPRING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_STIFFNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_y/damping"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); 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, "angular_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_SPRING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_STIFFNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_y/damping"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT); 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, "linear_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_MOTOR); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_TARGET_VELOCITY); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_FORCE_LIMIT); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_SPRING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_STIFFNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_z/damping"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_z/equilibrium_point"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); 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); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_SPRING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_STIFFNESS); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/damping"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_DAMPING); ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/equilibrium_point"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT); BIND_ENUM_CONSTANT(PARAM_LINEAR_LOWER_LIMIT); BIND_ENUM_CONSTANT(PARAM_LINEAR_UPPER_LIMIT); BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_LINEAR_RESTITUTION); BIND_ENUM_CONSTANT(PARAM_LINEAR_DAMPING); BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTOR_TARGET_VELOCITY); BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTOR_FORCE_LIMIT); BIND_ENUM_CONSTANT(PARAM_LINEAR_SPRING_STIFFNESS); BIND_ENUM_CONSTANT(PARAM_LINEAR_SPRING_DAMPING); BIND_ENUM_CONSTANT(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LOWER_LIMIT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_UPPER_LIMIT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS); BIND_ENUM_CONSTANT(PARAM_ANGULAR_DAMPING); BIND_ENUM_CONSTANT(PARAM_ANGULAR_RESTITUTION); BIND_ENUM_CONSTANT(PARAM_ANGULAR_FORCE_LIMIT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_ERP); BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY); BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTOR_FORCE_LIMIT); BIND_ENUM_CONSTANT(PARAM_ANGULAR_SPRING_STIFFNESS); BIND_ENUM_CONSTANT(PARAM_ANGULAR_SPRING_DAMPING); BIND_ENUM_CONSTANT(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT); BIND_ENUM_CONSTANT(PARAM_MAX); BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_LIMIT); BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_LIMIT); BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_SPRING); BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_SPRING); BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_MOTOR); BIND_ENUM_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_gizmos(); } 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_gizmos(); } 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_gizmos(); } 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_gizmos(); } 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_gizmos(); } 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_gizmos(); } 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_LINEAR_MOTOR_TARGET_VELOCITY, 0); set_param_x(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0); set_param_x(PARAM_LINEAR_SPRING_STIFFNESS, 0.01); set_param_x(PARAM_LINEAR_SPRING_DAMPING, 0.01); set_param_x(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0); 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_param_x(PARAM_ANGULAR_SPRING_STIFFNESS, 0); set_param_x(PARAM_ANGULAR_SPRING_DAMPING, 0); set_param_x(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0); set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true); set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true); set_flag_x(FLAG_ENABLE_ANGULAR_SPRING, false); set_flag_x(FLAG_ENABLE_LINEAR_SPRING, false); set_flag_x(FLAG_ENABLE_MOTOR, false); set_flag_x(FLAG_ENABLE_LINEAR_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_LINEAR_MOTOR_TARGET_VELOCITY, 0); set_param_y(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0); set_param_y(PARAM_LINEAR_SPRING_STIFFNESS, 0.01); set_param_y(PARAM_LINEAR_SPRING_DAMPING, 0.01); set_param_y(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0); 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_param_y(PARAM_ANGULAR_SPRING_STIFFNESS, 0); set_param_y(PARAM_ANGULAR_SPRING_DAMPING, 0); set_param_y(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0); set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true); set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true); set_flag_y(FLAG_ENABLE_ANGULAR_SPRING, false); set_flag_y(FLAG_ENABLE_LINEAR_SPRING, false); set_flag_y(FLAG_ENABLE_MOTOR, false); set_flag_y(FLAG_ENABLE_LINEAR_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_LINEAR_MOTOR_TARGET_VELOCITY, 0); set_param_z(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0); set_param_z(PARAM_LINEAR_SPRING_STIFFNESS, 0.01); set_param_z(PARAM_LINEAR_SPRING_DAMPING, 0.01); set_param_z(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0); 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_param_z(PARAM_ANGULAR_SPRING_STIFFNESS, 0); set_param_z(PARAM_ANGULAR_SPRING_DAMPING, 0); set_param_z(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0); set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true); set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true); set_flag_z(FLAG_ENABLE_ANGULAR_SPRING, false); set_flag_z(FLAG_ENABLE_LINEAR_SPRING, false); set_flag_z(FLAG_ENABLE_MOTOR, false); set_flag_z(FLAG_ENABLE_LINEAR_MOTOR, false); }