mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-30 15:47:12 +01:00
323 lines
9.9 KiB
C++
323 lines
9.9 KiB
C++
#ifndef PHYSICAL_BONE_H
|
|
#define PHYSICAL_BONE_H
|
|
|
|
/*************************************************************************/
|
|
/* physical_bone.h */
|
|
/*************************************************************************/
|
|
/* 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 "core/containers/vset.h"
|
|
#include "core/object/reference.h"
|
|
#include "scene/3d/collision_object.h"
|
|
#include "scene/3d/physics_body.h"
|
|
#include "servers/physics_server.h"
|
|
|
|
class PhysicsMaterial;
|
|
class Skeleton;
|
|
|
|
class PhysicalBone : public PhysicsBody {
|
|
GDCLASS(PhysicalBone, PhysicsBody);
|
|
|
|
public:
|
|
enum JointType {
|
|
JOINT_TYPE_NONE,
|
|
JOINT_TYPE_PIN,
|
|
JOINT_TYPE_CONE,
|
|
JOINT_TYPE_HINGE,
|
|
JOINT_TYPE_SLIDER,
|
|
JOINT_TYPE_6DOF
|
|
};
|
|
|
|
struct JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
|
|
|
|
/// "j" is used to set the parameter inside the PhysicsServer
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
virtual ~JointData() {}
|
|
};
|
|
|
|
struct PinJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t bias;
|
|
real_t damping;
|
|
real_t impulse_clamp;
|
|
|
|
PinJointData() :
|
|
bias(0.3),
|
|
damping(1.),
|
|
impulse_clamp(0) {}
|
|
};
|
|
|
|
struct ConeJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t swing_span;
|
|
real_t twist_span;
|
|
real_t bias;
|
|
real_t softness;
|
|
real_t relaxation;
|
|
|
|
ConeJointData() :
|
|
swing_span(Math_PI * 0.25),
|
|
twist_span(Math_PI),
|
|
bias(0.3),
|
|
softness(0.8),
|
|
relaxation(1.) {}
|
|
};
|
|
|
|
struct HingeJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
bool angular_limit_enabled;
|
|
real_t angular_limit_upper;
|
|
real_t angular_limit_lower;
|
|
real_t angular_limit_bias;
|
|
real_t angular_limit_softness;
|
|
real_t angular_limit_relaxation;
|
|
|
|
HingeJointData() :
|
|
angular_limit_enabled(false),
|
|
angular_limit_upper(Math_PI * 0.5),
|
|
angular_limit_lower(-Math_PI * 0.5),
|
|
angular_limit_bias(0.3),
|
|
angular_limit_softness(0.9),
|
|
angular_limit_relaxation(1.) {}
|
|
};
|
|
|
|
struct SliderJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t linear_limit_upper;
|
|
real_t linear_limit_lower;
|
|
real_t linear_limit_softness;
|
|
real_t linear_limit_restitution;
|
|
real_t linear_limit_damping;
|
|
real_t angular_limit_upper;
|
|
real_t angular_limit_lower;
|
|
real_t angular_limit_softness;
|
|
real_t angular_limit_restitution;
|
|
real_t angular_limit_damping;
|
|
|
|
SliderJointData() :
|
|
linear_limit_upper(1.),
|
|
linear_limit_lower(-1.),
|
|
linear_limit_softness(1.),
|
|
linear_limit_restitution(0.7),
|
|
linear_limit_damping(1.),
|
|
angular_limit_upper(0),
|
|
angular_limit_lower(0),
|
|
angular_limit_softness(1.),
|
|
angular_limit_restitution(0.7),
|
|
angular_limit_damping(1.) {}
|
|
};
|
|
|
|
struct SixDOFJointData : public JointData {
|
|
struct SixDOFAxisData {
|
|
bool linear_limit_enabled;
|
|
real_t linear_limit_upper;
|
|
real_t linear_limit_lower;
|
|
real_t linear_limit_softness;
|
|
real_t linear_restitution;
|
|
real_t linear_damping;
|
|
bool linear_spring_enabled;
|
|
real_t linear_spring_stiffness;
|
|
real_t linear_spring_damping;
|
|
real_t linear_equilibrium_point;
|
|
bool angular_limit_enabled;
|
|
real_t angular_limit_upper;
|
|
real_t angular_limit_lower;
|
|
real_t angular_limit_softness;
|
|
real_t angular_restitution;
|
|
real_t angular_damping;
|
|
real_t erp;
|
|
bool angular_spring_enabled;
|
|
real_t angular_spring_stiffness;
|
|
real_t angular_spring_damping;
|
|
real_t angular_equilibrium_point;
|
|
|
|
SixDOFAxisData() :
|
|
linear_limit_enabled(true),
|
|
linear_limit_upper(0),
|
|
linear_limit_lower(0),
|
|
linear_limit_softness(0.7),
|
|
linear_restitution(0.5),
|
|
linear_damping(1.),
|
|
linear_spring_enabled(false),
|
|
linear_spring_stiffness(0),
|
|
linear_spring_damping(0),
|
|
linear_equilibrium_point(0),
|
|
angular_limit_enabled(true),
|
|
angular_limit_upper(0),
|
|
angular_limit_lower(0),
|
|
angular_limit_softness(0.5),
|
|
angular_restitution(0),
|
|
angular_damping(1.),
|
|
erp(0.5),
|
|
angular_spring_enabled(false),
|
|
angular_spring_stiffness(0),
|
|
angular_spring_damping(0.),
|
|
angular_equilibrium_point(0) {}
|
|
};
|
|
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
SixDOFAxisData axis_data[3];
|
|
|
|
SixDOFJointData() {}
|
|
};
|
|
|
|
private:
|
|
#ifdef TOOLS_ENABLED
|
|
// if false gizmo move body
|
|
bool gizmo_move_joint;
|
|
#endif
|
|
|
|
JointData *joint_data;
|
|
Transform joint_offset;
|
|
RID joint;
|
|
|
|
Skeleton *parent_skeleton;
|
|
Transform body_offset;
|
|
Transform body_offset_inverse;
|
|
bool simulate_physics;
|
|
bool _internal_simulate_physics;
|
|
int bone_id;
|
|
|
|
String bone_name;
|
|
real_t bounce;
|
|
real_t mass;
|
|
real_t friction;
|
|
real_t gravity_scale;
|
|
|
|
protected:
|
|
bool _set(const StringName &p_name, const Variant &p_value);
|
|
bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
void _notification(int p_what);
|
|
void _direct_state_changed(Object *p_state);
|
|
|
|
static void _bind_methods();
|
|
|
|
private:
|
|
static Skeleton *find_skeleton_parent(Node *p_parent);
|
|
|
|
void _fix_joint_offset();
|
|
void _reload_joint();
|
|
|
|
public:
|
|
void _on_bone_parent_changed();
|
|
void _set_gizmo_move_joint(bool p_move_joint);
|
|
|
|
public:
|
|
#ifdef TOOLS_ENABLED
|
|
virtual Transform get_global_gizmo_transform() const;
|
|
virtual Transform get_local_gizmo_transform() const;
|
|
#endif
|
|
|
|
const JointData *get_joint_data() const;
|
|
Skeleton *find_skeleton_parent();
|
|
|
|
int get_bone_id() const { return bone_id; }
|
|
|
|
void set_joint_type(JointType p_joint_type);
|
|
JointType get_joint_type() const;
|
|
|
|
void set_joint_offset(const Transform &p_offset);
|
|
const Transform &get_joint_offset() const;
|
|
|
|
void set_body_offset(const Transform &p_offset);
|
|
const Transform &get_body_offset() const;
|
|
|
|
void set_simulate_physics(bool p_simulate);
|
|
bool get_simulate_physics();
|
|
bool is_simulating_physics();
|
|
|
|
void set_bone_name(const String &p_name);
|
|
const String &get_bone_name() const;
|
|
|
|
void set_mass(real_t p_mass);
|
|
real_t get_mass() const;
|
|
|
|
void set_weight(real_t p_weight);
|
|
real_t get_weight() const;
|
|
|
|
void set_friction(real_t p_friction);
|
|
real_t get_friction() const;
|
|
|
|
void set_bounce(real_t p_bounce);
|
|
real_t get_bounce() const;
|
|
|
|
void set_gravity_scale(real_t p_gravity_scale);
|
|
real_t get_gravity_scale() const;
|
|
|
|
void apply_central_impulse(const Vector3 &p_impulse);
|
|
void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
|
|
|
|
void reset_physics_simulation_state();
|
|
void reset_to_rest_position();
|
|
|
|
PhysicalBone();
|
|
~PhysicalBone();
|
|
|
|
private:
|
|
void update_bone_id();
|
|
void update_offset();
|
|
|
|
void _start_physics_simulation();
|
|
void _stop_physics_simulation();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(PhysicalBone::JointType);
|
|
|
|
#endif // PHYSICS_BODY__H
|