mirror of
https://github.com/Relintai/pandemonium_engine.git
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323 lines
9.9 KiB
C++
323 lines
9.9 KiB
C++
#ifndef PHYSICAL_BONE_H
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#define PHYSICAL_BONE_H
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/*************************************************************************/
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/* physical_bone.h */
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/*************************************************************************/
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/* This file is part of: */
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/* PANDEMONIUM ENGINE */
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/* https://github.com/Relintai/pandemonium_engine */
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/*************************************************************************/
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/* Copyright (c) 2022-present Péter Magyar. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* Copyright (c) 2007-2022 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 "core/containers/vset.h"
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#include "core/object/reference.h"
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#include "scene/3d/collision_object.h"
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#include "scene/3d/physics_body.h"
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#include "servers/physics_server.h"
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class PhysicsMaterial;
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class Skeleton;
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class PhysicalBone : public PhysicsBody {
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GDCLASS(PhysicalBone, PhysicsBody);
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public:
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enum JointType {
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JOINT_TYPE_NONE,
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JOINT_TYPE_PIN,
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JOINT_TYPE_CONE,
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JOINT_TYPE_HINGE,
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JOINT_TYPE_SLIDER,
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JOINT_TYPE_6DOF
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};
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struct JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
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/// "j" is used to set the parameter inside the PhysicsServer
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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virtual ~JointData() {}
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};
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struct PinJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t bias;
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real_t damping;
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real_t impulse_clamp;
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PinJointData() :
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bias(0.3),
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damping(1.),
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impulse_clamp(0) {}
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};
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struct ConeJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t swing_span;
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real_t twist_span;
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real_t bias;
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real_t softness;
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real_t relaxation;
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ConeJointData() :
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swing_span(Math_PI * 0.25),
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twist_span(Math_PI),
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bias(0.3),
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softness(0.8),
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relaxation(1.) {}
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};
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struct HingeJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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bool angular_limit_enabled;
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real_t angular_limit_upper;
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real_t angular_limit_lower;
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real_t angular_limit_bias;
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real_t angular_limit_softness;
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real_t angular_limit_relaxation;
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HingeJointData() :
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angular_limit_enabled(false),
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angular_limit_upper(Math_PI * 0.5),
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angular_limit_lower(-Math_PI * 0.5),
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angular_limit_bias(0.3),
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angular_limit_softness(0.9),
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angular_limit_relaxation(1.) {}
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};
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struct SliderJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t linear_limit_upper;
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real_t linear_limit_lower;
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real_t linear_limit_softness;
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real_t linear_limit_restitution;
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real_t linear_limit_damping;
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real_t angular_limit_upper;
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real_t angular_limit_lower;
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real_t angular_limit_softness;
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real_t angular_limit_restitution;
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real_t angular_limit_damping;
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SliderJointData() :
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linear_limit_upper(1.),
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linear_limit_lower(-1.),
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linear_limit_softness(1.),
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linear_limit_restitution(0.7),
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linear_limit_damping(1.),
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angular_limit_upper(0),
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angular_limit_lower(0),
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angular_limit_softness(1.),
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angular_limit_restitution(0.7),
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angular_limit_damping(1.) {}
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};
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struct SixDOFJointData : public JointData {
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struct SixDOFAxisData {
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bool linear_limit_enabled;
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real_t linear_limit_upper;
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real_t linear_limit_lower;
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real_t linear_limit_softness;
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real_t linear_restitution;
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real_t linear_damping;
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bool linear_spring_enabled;
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real_t linear_spring_stiffness;
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real_t linear_spring_damping;
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real_t linear_equilibrium_point;
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bool angular_limit_enabled;
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real_t angular_limit_upper;
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real_t angular_limit_lower;
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real_t angular_limit_softness;
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real_t angular_restitution;
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real_t angular_damping;
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real_t erp;
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bool angular_spring_enabled;
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real_t angular_spring_stiffness;
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real_t angular_spring_damping;
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real_t angular_equilibrium_point;
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SixDOFAxisData() :
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linear_limit_enabled(true),
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linear_limit_upper(0),
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linear_limit_lower(0),
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linear_limit_softness(0.7),
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linear_restitution(0.5),
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linear_damping(1.),
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linear_spring_enabled(false),
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linear_spring_stiffness(0),
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linear_spring_damping(0),
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linear_equilibrium_point(0),
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angular_limit_enabled(true),
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angular_limit_upper(0),
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angular_limit_lower(0),
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angular_limit_softness(0.5),
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angular_restitution(0),
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angular_damping(1.),
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erp(0.5),
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angular_spring_enabled(false),
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angular_spring_stiffness(0),
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angular_spring_damping(0.),
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angular_equilibrium_point(0) {}
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};
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virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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SixDOFAxisData axis_data[3];
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SixDOFJointData() {}
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};
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private:
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#ifdef TOOLS_ENABLED
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// if false gizmo move body
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bool gizmo_move_joint;
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#endif
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JointData *joint_data;
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Transform joint_offset;
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RID joint;
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Skeleton *parent_skeleton;
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Transform body_offset;
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Transform body_offset_inverse;
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bool simulate_physics;
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bool _internal_simulate_physics;
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int bone_id;
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String bone_name;
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real_t bounce;
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real_t mass;
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real_t friction;
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real_t gravity_scale;
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protected:
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bool _set(const StringName &p_name, const Variant &p_value);
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bool _get(const StringName &p_name, Variant &r_ret) const;
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void _get_property_list(List<PropertyInfo> *p_list) const;
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void _notification(int p_what);
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void _direct_state_changed(Object *p_state);
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static void _bind_methods();
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private:
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static Skeleton *find_skeleton_parent(Node *p_parent);
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void _fix_joint_offset();
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void _reload_joint();
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public:
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void _on_bone_parent_changed();
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void _set_gizmo_move_joint(bool p_move_joint);
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public:
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#ifdef TOOLS_ENABLED
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virtual Transform get_global_gizmo_transform() const;
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virtual Transform get_local_gizmo_transform() const;
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#endif
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const JointData *get_joint_data() const;
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Skeleton *find_skeleton_parent();
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int get_bone_id() const { return bone_id; }
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void set_joint_type(JointType p_joint_type);
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JointType get_joint_type() const;
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void set_joint_offset(const Transform &p_offset);
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const Transform &get_joint_offset() const;
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void set_body_offset(const Transform &p_offset);
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const Transform &get_body_offset() const;
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void set_simulate_physics(bool p_simulate);
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bool get_simulate_physics();
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bool is_simulating_physics();
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void set_bone_name(const String &p_name);
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const String &get_bone_name() const;
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void set_mass(real_t p_mass);
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real_t get_mass() const;
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void set_weight(real_t p_weight);
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real_t get_weight() const;
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void set_friction(real_t p_friction);
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real_t get_friction() const;
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void set_bounce(real_t p_bounce);
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real_t get_bounce() const;
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void set_gravity_scale(real_t p_gravity_scale);
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real_t get_gravity_scale() const;
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
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void reset_physics_simulation_state();
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void reset_to_rest_position();
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PhysicalBone();
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~PhysicalBone();
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private:
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void update_bone_id();
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void update_offset();
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void _start_physics_simulation();
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void _stop_physics_simulation();
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};
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VARIANT_ENUM_CAST(PhysicalBone::JointType);
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#endif // PHYSICS_BODY__H
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