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Merge pull request #119332 from nikolay-egorov/proposal-spring-max-torque

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Add angular spring max torque and linear max force to Generic6DOFJoint3D
This commit is contained in:
Thaddeus Crews
2026-06-26 08:50:41 -05:00
parent d29129001a 52ccc2cfa0
commit 10ba06cac8
12 changed files with 307 additions and 37 deletions
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doc/classes/Generic6DOFJoint3D.xml
+43 -9
View File
@@ -116,6 +116,18 @@
</method>
</methods>
<members>
<member name="angular_drive_x/torque_limit" type="float" setter="set_param_x" getter="get_param_x" default="3.4028235e+38">
The maximum torque the joint can apply around the X angular axis. Used by both the spring drive and the angular motor; supersedes [member angular_motor_x/force_limit] when explicitly set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</member>
<member name="angular_drive_y/torque_limit" type="float" setter="set_param_y" getter="get_param_y" default="3.4028235e+38">
The maximum torque the joint can apply around the Y angular axis. Used by both the spring drive and the angular motor; supersedes [member angular_motor_y/force_limit] when explicitly set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</member>
<member name="angular_drive_z/torque_limit" type="float" setter="set_param_z" getter="get_param_z" default="3.4028235e+38">
The maximum torque the joint can apply around the Z angular axis. Used by both the spring drive and the angular motor; supersedes [member angular_motor_z/force_limit] when explicitly set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</member>
<member name="angular_limit_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="1.0">
The amount of rotational damping across the X axis.
The lower, the longer an impulse from one side takes to travel to the other side.
@@ -192,7 +204,7 @@
<member name="angular_motor_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="false">
If [code]true[/code], a rotating motor at the X axis is enabled.
</member>
<member name="angular_motor_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="300.0">
<member name="angular_motor_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="300.0" deprecated="Use [member angular_drive_x/torque_limit] instead, which applies in both spring and motor modes.">
Maximum acceleration for the motor at the X axis.
</member>
<member name="angular_motor_x/target_velocity" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
@@ -201,7 +213,7 @@
<member name="angular_motor_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="false">
If [code]true[/code], a rotating motor at the Y axis is enabled.
</member>
<member name="angular_motor_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="300.0">
<member name="angular_motor_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="300.0" deprecated="Use [member angular_drive_y/torque_limit] instead, which applies in both spring and motor modes.">
Maximum acceleration for the motor at the Y axis.
</member>
<member name="angular_motor_y/target_velocity" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
@@ -210,7 +222,7 @@
<member name="angular_motor_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="false">
If [code]true[/code], a rotating motor at the Z axis is enabled.
</member>
<member name="angular_motor_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="300.0">
<member name="angular_motor_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="300.0" deprecated="Use [member angular_drive_z/torque_limit] instead, which applies in both spring and motor modes.">
Maximum acceleration for the motor at the Z axis.
</member>
<member name="angular_motor_z/target_velocity" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
@@ -240,6 +252,18 @@
</member>
<member name="angular_spring_z/stiffness" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
</member>
<member name="linear_drive_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="3.4028235e+38">
The maximum force the joint can apply along the X linear axis. Used by both the spring drive and the linear motor; supersedes [member linear_motor_x/force_limit] when explicitly set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</member>
<member name="linear_drive_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="3.4028235e+38">
The maximum force the joint can apply along the Y linear axis. Used by both the spring drive and the linear motor; supersedes [member linear_motor_y/force_limit] when explicitly set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</member>
<member name="linear_drive_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="3.4028235e+38">
The maximum force the joint can apply along the Z linear axis. Used by both the spring drive and the linear motor; supersedes [member linear_motor_z/force_limit] when explicitly set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</member>
<member name="linear_limit_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="1.0">
The amount of damping that happens at the X motion.
</member>
@@ -297,7 +321,7 @@
<member name="linear_motor_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="false">
If [code]true[/code], then there is a linear motor on the X axis. It will attempt to reach the target velocity while staying within the force limits.
</member>
<member name="linear_motor_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
<member name="linear_motor_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="0.0" deprecated="Use [member linear_drive_x/force_limit] instead, which applies in both spring and motor modes.">
The maximum force the linear motor can apply on the X axis while trying to reach the target velocity.
</member>
<member name="linear_motor_x/target_velocity" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
@@ -306,7 +330,7 @@
<member name="linear_motor_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="false">
If [code]true[/code], then there is a linear motor on the Y axis. It will attempt to reach the target velocity while staying within the force limits.
</member>
<member name="linear_motor_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
<member name="linear_motor_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="0.0" deprecated="Use [member linear_drive_y/force_limit] instead, which applies in both spring and motor modes.">
The maximum force the linear motor can apply on the Y axis while trying to reach the target velocity.
</member>
<member name="linear_motor_y/target_velocity" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
@@ -315,7 +339,7 @@
<member name="linear_motor_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="false">
If [code]true[/code], then there is a linear motor on the Z axis. It will attempt to reach the target velocity while staying within the force limits.
</member>
<member name="linear_motor_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
<member name="linear_motor_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="0.0" deprecated="Use [member linear_drive_z/force_limit] instead, which applies in both spring and motor modes.">
The maximum force the linear motor can apply on the Z axis while trying to reach the target velocity.
</member>
<member name="linear_motor_z/target_velocity" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
@@ -365,7 +389,7 @@
<constant name="PARAM_LINEAR_MOTOR_TARGET_VELOCITY" value="5" enum="Param">
The velocity the linear motor will try to reach.
</constant>
<constant name="PARAM_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="Param">
<constant name="PARAM_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="Param" deprecated="Use [constant PARAM_LINEAR_DRIVE_FORCE_LIMIT] instead, which applies in both spring and motor modes.">
The maximum force the linear motor will apply while trying to reach the velocity target.
</constant>
<constant name="PARAM_LINEAR_SPRING_STIFFNESS" value="7" enum="Param">
@@ -398,7 +422,7 @@
<constant name="PARAM_ANGULAR_MOTOR_TARGET_VELOCITY" value="17" enum="Param">
Target speed for the motor at the axes.
</constant>
<constant name="PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value="18" enum="Param">
<constant name="PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value="18" enum="Param" deprecated="Use [constant PARAM_ANGULAR_DRIVE_TORQUE_LIMIT] instead, which applies in both spring and motor modes.">
Maximum acceleration for the motor at the axes.
</constant>
<constant name="PARAM_ANGULAR_SPRING_STIFFNESS" value="19" enum="Param">
@@ -407,7 +431,17 @@
</constant>
<constant name="PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT" value="21" enum="Param">
</constant>
<constant name="PARAM_MAX" value="22" enum="Param">
<constant name="PARAM_LINEAR_DRIVE_FORCE_LIMIT" value="22" enum="Param">
The maximum force the joint can apply along this linear axis.
Used by both the spring drive and the linear motor; supersedes [constant PARAM_LINEAR_MOTOR_FORCE_LIMIT] when set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</constant>
<constant name="PARAM_ANGULAR_DRIVE_TORQUE_LIMIT" value="23" enum="Param">
The maximum torque the joint can apply around this angular axis.
Used by both the spring drive and the angular motor; supersedes [constant PARAM_ANGULAR_MOTOR_FORCE_LIMIT] when set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</constant>
<constant name="PARAM_MAX" value="24" enum="Param">
Represents the size of the [enum Param] enum.
</constant>
<constant name="FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="Flag">
doc/classes/PhysicsServer3D.xml
+13 -3
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@@ -1650,7 +1650,7 @@
<constant name="G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY" value="5" enum="G6DOFJointAxisParam">
The velocity that the joint's linear motor will attempt to reach.
</constant>
<constant name="G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="G6DOFJointAxisParam">
<constant name="G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="G6DOFJointAxisParam" deprecated="Use [constant G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT] instead, which applies in both spring and motor modes.">
The maximum force that the linear motor can apply while trying to reach the target velocity.
</constant>
<constant name="G6DOF_JOINT_LINEAR_SPRING_STIFFNESS" value="7" enum="G6DOFJointAxisParam">
@@ -1688,7 +1688,7 @@
<constant name="G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY" value="17" enum="G6DOFJointAxisParam">
Target speed for the motor at the axes.
</constant>
<constant name="G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT" value="18" enum="G6DOFJointAxisParam">
<constant name="G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT" value="18" enum="G6DOFJointAxisParam" deprecated="Use [constant G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT] instead, which applies in both spring and motor modes.">
Maximum acceleration for the motor at the axes.
</constant>
<constant name="G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS" value="19" enum="G6DOFJointAxisParam">
@@ -1697,7 +1697,17 @@
</constant>
<constant name="G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT" value="21" enum="G6DOFJointAxisParam">
</constant>
<constant name="G6DOF_JOINT_MAX" value="22" enum="G6DOFJointAxisParam">
<constant name="G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT" value="22" enum="G6DOFJointAxisParam">
The maximum force the joint can apply along this linear axis.
Used by both the spring drive and the linear motor; supersedes [constant G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT] when set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</constant>
<constant name="G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT" value="23" enum="G6DOFJointAxisParam">
The maximum torque the joint can apply around this angular axis.
Used by both the spring drive and the angular motor; supersedes [constant G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT] when set.
[b]Note:[/b] Only for Jolt backend. Other 3D physics backends may ignore this value.
</constant>
<constant name="G6DOF_JOINT_MAX" value="24" enum="G6DOFJointAxisParam">
Represents the size of the [enum G6DOFJointAxisParam] enum.
</constant>
<constant name="G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="G6DOFJointAxisFlag">
modules/godot_physics_3d/joints/godot_generic_6dof_joint_3d.cpp
+12
View File
@@ -526,6 +526,12 @@ void GodotGeneric6DOFJoint3D::set_param(Vector3::Axis p_axis, PhysicsServer3D::G
case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT: {
// Not implemented in GodotPhysics3D backend
} break;
case PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT: {
m_linearDriveForceLimit[p_axis] = p_value;
} break;
case PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT: {
m_angularDriveTorqueLimit[p_axis] = p_value;
} break;
case PhysicsServer3D::G6DOF_JOINT_MAX:
break; // Can't happen, but silences warning
}
@@ -613,6 +619,12 @@ real_t GodotGeneric6DOFJoint3D::get_param(Vector3::Axis p_axis, PhysicsServer3D:
case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT: {
// Not implemented in GodotPhysics3D backend
} break;
case PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT: {
return m_linearDriveForceLimit[p_axis];
} break;
case PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT: {
return m_angularDriveTorqueLimit[p_axis];
} break;
case PhysicsServer3D::G6DOF_JOINT_MAX:
break; // Can't happen, but silences warning
}
modules/godot_physics_3d/joints/godot_generic_6dof_joint_3d.h
+4
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@@ -37,6 +37,8 @@ Adapted to Godot from the Bullet library.
#include "../godot_joint_3d.h"
#include "godot_jacobian_entry_3d.h"
#include <cfloat>
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
@@ -164,11 +166,13 @@ protected:
//! Linear_Limit_parameters
//!@{
GodotG6DOFTranslationalLimitMotor3D m_linearLimits;
real_t m_linearDriveForceLimit[3] = { FLT_MAX, FLT_MAX, FLT_MAX };
//!@}
//! hinge_parameters
//!@{
GodotG6DOFRotationalLimitMotor3D m_angularLimits[3];
real_t m_angularDriveTorqueLimit[3] = { FLT_MAX, FLT_MAX, FLT_MAX };
//!@}
protected:
modules/jolt_physics/joints/jolt_generic_6dof_joint_3d.cpp
+21 -18
View File
@@ -151,10 +151,11 @@ void JoltGeneric6DOFJoint3D::_update_motor_limit(int p_axis) {
float limit = FLT_MAX;
if (motor_enabled[p_axis]) {
// Drive limit applies in both spring and motor modes when explicitly set
if (drive_limit_set[p_axis]) {
limit = (float)drive_limit[p_axis];
} else if (motor_enabled[p_axis]) {
limit = (float)motor_limit[p_axis];
} else if (spring_enabled[p_axis]) {
limit = (float)spring_limit[p_axis];
}
if (p_axis >= AXIS_LINEAR_X && p_axis <= AXIS_LINEAR_Z) {
@@ -263,7 +264,7 @@ void JoltGeneric6DOFJoint3D::_spring_equilibrium_changed(int p_axis) {
_wake_up_bodies();
}
void JoltGeneric6DOFJoint3D::_spring_limit_changed(int p_axis) {
void JoltGeneric6DOFJoint3D::_drive_limit_changed(int p_axis) {
_update_motor_limit(p_axis);
_wake_up_bodies();
}
@@ -308,6 +309,9 @@ double JoltGeneric6DOFJoint3D::get_param(Axis p_axis, Param p_param) const {
case JoltPhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT: {
return spring_equilibrium[axis_lin];
}
case PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT: {
return drive_limit[axis_lin];
}
case PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: {
return limit_lower[axis_ang];
}
@@ -344,6 +348,9 @@ double JoltGeneric6DOFJoint3D::get_param(Axis p_axis, Param p_param) const {
case JoltPhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT: {
return spring_equilibrium[axis_ang];
}
case PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT: {
return drive_limit[axis_ang];
}
default: {
ERR_FAIL_V_MSG(0.0, vformat("Unhandled parameter: '%d'. This should not happen. Please report this.", p_param));
}
@@ -398,6 +405,11 @@ void JoltGeneric6DOFJoint3D::set_param(Axis p_axis, Param p_param, double p_valu
spring_equilibrium[axis_lin] = p_value;
_spring_equilibrium_changed(axis_lin);
} break;
case PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT: {
drive_limit[axis_lin] = p_value;
drive_limit_set[axis_lin] = true;
_drive_limit_changed(axis_lin);
} break;
case PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: {
limit_lower[axis_ang] = p_value;
_limits_changed();
@@ -452,6 +464,11 @@ void JoltGeneric6DOFJoint3D::set_param(Axis p_axis, Param p_param, double p_valu
has_angular_target_rotation = false;
_spring_equilibrium_changed(axis_ang);
} break;
case PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT: {
drive_limit[axis_ang] = p_value;
drive_limit_set[axis_ang] = true;
_drive_limit_changed(axis_ang);
} break;
default: {
ERR_FAIL_MSG(vformat("Unhandled parameter: '%d'. This should not happen. Please report this.", p_param));
} break;
@@ -560,9 +577,6 @@ double JoltGeneric6DOFJoint3D::get_jolt_param(Axis p_axis, JoltParam p_param) co
case JoltPhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_FREQUENCY: {
return spring_frequency[axis_lin];
}
case JoltPhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_MAX_FORCE: {
return spring_limit[axis_lin];
}
case JoltPhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SPRING_FREQUENCY: {
return limit_spring_frequency[axis_lin];
}
@@ -572,9 +586,6 @@ double JoltGeneric6DOFJoint3D::get_jolt_param(Axis p_axis, JoltParam p_param) co
case JoltPhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_FREQUENCY: {
return spring_frequency[axis_ang];
}
case JoltPhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_MAX_TORQUE: {
return spring_limit[axis_ang];
}
default: {
ERR_FAIL_V_MSG(0.0, vformat("Unhandled parameter: '%d'. This should not happen. Please report this.", p_param));
}
@@ -590,10 +601,6 @@ void JoltGeneric6DOFJoint3D::set_jolt_param(Axis p_axis, JoltParam p_param, doub
spring_frequency[axis_lin] = p_value;
_spring_parameters_changed(axis_lin);
} break;
case JoltPhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_MAX_FORCE: {
spring_limit[axis_lin] = p_value;
_spring_limit_changed(axis_lin);
} break;
case JoltPhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SPRING_FREQUENCY: {
limit_spring_frequency[axis_lin] = p_value;
_limit_spring_parameters_changed(axis_lin);
@@ -606,10 +613,6 @@ void JoltGeneric6DOFJoint3D::set_jolt_param(Axis p_axis, JoltParam p_param, doub
spring_frequency[axis_ang] = p_value;
_spring_parameters_changed(axis_ang);
} break;
case JoltPhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_MAX_TORQUE: {
spring_limit[axis_ang] = p_value;
_spring_limit_changed(axis_ang);
} break;
default: {
ERR_FAIL_MSG(vformat("Unhandled parameter: '%d'. This should not happen. Please report this.", p_param));
} break;
modules/jolt_physics/joints/jolt_generic_6dof_joint_3d.h
+3 -2
View File
@@ -70,7 +70,8 @@ class JoltGeneric6DOFJoint3D final : public JoltJoint3D {
double spring_frequency[AXIS_COUNT] = {};
double spring_damping[AXIS_COUNT] = {};
double spring_equilibrium[AXIS_COUNT] = {};
double spring_limit[AXIS_COUNT] = { FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX };
double drive_limit[AXIS_COUNT] = { FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX };
bool drive_limit_set[AXIS_COUNT] = {};
Quaternion angular_target_rotation;
bool has_angular_target_rotation = false;
@@ -102,7 +103,7 @@ class JoltGeneric6DOFJoint3D final : public JoltJoint3D {
void _spring_state_changed(int p_axis);
void _spring_parameters_changed(int p_axis);
void _spring_equilibrium_changed(int p_axis);
void _spring_limit_changed(int p_axis);
void _drive_limit_changed(int p_axis);
public:
JoltGeneric6DOFJoint3D(const JoltJoint3D &p_old_joint, JoltBody3D *p_body_a, JoltBody3D *p_body_b, const Transform3D &p_local_ref_a, const Transform3D &p_local_ref_b);
modules/jolt_physics/jolt_physics_server_3d.h
-2
View File
@@ -108,8 +108,6 @@ public:
G6DOF_JOINT_LINEAR_LIMIT_SPRING_FREQUENCY,
G6DOF_JOINT_LINEAR_LIMIT_SPRING_DAMPING,
G6DOF_JOINT_ANGULAR_SPRING_FREQUENCY,
G6DOF_JOINT_LINEAR_SPRING_MAX_FORCE,
G6DOF_JOINT_ANGULAR_SPRING_MAX_TORQUE,
};
enum G6DOFJointAxisFlagJolt {
scene/3d/physics/joints/generic_6dof_joint_3d.cpp
+71 -3
View File
@@ -32,6 +32,8 @@
#include "core/object/class_db.h"
#include <cfloat> // FLT_MAX
void Generic6DOFJoint3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_param_x", "param", "value"), &Generic6DOFJoint3D::set_param_x);
ClassDB::bind_method(D_METHOD("get_param_x", "param"), &Generic6DOFJoint3D::get_param_x);
@@ -110,6 +112,12 @@ void Generic6DOFJoint3D::_bind_methods() {
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_z/damping"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_spring_z/equilibrium_point", PROPERTY_HINT_NONE, "suffix:m"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT);
ADD_GROUP("Linear Drive", "linear_drive_");
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_drive_x/force_limit", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m/s\u00B2 (N)"), "set_param_x", "get_param_x", PARAM_LINEAR_DRIVE_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_drive_y/force_limit", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m/s\u00B2 (N)"), "set_param_y", "get_param_y", PARAM_LINEAR_DRIVE_FORCE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_drive_z/force_limit", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m/s\u00B2 (N)"), "set_param_z", "get_param_z", PARAM_LINEAR_DRIVE_FORCE_LIMIT);
ADD_GROUP("Angular Limit", "angular_limit_");
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_LIMIT);
@@ -170,6 +178,12 @@ void Generic6DOFJoint3D::_bind_methods() {
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_z/damping"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_spring_z/equilibrium_point", PROPERTY_HINT_RANGE, "-180,180,0.01,radians_as_degrees"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT);
ADD_GROUP("Angular Drive", "angular_drive_");
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_drive_x/torque_limit", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m\u00B2/s\u00B2 (Nm)"), "set_param_x", "get_param_x", PARAM_ANGULAR_DRIVE_TORQUE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_drive_y/torque_limit", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m\u00B2/s\u00B2 (Nm)"), "set_param_y", "get_param_y", PARAM_ANGULAR_DRIVE_TORQUE_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_drive_z/torque_limit", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m\u00B2/s\u00B2 (Nm)"), "set_param_z", "get_param_z", PARAM_ANGULAR_DRIVE_TORQUE_LIMIT);
BIND_ENUM_CONSTANT(PARAM_LINEAR_LOWER_LIMIT);
BIND_ENUM_CONSTANT(PARAM_LINEAR_UPPER_LIMIT);
BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS);
@@ -192,6 +206,8 @@ void Generic6DOFJoint3D::_bind_methods() {
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_LINEAR_DRIVE_FORCE_LIMIT);
BIND_ENUM_CONSTANT(PARAM_ANGULAR_DRIVE_TORQUE_LIMIT);
BIND_ENUM_CONSTANT(PARAM_MAX);
BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_LIMIT);
@@ -209,6 +225,10 @@ void Generic6DOFJoint3D::set_param_x(Param p_param, real_t p_value) {
if (p_param == PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT) {
has_angular_target_rotation = false;
}
if (!setting_default_params) {
_set_drive_limit_explicit(Vector3::AXIS_X, p_param);
_warn_if_deprecated_param(p_param);
}
if (is_configured()) {
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_rid(), Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value);
}
@@ -227,6 +247,10 @@ void Generic6DOFJoint3D::set_param_y(Param p_param, real_t p_value) {
if (p_param == PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT) {
has_angular_target_rotation = false;
}
if (!setting_default_params) {
_set_drive_limit_explicit(Vector3::AXIS_Y, p_param);
_warn_if_deprecated_param(p_param);
}
if (is_configured()) {
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_rid(), Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value);
}
@@ -244,12 +268,41 @@ void Generic6DOFJoint3D::set_param_z(Param p_param, real_t p_value) {
if (p_param == PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT) {
has_angular_target_rotation = false;
}
if (!setting_default_params) {
_set_drive_limit_explicit(Vector3::AXIS_Z, p_param);
_warn_if_deprecated_param(p_param);
}
if (is_configured()) {
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(get_rid(), Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisParam(p_param), p_value);
}
update_gizmos();
}
void Generic6DOFJoint3D::_warn_if_deprecated_param(Param p_param) {
if (p_param == PARAM_LINEAR_MOTOR_FORCE_LIMIT) {
WARN_PRINT_ONCE("PARAM_LINEAR_MOTOR_FORCE_LIMIT is deprecated and will be removed in a future release. Use PARAM_LINEAR_DRIVE_FORCE_LIMIT, which applies in both spring and motor modes.");
} else if (p_param == PARAM_ANGULAR_MOTOR_FORCE_LIMIT) {
WARN_PRINT_ONCE("PARAM_ANGULAR_MOTOR_FORCE_LIMIT is deprecated and will be removed in a future release. Use PARAM_ANGULAR_DRIVE_TORQUE_LIMIT, which applies in both spring and motor modes.");
}
}
void Generic6DOFJoint3D::_set_drive_limit_explicit(Vector3::Axis p_axis, Param p_param) {
if (p_param == PARAM_LINEAR_DRIVE_FORCE_LIMIT) {
linear_drive_force_limit_set[p_axis] = true;
} else if (p_param == PARAM_ANGULAR_DRIVE_TORQUE_LIMIT) {
angular_drive_torque_limit_set[p_axis] = true;
}
}
bool Generic6DOFJoint3D::_should_replay_param(Vector3::Axis p_axis, Param p_param) const {
if (p_param == PARAM_LINEAR_DRIVE_FORCE_LIMIT) {
return linear_drive_force_limit_set[p_axis];
} else if (p_param == PARAM_ANGULAR_DRIVE_TORQUE_LIMIT) {
return angular_drive_torque_limit_set[p_axis];
}
return true;
}
real_t Generic6DOFJoint3D::get_param_z(Param p_param) const {
ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0);
return params_z[p_param];
@@ -369,9 +422,16 @@ void Generic6DOFJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, Ph
PhysicsServer3D::get_singleton()->joint_make_generic_6dof(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b);
for (int i = 0; i < PARAM_MAX; i++) {
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(p_joint, Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisParam(i), params_x[i]);
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(p_joint, Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisParam(i), params_y[i]);
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(p_joint, Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisParam(i), params_z[i]);
const Param param = static_cast<Param>(i);
if (_should_replay_param(Vector3::AXIS_X, param)) {
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(p_joint, Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisParam(i), params_x[i]);
}
if (_should_replay_param(Vector3::AXIS_Y, param)) {
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(p_joint, Vector3::AXIS_Y, PhysicsServer3D::G6DOFJointAxisParam(i), params_y[i]);
}
if (_should_replay_param(Vector3::AXIS_Z, param)) {
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(p_joint, Vector3::AXIS_Z, PhysicsServer3D::G6DOFJointAxisParam(i), params_z[i]);
}
}
for (int i = 0; i < FLAG_MAX; i++) {
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(p_joint, Vector3::AXIS_X, PhysicsServer3D::G6DOFJointAxisFlag(i), flags_x[i]);
@@ -395,6 +455,7 @@ Generic6DOFJoint3D::Generic6DOFJoint3D() {
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_LINEAR_DRIVE_FORCE_LIMIT, FLT_MAX);
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);
@@ -407,6 +468,7 @@ Generic6DOFJoint3D::Generic6DOFJoint3D() {
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_param_x(PARAM_ANGULAR_DRIVE_TORQUE_LIMIT, FLT_MAX);
set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true);
set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true);
@@ -425,6 +487,7 @@ Generic6DOFJoint3D::Generic6DOFJoint3D() {
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_LINEAR_DRIVE_FORCE_LIMIT, FLT_MAX);
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);
@@ -437,6 +500,7 @@ Generic6DOFJoint3D::Generic6DOFJoint3D() {
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_param_y(PARAM_ANGULAR_DRIVE_TORQUE_LIMIT, FLT_MAX);
set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true);
set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true);
@@ -455,6 +519,7 @@ Generic6DOFJoint3D::Generic6DOFJoint3D() {
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_LINEAR_DRIVE_FORCE_LIMIT, FLT_MAX);
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);
@@ -467,6 +532,7 @@ Generic6DOFJoint3D::Generic6DOFJoint3D() {
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_param_z(PARAM_ANGULAR_DRIVE_TORQUE_LIMIT, FLT_MAX);
set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true);
set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true);
@@ -474,4 +540,6 @@ Generic6DOFJoint3D::Generic6DOFJoint3D() {
set_flag_z(FLAG_ENABLE_LINEAR_SPRING, false);
set_flag_z(FLAG_ENABLE_MOTOR, false);
set_flag_z(FLAG_ENABLE_LINEAR_MOTOR, false);
setting_default_params = false;
}
scene/3d/physics/joints/generic_6dof_joint_3d.h
+9
View File
@@ -59,6 +59,8 @@ public:
PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
PARAM_LINEAR_DRIVE_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT,
PARAM_ANGULAR_DRIVE_TORQUE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT,
PARAM_MAX = PhysicsServer3D::G6DOF_JOINT_MAX,
};
@@ -79,12 +81,19 @@ protected:
bool flags_y[FLAG_MAX];
real_t params_z[PARAM_MAX];
bool flags_z[FLAG_MAX];
bool linear_drive_force_limit_set[3] = {};
bool angular_drive_torque_limit_set[3] = {};
bool setting_default_params = true;
Quaternion angular_target_rotation;
bool has_angular_target_rotation = false;
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
static void _bind_methods();
static void _warn_if_deprecated_param(Param p_param);
void _set_drive_limit_explicit(Vector3::Axis p_axis, Param p_param);
bool _should_replay_param(Vector3::Axis p_axis, Param p_param) const;
static bool _is_valid_angular_target_rotation(const Quaternion &p_target_rotation);
public:
servers/physics_3d/physics_server_3d.cpp
+2
View File
@@ -1018,6 +1018,8 @@ void PhysicsServer3D::_bind_methods() {
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_SPRING_DAMPING);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_MAX);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT);
servers/physics_3d/physics_server_3d.h
+2
View File
@@ -773,6 +773,8 @@ public:
G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT,
G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT,
G6DOF_JOINT_MAX
};
tests/scene/test_generic_6dof_joint_3d.cpp
+127
View File
@@ -35,6 +35,9 @@ TEST_FORCE_LINK(test_generic_6dof_joint_3d)
#ifndef PHYSICS_3D_DISABLED
#include "scene/3d/physics/joints/generic_6dof_joint_3d.h"
#include "servers/physics_3d/physics_server_3d.h"
#include <cfloat>
namespace TestGeneric6DOFJoint3D {
@@ -106,6 +109,130 @@ TEST_CASE("[SceneTree][Generic6DOFJoint3D] Explicit quaternion target shadows Eu
memdelete(joint);
}
static RID make_configured_generic_6dof_joint(PhysicsServer3D *p_server, RID &r_body_a, RID &r_body_b) {
r_body_a = p_server->body_create();
r_body_b = p_server->body_create();
const RID joint = p_server->joint_create();
p_server->joint_make_generic_6dof(joint, r_body_a, Transform3D(), r_body_b, Transform3D());
return joint;
}
TEST_CASE("[SceneTree][Generic6DOFJoint3D] Drive force and torque limits params round-trip") {
Generic6DOFJoint3D *joint = memnew(Generic6DOFJoint3D);
joint->set_param_x(Generic6DOFJoint3D::PARAM_LINEAR_DRIVE_FORCE_LIMIT, 123.0);
joint->set_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_DRIVE_TORQUE_LIMIT, 45.0);
CHECK(joint->get_param_x(Generic6DOFJoint3D::PARAM_LINEAR_DRIVE_FORCE_LIMIT) == 123.0);
CHECK(joint->get_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_DRIVE_TORQUE_LIMIT) == 45.0);
memdelete(joint);
}
TEST_CASE("[SceneTree][Generic6DOFJoint3D] Drive force and torque limits defaults are unlimited") {
Generic6DOFJoint3D *joint = memnew(Generic6DOFJoint3D);
CHECK(joint->get_param_x(Generic6DOFJoint3D::PARAM_LINEAR_DRIVE_FORCE_LIMIT) == FLT_MAX);
CHECK(joint->get_param_y(Generic6DOFJoint3D::PARAM_LINEAR_DRIVE_FORCE_LIMIT) == FLT_MAX);
CHECK(joint->get_param_z(Generic6DOFJoint3D::PARAM_LINEAR_DRIVE_FORCE_LIMIT) == FLT_MAX);
CHECK(joint->get_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_DRIVE_TORQUE_LIMIT) == FLT_MAX);
CHECK(joint->get_param_y(Generic6DOFJoint3D::PARAM_ANGULAR_DRIVE_TORQUE_LIMIT) == FLT_MAX);
CHECK(joint->get_param_z(Generic6DOFJoint3D::PARAM_ANGULAR_DRIVE_TORQUE_LIMIT) == FLT_MAX);
memdelete(joint);
}
TEST_CASE("[SceneTree][PhysicsServer3D][Generic6DOFJoint3D] Drive force and torque limits params round-trip per axis") {
PhysicsServer3D *physics_server = PhysicsServer3D::get_singleton();
REQUIRE(physics_server != nullptr);
RID body_a;
RID body_b;
RID joint = make_configured_generic_6dof_joint(physics_server, body_a, body_b);
constexpr Vector3::Axis axes[] = { Vector3::AXIS_X, Vector3::AXIS_Y, Vector3::AXIS_Z };
constexpr real_t linear_values[] = { 12.0, 34.0, 56.0 };
constexpr real_t angular_values[] = { 7.0, 8.0, 9.0 };
for (int i = 0; i < 3; i++) {
physics_server->generic_6dof_joint_set_param(joint, axes[i], PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT, linear_values[i]);
physics_server->generic_6dof_joint_set_param(joint, axes[i], PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT, angular_values[i]);
}
for (int i = 0; i < 3; i++) {
CHECK_EQ(physics_server->generic_6dof_joint_get_param(joint, axes[i], PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT), doctest::Approx(linear_values[i]));
CHECK_EQ(physics_server->generic_6dof_joint_get_param(joint, axes[i], PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT), doctest::Approx(angular_values[i]));
}
physics_server->free_rid(joint);
physics_server->free_rid(body_a);
physics_server->free_rid(body_b);
}
TEST_CASE("[SceneTree][PhysicsServer3D][Generic6DOFJoint3D] Drive force and torque limits defaults are unlimited") {
PhysicsServer3D *physics_server = PhysicsServer3D::get_singleton();
REQUIRE(physics_server != nullptr);
RID body_a;
RID body_b;
RID joint = make_configured_generic_6dof_joint(physics_server, body_a, body_b);
CHECK_EQ(physics_server->generic_6dof_joint_get_param(joint, Vector3::AXIS_X, PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT), FLT_MAX);
CHECK_EQ(physics_server->generic_6dof_joint_get_param(joint, Vector3::AXIS_Y, PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT), FLT_MAX);
CHECK_EQ(physics_server->generic_6dof_joint_get_param(joint, Vector3::AXIS_Z, PhysicsServer3D::G6DOF_JOINT_LINEAR_DRIVE_FORCE_LIMIT), FLT_MAX);
CHECK_EQ(physics_server->generic_6dof_joint_get_param(joint, Vector3::AXIS_X, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT), FLT_MAX);
CHECK_EQ(physics_server->generic_6dof_joint_get_param(joint, Vector3::AXIS_Y, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT), FLT_MAX);
CHECK_EQ(physics_server->generic_6dof_joint_get_param(joint, Vector3::AXIS_Z, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT), FLT_MAX);
physics_server->free_rid(joint);
physics_server->free_rid(body_a);
physics_server->free_rid(body_b);
}
TEST_CASE("[SceneTree][Generic6DOFJoint3D] Legacy motor and DRIVE limits are stored independently") {
Generic6DOFJoint3D *joint = memnew(Generic6DOFJoint3D);
// Set legacy motor limit, then set DRIVE limit to a finite value.
ERR_PRINT_OFF;
joint->set_param_x(Generic6DOFJoint3D::PARAM_LINEAR_MOTOR_FORCE_LIMIT, 50.0);
ERR_PRINT_ON;
joint->set_param_x(Generic6DOFJoint3D::PARAM_LINEAR_DRIVE_FORCE_LIMIT, 80.0);
CHECK_EQ(joint->get_param_x(Generic6DOFJoint3D::PARAM_LINEAR_MOTOR_FORCE_LIMIT), doctest::Approx(50.0));
CHECK_EQ(joint->get_param_x(Generic6DOFJoint3D::PARAM_LINEAR_DRIVE_FORCE_LIMIT), doctest::Approx(80.0));
memdelete(joint);
}
TEST_CASE("[SceneTree][PhysicsServer3D][Generic6DOFJoint3D] DRIVE FLT_MAX after legacy motor round-trips through storage") {
PhysicsServer3D *physics_server = PhysicsServer3D::get_singleton();
REQUIRE(physics_server != nullptr);
RID body_a;
RID body_b;
RID joint = make_configured_generic_6dof_joint(physics_server, body_a, body_b);
// Legacy motor limit set first, then explicit DRIVE FLT_MAX
physics_server->generic_6dof_joint_set_param(joint, Vector3::AXIS_X, PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, 50.0);
physics_server->generic_6dof_joint_set_param(joint, Vector3::AXIS_X, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT, FLT_MAX);
CHECK_EQ(physics_server->generic_6dof_joint_get_param(joint, Vector3::AXIS_X, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DRIVE_TORQUE_LIMIT), FLT_MAX);
physics_server->free_rid(joint);
physics_server->free_rid(body_a);
physics_server->free_rid(body_b);
}
TEST_CASE("[SceneTree][Generic6DOFJoint3D] Default joint configuration does not emit MOTOR_FORCE_LIMIT deprecation warning") {
// Instancing a node should be silent
Generic6DOFJoint3D *joint = memnew(Generic6DOFJoint3D);
CHECK(joint != nullptr);
memdelete(joint);
}
} // namespace TestGeneric6DOFJoint3D
#endif // PHYSICS_3D_DISABLED