initial commit, 4.5 stable

modules/godot_physics_3d/godot_joint_3d.h

@@ -0,0 +1,98 @@
+/**************************************************************************/
+/*  godot_joint_3d.h                                                      */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 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.                 */
+/**************************************************************************/
+
+#pragma once
+
+#include "godot_body_3d.h"
+#include "godot_constraint_3d.h"
+
+class GodotJoint3D : public GodotConstraint3D {
+protected:
+	bool dynamic_A = false;
+	bool dynamic_B = false;
+
+	void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
+		if (Math::abs(n.z) > Math::SQRT12) {
+			// choose p in y-z plane
+			real_t a = n[1] * n[1] + n[2] * n[2];
+			real_t k = 1.0 / Math::sqrt(a);
+			p = Vector3(0, -n[2] * k, n[1] * k);
+			// set q = n x p
+			q = Vector3(a * k, -n[0] * p[2], n[0] * p[1]);
+		} else {
+			// choose p in x-y plane
+			real_t a = n.x * n.x + n.y * n.y;
+			real_t k = 1.0 / Math::sqrt(a);
+			p = Vector3(-n.y * k, n.x * k, 0);
+			// set q = n x p
+			q = Vector3(-n.z * p.y, n.z * p.x, a * k);
+		}
+	}
+
+	_FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
+		real_t coeff_1 = Math::PI / 4.0f;
+		real_t coeff_2 = 3.0f * coeff_1;
+		real_t abs_y = Math::abs(y);
+		real_t angle;
+		if (x >= 0.0f) {
+			real_t r = (x - abs_y) / (x + abs_y);
+			angle = coeff_1 - coeff_1 * r;
+		} else {
+			real_t r = (x + abs_y) / (abs_y - x);
+			angle = coeff_2 - coeff_1 * r;
+		}
+		return (y < 0.0f) ? -angle : angle;
+	}
+
+public:
+	virtual bool setup(real_t p_step) override { return false; }
+	virtual bool pre_solve(real_t p_step) override { return true; }
+	virtual void solve(real_t p_step) override {}
+
+	void copy_settings_from(GodotJoint3D *p_joint) {
+		set_self(p_joint->get_self());
+		set_priority(p_joint->get_priority());
+		disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
+	}
+
+	virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; }
+	_FORCE_INLINE_ GodotJoint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
+			GodotConstraint3D(p_body_ptr, p_body_count) {
+	}
+
+	virtual ~GodotJoint3D() {
+		for (int i = 0; i < get_body_count(); i++) {
+			GodotBody3D *body = get_body_ptr()[i];
+			if (body) {
+				body->remove_constraint(this);
+			}
+		}
+	}
+};