initial commit, 4.5 stable

modules/jolt_physics/joints/jolt_hinge_joint_3d.h

@@ -0,0 +1,97 @@
+/**************************************************************************/
+/*  jolt_hinge_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 "../jolt_physics_server_3d.h"
+#include "jolt_joint_3d.h"
+
+#include "Jolt/Jolt.h"
+
+#include "Jolt/Physics/Constraints/SliderConstraint.h"
+
+class JoltHingeJoint3D final : public JoltJoint3D {
+	typedef PhysicsServer3D::HingeJointParam Parameter;
+	typedef JoltPhysicsServer3D::HingeJointParamJolt JoltParameter;
+	typedef PhysicsServer3D::HingeJointFlag Flag;
+	typedef JoltPhysicsServer3D::HingeJointFlagJolt JoltFlag;
+
+	double limit_lower = 0.0;
+	double limit_upper = 0.0;
+
+	double limit_spring_frequency = 0.0;
+	double limit_spring_damping = 0.0;
+
+	double motor_target_speed = 0.0f;
+	double motor_max_torque = FLT_MAX;
+
+	bool limits_enabled = false;
+	bool limit_spring_enabled = false;
+
+	bool motor_enabled = false;
+
+	JPH::Constraint *_build_hinge(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b, float p_limit) const;
+	JPH::Constraint *_build_fixed(JPH::Body *p_jolt_body_a, JPH::Body *p_jolt_body_b, const Transform3D &p_shifted_ref_a, const Transform3D &p_shifted_ref_b) const;
+
+	bool _is_sprung() const { return limit_spring_enabled && limit_spring_frequency > 0.0; }
+	bool _is_fixed() const { return limits_enabled && limit_lower == limit_upper && !_is_sprung(); }
+
+	void _update_motor_state();
+	void _update_motor_velocity();
+	void _update_motor_limit();
+
+	void _limits_changed();
+	void _limit_spring_changed();
+	void _motor_state_changed();
+	void _motor_speed_changed();
+	void _motor_limit_changed();
+
+public:
+	JoltHingeJoint3D(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);
+
+	virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_HINGE; }
+
+	double get_param(Parameter p_param) const;
+	void set_param(Parameter p_param, double p_value);
+
+	double get_jolt_param(JoltParameter p_param) const;
+	void set_jolt_param(JoltParameter p_param, double p_value);
+
+	bool get_flag(Flag p_flag) const;
+	void set_flag(Flag p_flag, bool p_enabled);
+
+	bool get_jolt_flag(JoltFlag p_flag) const;
+	void set_jolt_flag(JoltFlag p_flag, bool p_enabled);
+
+	float get_applied_force() const;
+	float get_applied_torque() const;
+
+	virtual void rebuild() override;
+};