initial commit, 4.5 stable

modules/jolt_physics/joints/jolt_joint_3d.h

@@ -0,0 +1,104 @@
+/**************************************************************************/
+/*  jolt_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 "servers/physics_server_3d.h"
+
+#include "Jolt/Jolt.h"
+
+#include "Jolt/Physics/Constraints/Constraint.h"
+
+class JoltBody3D;
+class JoltSpace3D;
+
+class JoltJoint3D {
+protected:
+	bool enabled = true;
+	bool collision_disabled = false;
+
+	int velocity_iterations = 0;
+	int position_iterations = 0;
+
+	JPH::Ref<JPH::Constraint> jolt_ref;
+
+	JoltBody3D *body_a = nullptr;
+	JoltBody3D *body_b = nullptr;
+
+	RID rid;
+
+	Transform3D local_ref_a;
+	Transform3D local_ref_b;
+
+	void _shift_reference_frames(const Vector3 &p_linear_shift, const Vector3 &p_angular_shift, Transform3D &r_shifted_ref_a, Transform3D &r_shifted_ref_b);
+
+	void _wake_up_bodies();
+
+	void _update_enabled();
+	void _update_iterations();
+
+	void _enabled_changed();
+	void _iterations_changed();
+
+	String _bodies_to_string() const;
+
+public:
+	JoltJoint3D() = default;
+	JoltJoint3D(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 ~JoltJoint3D();
+
+	virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; }
+
+	RID get_rid() const { return rid; }
+	void set_rid(const RID &p_rid) { rid = p_rid; }
+
+	JoltSpace3D *get_space() const;
+
+	JPH::Constraint *get_jolt_ref() const { return jolt_ref; }
+
+	bool is_enabled() const { return enabled; }
+	void set_enabled(bool p_enabled);
+
+	int get_solver_priority() const;
+	void set_solver_priority(int p_priority);
+
+	int get_solver_velocity_iterations() const { return velocity_iterations; }
+	void set_solver_velocity_iterations(int p_iterations);
+
+	int get_solver_position_iterations() const { return position_iterations; }
+	void set_solver_position_iterations(int p_iterations);
+
+	bool is_collision_disabled() const { return collision_disabled; }
+	void set_collision_disabled(bool p_disabled);
+
+	void destroy();
+
+	virtual void rebuild() {}
+};