noahbackus
9d30169a8d
Some checks failed
🔗 GHA / 📊 Static checks (push) Has been cancelled
🔗 GHA / 🤖 Android (push) Has been cancelled
🔗 GHA / 🍏 iOS (push) Has been cancelled
🔗 GHA / 🐧 Linux (push) Has been cancelled
🔗 GHA / 🍎 macOS (push) Has been cancelled
🔗 GHA / 🏁 Windows (push) Has been cancelled
🔗 GHA / 🌐 Web (push) Has been cancelled
95 lines
4.3 KiB
C++
95 lines
4.3 KiB
C++
/**************************************************************************/
|
|
/* jolt_cone_twist_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/Body/Body.h"
|
|
|
|
class JoltConeTwistJoint3D final : public JoltJoint3D {
|
|
typedef PhysicsServer3D::ConeTwistJointParam Parameter;
|
|
typedef JoltPhysicsServer3D::ConeTwistJointParamJolt JoltParameter;
|
|
typedef JoltPhysicsServer3D::ConeTwistJointFlagJolt JoltFlag;
|
|
|
|
double swing_limit_span = 0.0;
|
|
double twist_limit_span = 0.0;
|
|
|
|
double swing_motor_target_speed_y = 0.0;
|
|
double swing_motor_target_speed_z = 0.0;
|
|
double twist_motor_target_speed = 0.0;
|
|
|
|
double swing_motor_max_torque = FLT_MAX;
|
|
double twist_motor_max_torque = FLT_MAX;
|
|
|
|
bool swing_limit_enabled = true;
|
|
bool twist_limit_enabled = true;
|
|
|
|
bool swing_motor_enabled = false;
|
|
bool twist_motor_enabled = false;
|
|
|
|
JPH::Constraint *_build_swing_twist(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_swing_limit_span, float p_twist_limit_span) const;
|
|
|
|
void _update_swing_motor_state();
|
|
void _update_twist_motor_state();
|
|
void _update_motor_velocity();
|
|
void _update_swing_motor_limit();
|
|
void _update_twist_motor_limit();
|
|
|
|
void _limits_changed();
|
|
void _swing_motor_state_changed();
|
|
void _twist_motor_state_changed();
|
|
void _motor_velocity_changed();
|
|
void _swing_motor_limit_changed();
|
|
void _twist_motor_limit_changed();
|
|
|
|
public:
|
|
JoltConeTwistJoint3D(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_CONE_TWIST; }
|
|
|
|
double get_param(PhysicsServer3D::ConeTwistJointParam p_param) const;
|
|
void set_param(PhysicsServer3D::ConeTwistJointParam 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_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;
|
|
};
|