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Fix 6DOF Physical Bone joint

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Adding angular and linear springs param to PhysicalBone joint type JOINT_TYPE_6DOF,
using new 6DOF feautres implemented in sdfgeoff/godot@e149327.

Typo correction lenear_equilibrium_point to linear_equilibrium_point.
This commit is contained in:
Ivan Varesi 2018-11-20 16:55:22 +01:00 committed by Ivan Varesi
parent 7439e55812
commit b69c05c700
2 changed files with 89 additions and 1 deletions
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72
scene/3d/physics_body.cpp
View file

@ -1907,6 +1907,26 @@ bool PhysicalBone::SixDOFJointData::_set(const StringName &p_name, const Variant
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, axis_data[axis].linear_limit_softness);
} else if ("linear_spring_enabled" == var_name) {
axis_data[axis].linear_spring_enabled = p_value;
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, axis_data[axis].linear_spring_enabled);
} else if ("linear_spring_stiffness" == var_name) {
axis_data[axis].linear_spring_stiffness = p_value;
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, axis_data[axis].linear_spring_stiffness);
} else if ("linear_spring_damping" == var_name) {
axis_data[axis].linear_spring_damping = p_value;
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING, axis_data[axis].linear_spring_damping);
} else if ("linear_equilibrium_point" == var_name) {
axis_data[axis].linear_equilibrium_point = p_value;
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].linear_equilibrium_point);
} else if ("linear_restitution" == var_name) {
axis_data[axis].linear_restitution = p_value;
if (j.is_valid())
@ -1952,6 +1972,26 @@ bool PhysicalBone::SixDOFJointData::_set(const StringName &p_name, const Variant
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_ERP, axis_data[axis].erp);
} else if ("angular_spring_enabled" == var_name) {
axis_data[axis].angular_spring_enabled = p_value;
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, axis_data[axis].angular_spring_enabled);
} else if ("angular_spring_stiffness" == var_name) {
axis_data[axis].angular_spring_stiffness = p_value;
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, axis_data[axis].angular_spring_stiffness);
} else if ("angular_spring_damping" == var_name) {
axis_data[axis].angular_spring_damping = p_value;
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, axis_data[axis].angular_spring_damping);
} else if ("angular_equilibrium_point" == var_name) {
axis_data[axis].angular_equilibrium_point = p_value;
if (j.is_valid())
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].angular_equilibrium_point);
} else {
return false;
}
@ -1990,6 +2030,14 @@ bool PhysicalBone::SixDOFJointData::_get(const StringName &p_name, Variant &r_re
r_ret = axis_data[axis].linear_limit_lower;
} else if ("linear_limit_softness" == var_name) {
r_ret = axis_data[axis].linear_limit_softness;
} else if ("linear_spring_enabled" == var_name) {
r_ret = axis_data[axis].linear_spring_enabled;
} else if ("linear_spring_stiffness" == var_name) {
r_ret = axis_data[axis].linear_spring_stiffness;
} else if ("linear_spring_damping" == var_name) {
r_ret = axis_data[axis].linear_spring_damping;
} else if ("linear_equilibrium_point" == var_name) {
r_ret = axis_data[axis].linear_equilibrium_point;
} else if ("linear_restitution" == var_name) {
r_ret = axis_data[axis].linear_restitution;
} else if ("linear_damping" == var_name) {
@ -2008,6 +2056,14 @@ bool PhysicalBone::SixDOFJointData::_get(const StringName &p_name, Variant &r_re
r_ret = axis_data[axis].angular_damping;
} else if ("erp" == var_name) {
r_ret = axis_data[axis].erp;
} else if ("angular_spring_enabled" == var_name) {
r_ret = axis_data[axis].angular_spring_enabled;
} else if ("angular_spring_stiffness" == var_name) {
r_ret = axis_data[axis].angular_spring_stiffness;
} else if ("angular_spring_damping" == var_name) {
r_ret = axis_data[axis].angular_spring_damping;
} else if ("angular_equilibrium_point" == var_name) {
r_ret = axis_data[axis].angular_equilibrium_point;
} else {
return false;
}
@ -2022,6 +2078,10 @@ void PhysicalBone::SixDOFJointData::_get_property_list(List<PropertyInfo> *p_lis
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_limit_upper"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_limit_lower"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_spring_enabled"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_spring_stiffness"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_spring_damping"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_equilibrium_point"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_limit_enabled"));
@ -2031,6 +2091,10 @@ void PhysicalBone::SixDOFJointData::_get_property_list(List<PropertyInfo> *p_lis
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/angular_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/angular_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/erp"));
p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_spring_enabled"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/angular_spring_stiffness"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/angular_spring_damping"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/angular_equilibrium_point"));
}
}
@ -2294,6 +2358,10 @@ void PhysicalBone::_reload_joint() {
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT, g6dofjd->axis_data[axis].linear_limit_upper);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT, g6dofjd->axis_data[axis].linear_limit_lower);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].linear_limit_softness);
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, g6dofjd->axis_data[axis].linear_spring_enabled);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].linear_spring_stiffness);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING, g6dofjd->axis_data[axis].linear_spring_damping);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].linear_equilibrium_point);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION, g6dofjd->axis_data[axis].linear_restitution);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING, g6dofjd->axis_data[axis].linear_damping);
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, g6dofjd->axis_data[axis].angular_limit_enabled);
@ -2303,6 +2371,10 @@ void PhysicalBone::_reload_joint() {
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION, g6dofjd->axis_data[axis].angular_restitution);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING, g6dofjd->axis_data[axis].angular_damping);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_ERP, g6dofjd->axis_data[axis].erp);
PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, g6dofjd->axis_data[axis].angular_spring_enabled);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].angular_spring_stiffness);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, g6dofjd->axis_data[axis].angular_spring_damping);
PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].angular_equilibrium_point);
}
} break;

18
scene/3d/physics_body.h
View file

@ -494,6 +494,10 @@ public:
real_t linear_limit_softness;
real_t linear_restitution;
real_t linear_damping;
bool linear_spring_enabled;
real_t linear_spring_stiffness;
real_t linear_spring_damping;
real_t linear_equilibrium_point;
bool angular_limit_enabled;
real_t angular_limit_upper;
real_t angular_limit_lower;
@ -501,6 +505,10 @@ public:
real_t angular_restitution;
real_t angular_damping;
real_t erp;
bool angular_spring_enabled;
real_t angular_spring_stiffness;
real_t angular_spring_damping;
real_t angular_equilibrium_point;
SixDOFAxisData() :
linear_limit_enabled(true),
@ -509,13 +517,21 @@ public:
linear_limit_softness(0.7),
linear_restitution(0.5),
linear_damping(1.),
linear_spring_enabled(false),
linear_spring_stiffness(0),
linear_spring_damping(0),
linear_equilibrium_point(0),
angular_limit_enabled(true),
angular_limit_upper(0),
angular_limit_lower(0),
angular_limit_softness(0.5),
angular_restitution(0),
angular_damping(1.),
erp(0.5) {}
erp(0.5),
angular_spring_enabled(false),
angular_spring_stiffness(0),
angular_spring_damping(0.),
angular_equilibrium_point(0) {}
};
virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }