2dc5ff0caa
When one of the bodies exited the tree, the corresponding node path was reset instead of just resetting the joint from the physics server. That was causing the node path to be reset on scene switch when one of the bodies is under the joint in the scene tree.
338 lines
13 KiB
C++
338 lines
13 KiB
C++
/*************************************************************************/
|
|
/* physics_joint_3d.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
|
|
/* */
|
|
/* 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. */
|
|
/*************************************************************************/
|
|
|
|
#ifndef PHYSICS_JOINT_H
|
|
#define PHYSICS_JOINT_H
|
|
|
|
#include "scene/3d/node_3d.h"
|
|
#include "scene/3d/physics_body_3d.h"
|
|
|
|
class Joint3D : public Node3D {
|
|
GDCLASS(Joint3D, Node3D);
|
|
|
|
RID ba, bb;
|
|
|
|
RID joint;
|
|
|
|
NodePath a;
|
|
NodePath b;
|
|
|
|
int solver_priority = 1;
|
|
bool exclude_from_collision = true;
|
|
String warning;
|
|
bool configured = false;
|
|
|
|
protected:
|
|
void _disconnect_signals();
|
|
void _body_exit_tree();
|
|
void _update_joint(bool p_only_free = false);
|
|
|
|
void _notification(int p_what);
|
|
|
|
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) = 0;
|
|
|
|
static void _bind_methods();
|
|
|
|
_FORCE_INLINE_ bool is_configured() const { return configured; }
|
|
|
|
public:
|
|
virtual String get_configuration_warning() const override;
|
|
|
|
void set_node_a(const NodePath &p_node_a);
|
|
NodePath get_node_a() const;
|
|
|
|
void set_node_b(const NodePath &p_node_b);
|
|
NodePath get_node_b() const;
|
|
|
|
void set_solver_priority(int p_priority);
|
|
int get_solver_priority() const;
|
|
|
|
void set_exclude_nodes_from_collision(bool p_enable);
|
|
bool get_exclude_nodes_from_collision() const;
|
|
|
|
RID get_joint() const { return joint; }
|
|
Joint3D();
|
|
~Joint3D();
|
|
};
|
|
|
|
///////////////////////////////////////////
|
|
|
|
class PinJoint3D : public Joint3D {
|
|
GDCLASS(PinJoint3D, Joint3D);
|
|
|
|
public:
|
|
enum Param {
|
|
PARAM_BIAS = PhysicsServer3D::PIN_JOINT_BIAS,
|
|
PARAM_DAMPING = PhysicsServer3D::PIN_JOINT_DAMPING,
|
|
PARAM_IMPULSE_CLAMP = PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP
|
|
};
|
|
|
|
protected:
|
|
real_t params[3];
|
|
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_param(Param p_param, real_t p_value);
|
|
real_t get_param(Param p_param) const;
|
|
|
|
PinJoint3D();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(PinJoint3D::Param);
|
|
|
|
class HingeJoint3D : public Joint3D {
|
|
GDCLASS(HingeJoint3D, Joint3D);
|
|
|
|
public:
|
|
enum Param {
|
|
PARAM_BIAS = PhysicsServer3D::HINGE_JOINT_BIAS,
|
|
PARAM_LIMIT_UPPER = PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER,
|
|
PARAM_LIMIT_LOWER = PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER,
|
|
PARAM_LIMIT_BIAS = PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS,
|
|
PARAM_LIMIT_SOFTNESS = PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS,
|
|
PARAM_LIMIT_RELAXATION = PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION,
|
|
PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY,
|
|
PARAM_MOTOR_MAX_IMPULSE = PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE,
|
|
PARAM_MAX = PhysicsServer3D::HINGE_JOINT_MAX
|
|
};
|
|
|
|
enum Flag {
|
|
FLAG_USE_LIMIT = PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT,
|
|
FLAG_ENABLE_MOTOR = PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR,
|
|
FLAG_MAX = PhysicsServer3D::HINGE_JOINT_FLAG_MAX
|
|
};
|
|
|
|
protected:
|
|
real_t params[PARAM_MAX];
|
|
bool flags[FLAG_MAX];
|
|
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
|
|
static void _bind_methods();
|
|
|
|
void _set_upper_limit(real_t p_limit);
|
|
real_t _get_upper_limit() const;
|
|
|
|
void _set_lower_limit(real_t p_limit);
|
|
real_t _get_lower_limit() const;
|
|
|
|
public:
|
|
void set_param(Param p_param, real_t p_value);
|
|
real_t get_param(Param p_param) const;
|
|
|
|
void set_flag(Flag p_flag, bool p_value);
|
|
bool get_flag(Flag p_flag) const;
|
|
|
|
HingeJoint3D();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(HingeJoint3D::Param);
|
|
VARIANT_ENUM_CAST(HingeJoint3D::Flag);
|
|
|
|
class SliderJoint3D : public Joint3D {
|
|
GDCLASS(SliderJoint3D, Joint3D);
|
|
|
|
public:
|
|
enum Param {
|
|
PARAM_LINEAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER,
|
|
PARAM_LINEAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER,
|
|
PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS,
|
|
PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION,
|
|
PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING,
|
|
PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS,
|
|
PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION,
|
|
PARAM_LINEAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING,
|
|
PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS,
|
|
PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION,
|
|
PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING,
|
|
|
|
PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER,
|
|
PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER,
|
|
PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS,
|
|
PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION,
|
|
PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING,
|
|
PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS,
|
|
PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION,
|
|
PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING,
|
|
PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS,
|
|
PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION,
|
|
PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING,
|
|
PARAM_MAX = PhysicsServer3D::SLIDER_JOINT_MAX
|
|
|
|
};
|
|
|
|
protected:
|
|
void _set_upper_limit_angular(real_t p_limit_angular);
|
|
real_t _get_upper_limit_angular() const;
|
|
|
|
void _set_lower_limit_angular(real_t p_limit_angular);
|
|
real_t _get_lower_limit_angular() const;
|
|
|
|
real_t params[PARAM_MAX];
|
|
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_param(Param p_param, real_t p_value);
|
|
real_t get_param(Param p_param) const;
|
|
|
|
SliderJoint3D();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(SliderJoint3D::Param);
|
|
|
|
class ConeTwistJoint3D : public Joint3D {
|
|
GDCLASS(ConeTwistJoint3D, Joint3D);
|
|
|
|
public:
|
|
enum Param {
|
|
PARAM_SWING_SPAN,
|
|
PARAM_TWIST_SPAN,
|
|
PARAM_BIAS,
|
|
PARAM_SOFTNESS,
|
|
PARAM_RELAXATION,
|
|
PARAM_MAX
|
|
};
|
|
|
|
protected:
|
|
void _set_swing_span(real_t p_limit_angular);
|
|
real_t _get_swing_span() const;
|
|
|
|
void _set_twist_span(real_t p_limit_angular);
|
|
real_t _get_twist_span() const;
|
|
|
|
real_t params[PARAM_MAX];
|
|
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_param(Param p_param, real_t p_value);
|
|
real_t get_param(Param p_param) const;
|
|
|
|
ConeTwistJoint3D();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(ConeTwistJoint3D::Param);
|
|
|
|
class Generic6DOFJoint3D : public Joint3D {
|
|
GDCLASS(Generic6DOFJoint3D, Joint3D);
|
|
|
|
public:
|
|
enum Param {
|
|
PARAM_LINEAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT,
|
|
PARAM_LINEAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT,
|
|
PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
|
|
PARAM_LINEAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION,
|
|
PARAM_LINEAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING,
|
|
PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
|
|
PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
|
|
PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS,
|
|
PARAM_LINEAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING,
|
|
PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT,
|
|
PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
|
|
PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
|
|
PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
|
|
PARAM_ANGULAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING,
|
|
PARAM_ANGULAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION,
|
|
PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_FORCE_LIMIT,
|
|
PARAM_ANGULAR_ERP = PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP,
|
|
PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
|
|
PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
|
|
PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
|
|
PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
|
|
PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
|
|
PARAM_MAX = PhysicsServer3D::G6DOF_JOINT_MAX,
|
|
};
|
|
|
|
enum Flag {
|
|
FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
|
|
FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
|
|
FLAG_ENABLE_LINEAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING,
|
|
FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING,
|
|
FLAG_ENABLE_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
|
|
FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
|
|
FLAG_MAX = PhysicsServer3D::G6DOF_JOINT_FLAG_MAX
|
|
};
|
|
|
|
protected:
|
|
void _set_angular_hi_limit_x(real_t p_limit_angular);
|
|
real_t _get_angular_hi_limit_x() const;
|
|
|
|
void _set_angular_hi_limit_y(real_t p_limit_angular);
|
|
real_t _get_angular_hi_limit_y() const;
|
|
|
|
void _set_angular_hi_limit_z(real_t p_limit_angular);
|
|
real_t _get_angular_hi_limit_z() const;
|
|
|
|
void _set_angular_lo_limit_x(real_t p_limit_angular);
|
|
real_t _get_angular_lo_limit_x() const;
|
|
|
|
void _set_angular_lo_limit_y(real_t p_limit_angular);
|
|
real_t _get_angular_lo_limit_y() const;
|
|
|
|
void _set_angular_lo_limit_z(real_t p_limit_angular);
|
|
real_t _get_angular_lo_limit_z() const;
|
|
|
|
real_t params_x[PARAM_MAX];
|
|
bool flags_x[FLAG_MAX];
|
|
real_t params_y[PARAM_MAX];
|
|
bool flags_y[FLAG_MAX];
|
|
real_t params_z[PARAM_MAX];
|
|
bool flags_z[FLAG_MAX];
|
|
|
|
virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_param_x(Param p_param, real_t p_value);
|
|
real_t get_param_x(Param p_param) const;
|
|
|
|
void set_param_y(Param p_param, real_t p_value);
|
|
real_t get_param_y(Param p_param) const;
|
|
|
|
void set_param_z(Param p_param, real_t p_value);
|
|
real_t get_param_z(Param p_param) const;
|
|
|
|
void set_flag_x(Flag p_flag, bool p_enabled);
|
|
bool get_flag_x(Flag p_flag) const;
|
|
|
|
void set_flag_y(Flag p_flag, bool p_enabled);
|
|
bool get_flag_y(Flag p_flag) const;
|
|
|
|
void set_flag_z(Flag p_flag, bool p_enabled);
|
|
bool get_flag_z(Flag p_flag) const;
|
|
|
|
Generic6DOFJoint3D();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(Generic6DOFJoint3D::Param);
|
|
VARIANT_ENUM_CAST(Generic6DOFJoint3D::Flag);
|
|
|
|
#endif // PHYSICS_JOINT_H
|