8cab401d08
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3D Physics:
-Fixed "Bounce" parameter in 3D
-Fixed bug affecting Area (sometims it would not detect properly)
-Vehicle Body has seen heavy work
-Added Query API for doing space queries in 3D. Needs some docs though.
-Added JOINTS! Adapted Bullet Joints: and created easy gizmos for setting them up:
-PinJoint
-HingeJoint (with motor)
-SliderJoint
-ConeTwistJoint
-Generic6DOFJoint
-Added OBJECT PICKING! based on the new query API. Any physics object now (Area or Body) has the following signals and virtual functions:
-input_event (mouse or multitouch input over the body)
-mouse_enter (mouse entered the body area)
-mouse_exit (mouse exited body area)
For Area it needs to be activated manually, as it isn't by default (ray goes thru).
Other:
-Begun working on Windows 8 (RT) port. Compiles but does not work yet.
-Added TheoraPlayer library for improved to-texture and portable video support.
-Fixed a few bugs in the renderer, collada importer, collada exporter, etc.
125 lines
3 KiB
C++
125 lines
3 KiB
C++
#ifndef CONE_TWIST_JOINT_SW_H
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#define CONE_TWIST_JOINT_SW_H
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#include "servers/physics/joints_sw.h"
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#include "servers/physics/joints/jacobian_entry_sw.h"
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/*
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Bullet Continuous Collision Detection and Physics Library
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ConeTwistJointSW is Copyright (c) 2007 Starbreeze Studios
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Written by: Marcus Hennix
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*/
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///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc)
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class ConeTwistJointSW : public JointSW
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{
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#ifdef IN_PARALLELL_SOLVER
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public:
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#endif
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union {
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struct {
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BodySW *A;
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BodySW *B;
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};
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BodySW *_arr[2];
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};
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JacobianEntrySW m_jac[3]; //3 orthogonal linear constraints
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real_t m_appliedImpulse;
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Transform m_rbAFrame;
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Transform m_rbBFrame;
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real_t m_limitSoftness;
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real_t m_biasFactor;
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real_t m_relaxationFactor;
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real_t m_swingSpan1;
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real_t m_swingSpan2;
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real_t m_twistSpan;
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Vector3 m_swingAxis;
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Vector3 m_twistAxis;
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real_t m_kSwing;
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real_t m_kTwist;
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real_t m_twistLimitSign;
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real_t m_swingCorrection;
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real_t m_twistCorrection;
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real_t m_accSwingLimitImpulse;
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real_t m_accTwistLimitImpulse;
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bool m_angularOnly;
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bool m_solveTwistLimit;
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bool m_solveSwingLimit;
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public:
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virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }
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virtual bool setup(float p_step);
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virtual void solve(float p_step);
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ConeTwistJointSW(BodySW* rbA,BodySW* rbB,const Transform& rbAFrame, const Transform& rbBFrame);
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void setAngularOnly(bool angularOnly)
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{
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m_angularOnly = angularOnly;
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}
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void setLimit(real_t _swingSpan1,real_t _swingSpan2,real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f)
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{
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m_swingSpan1 = _swingSpan1;
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m_swingSpan2 = _swingSpan2;
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m_twistSpan = _twistSpan;
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m_limitSoftness = _softness;
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m_biasFactor = _biasFactor;
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m_relaxationFactor = _relaxationFactor;
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}
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inline int getSolveTwistLimit()
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{
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return m_solveTwistLimit;
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}
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inline int getSolveSwingLimit()
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{
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return m_solveTwistLimit;
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}
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inline real_t getTwistLimitSign()
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{
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return m_twistLimitSign;
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}
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void set_param(PhysicsServer::ConeTwistJointParam p_param, float p_value);
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float get_param(PhysicsServer::ConeTwistJointParam p_param) const;
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};
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#endif // CONE_TWIST_JOINT_SW_H
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