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161 | /**************************************************************************/
/* joints_2d_sw.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. */
/**************************************************************************/
#ifndef JOINTS_2D_SW_H
#define JOINTS_2D_SW_H
#include "body_2d_sw.h"
#include "constraint_2d_sw.h"
class Joint2DSW : public Constraint2DSW {
real_t max_force;
real_t bias;
real_t max_bias;
public:
_FORCE_INLINE_ void set_max_force(real_t p_force) { max_force = p_force; }
_FORCE_INLINE_ real_t get_max_force() const { return max_force; }
_FORCE_INLINE_ void set_bias(real_t p_bias) { bias = p_bias; }
_FORCE_INLINE_ real_t get_bias() const { return bias; }
_FORCE_INLINE_ void set_max_bias(real_t p_bias) { max_bias = p_bias; }
_FORCE_INLINE_ real_t get_max_bias() const { return max_bias; }
virtual Physics2DServer::JointType get_type() const = 0;<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class
Joint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) :
Constraint2DSW(p_body_ptr, p_body_count) {
bias = 0;<--- Variable 'bias' is assigned in constructor body. Consider performing initialization in initialization list. [+]When an object of a class is created, the constructors of all member variables are called consecutively in the order the variables are declared, even if you don't explicitly write them to the initialization list. You could avoid assigning 'bias' a value by passing the value to the constructor in the initialization list.
max_force = max_bias = 3.40282e+38;<--- Variable 'max_force' is assigned in constructor body. Consider performing initialization in initialization list. [+]When an object of a class is created, the constructors of all member variables are called consecutively in the order the variables are declared, even if you don't explicitly write them to the initialization list. You could avoid assigning 'max_force' a value by passing the value to the constructor in the initialization list. <--- Variable 'max_bias' is assigned in constructor body. Consider performing initialization in initialization list. [+]When an object of a class is created, the constructors of all member variables are called consecutively in the order the variables are declared, even if you don't explicitly write them to the initialization list. You could avoid assigning 'max_bias' a value by passing the value to the constructor in the initialization list.
};
};
class PinJoint2DSW : public Joint2DSW {
union {
struct {
Body2DSW *A;
Body2DSW *B;
};
Body2DSW *_arr[2];
};
Transform2D M;
Vector2 rA, rB;
Vector2 anchor_A;
Vector2 anchor_B;
Vector2 bias;
Vector2 P;
real_t softness;
public:
virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_PIN; }<--- Function in derived class
virtual bool setup(real_t p_step);<--- Function in derived class
virtual void solve(real_t p_step);<--- Function in derived class
void set_param(Physics2DServer::PinJointParam p_param, real_t p_value);
real_t get_param(Physics2DServer::PinJointParam p_param) const;
PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b = nullptr);
~PinJoint2DSW();
};
class GrooveJoint2DSW : public Joint2DSW {
union {
struct {
Body2DSW *A;
Body2DSW *B;
};
Body2DSW *_arr[2];
};
Vector2 A_groove_1;
Vector2 A_groove_2;
Vector2 A_groove_normal;
Vector2 B_anchor;
Vector2 jn_acc;
Vector2 gbias;
real_t jn_max;
real_t clamp;
Vector2 xf_normal;
Vector2 rA, rB;
Vector2 k1, k2;
bool correct;
public:
virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_GROOVE; }<--- Function in derived class
virtual bool setup(real_t p_step);<--- Function in derived class
virtual void solve(real_t p_step);<--- Function in derived class
GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b);
~GrooveJoint2DSW();
};
class DampedSpringJoint2DSW : public Joint2DSW {
union {
struct {
Body2DSW *A;
Body2DSW *B;
};
Body2DSW *_arr[2];
};
Vector2 anchor_A;
Vector2 anchor_B;
real_t rest_length;
real_t damping;
real_t stiffness;
Vector2 rA, rB;
Vector2 n;
real_t n_mass;
real_t target_vrn;
real_t v_coef;
public:
virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_DAMPED_SPRING; }<--- Function in derived class
virtual bool setup(real_t p_step);<--- Function in derived class
virtual void solve(real_t p_step);<--- Function in derived class
void set_param(Physics2DServer::DampedStringParam p_param, real_t p_value);
real_t get_param(Physics2DServer::DampedStringParam p_param) const;
DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b);
~DampedSpringJoint2DSW();
};
#endif // JOINTS_2D_SW_H
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