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311 | /**************************************************************************/
/* physical_bone_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. */
/**************************************************************************/
#ifndef PHYSICAL_BONE_3D_H
#define PHYSICAL_BONE_3D_H
#include "scene/3d/physical_bone_simulator_3d.h"
#include "scene/3d/physics/physics_body_3d.h"
class PhysicalBoneSimulator3D;
class PhysicalBone3D : public PhysicsBody3D {
GDCLASS(PhysicalBone3D, PhysicsBody3D);
public:
enum DampMode {
DAMP_MODE_COMBINE,
DAMP_MODE_REPLACE,
};
enum JointType {
JOINT_TYPE_NONE,
JOINT_TYPE_PIN,
JOINT_TYPE_CONE,
JOINT_TYPE_HINGE,
JOINT_TYPE_SLIDER,
JOINT_TYPE_6DOF
};
struct JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class
/// "j" is used to set the parameter inside the PhysicsServer3D
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class
virtual bool _get(const StringName &p_name, Variant &r_ret) const;<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class
virtual void _get_property_list(List<PropertyInfo> *p_list) const;<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class<--- Virtual function in base class
virtual ~JointData() {}
};
struct PinJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }<--- Function in derived class
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);<--- Function in derived class
virtual bool _get(const StringName &p_name, Variant &r_ret) const;<--- Function in derived class
virtual void _get_property_list(List<PropertyInfo> *p_list) const;<--- Function in derived class
real_t bias = 0.3;
real_t damping = 1.0;
real_t impulse_clamp = 0.0;
};
struct ConeJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }<--- Function in derived class
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);<--- Function in derived class
virtual bool _get(const StringName &p_name, Variant &r_ret) const;<--- Function in derived class
virtual void _get_property_list(List<PropertyInfo> *p_list) const;<--- Function in derived class
real_t swing_span = Math_PI * 0.25;
real_t twist_span = Math_PI;
real_t bias = 0.3;
real_t softness = 0.8;
real_t relaxation = 1.;
};
struct HingeJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }<--- Function in derived class
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);<--- Function in derived class
virtual bool _get(const StringName &p_name, Variant &r_ret) const;<--- Function in derived class
virtual void _get_property_list(List<PropertyInfo> *p_list) const;<--- Function in derived class
bool angular_limit_enabled = false;
real_t angular_limit_upper = Math_PI * 0.5;
real_t angular_limit_lower = -Math_PI * 0.5;
real_t angular_limit_bias = 0.3;
real_t angular_limit_softness = 0.9;
real_t angular_limit_relaxation = 1.;
};
struct SliderJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }<--- Function in derived class
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);<--- Function in derived class
virtual bool _get(const StringName &p_name, Variant &r_ret) const;<--- Function in derived class
virtual void _get_property_list(List<PropertyInfo> *p_list) const;<--- Function in derived class
real_t linear_limit_upper = 1.0;
real_t linear_limit_lower = -1.0;
real_t linear_limit_softness = 1.0;
real_t linear_limit_restitution = 0.7;
real_t linear_limit_damping = 1.0;
real_t angular_limit_upper = 0.0;
real_t angular_limit_lower = 0.0;
real_t angular_limit_softness = 1.0;
real_t angular_limit_restitution = 0.7;
real_t angular_limit_damping = 1.0;
};
struct SixDOFJointData : public JointData {
struct SixDOFAxisData {
bool linear_limit_enabled = true;
real_t linear_limit_upper = 0.0;
real_t linear_limit_lower = 0.0;
real_t linear_limit_softness = 0.7;
real_t linear_restitution = 0.5;
real_t linear_damping = 1.0;
bool linear_spring_enabled = false;
real_t linear_spring_stiffness = 0.0;
real_t linear_spring_damping = 0.0;
real_t linear_equilibrium_point = 0.0;
bool angular_limit_enabled = true;
real_t angular_limit_upper = 0.0;
real_t angular_limit_lower = 0.0;
real_t angular_limit_softness = 0.5;
real_t angular_restitution = 0.0;
real_t angular_damping = 1.0;
real_t erp = 0.5;
bool angular_spring_enabled = false;
real_t angular_spring_stiffness = 0.0;
real_t angular_spring_damping = 0.0;
real_t angular_equilibrium_point = 0.0;
};
virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }<--- Function in derived class
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);<--- Function in derived class
virtual bool _get(const StringName &p_name, Variant &r_ret) const;<--- Function in derived class
virtual void _get_property_list(List<PropertyInfo> *p_list) const;<--- Function in derived class
SixDOFAxisData axis_data[3];
SixDOFJointData() {}
};
private:
#ifdef TOOLS_ENABLED
// if false gizmo move body
bool gizmo_move_joint = false;
#endif
JointData *joint_data = nullptr;
Transform3D joint_offset;
RID joint;
ObjectID simulator_id;
Transform3D body_offset;
Transform3D body_offset_inverse;
bool simulate_physics = false;
bool _internal_simulate_physics = false;
int bone_id = -1;
String bone_name;
real_t bounce = 0.0;
real_t mass = 1.0;
real_t friction = 1.0;
Vector3 linear_velocity;
Vector3 angular_velocity;
real_t gravity_scale = 1.0;
bool can_sleep = true;
bool custom_integrator = false;
DampMode linear_damp_mode = DAMP_MODE_COMBINE;
DampMode angular_damp_mode = DAMP_MODE_COMBINE;
real_t linear_damp = 0.0;
real_t angular_damp = 0.0;
protected:
bool _set(const StringName &p_name, const Variant &p_value);
bool _get(const StringName &p_name, Variant &r_ret) const;
void _get_property_list(List<PropertyInfo> *p_list) const;
void _notification(int p_what);
GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
void _body_state_changed(PhysicsDirectBodyState3D *p_state);
static void _bind_methods();
private:
void _sync_body_state(PhysicsDirectBodyState3D *p_state);
void _update_joint_offset();
void _fix_joint_offset();
void _reload_joint();
void _update_simulator_path();
public:
void _on_bone_parent_changed();
PhysicalBoneSimulator3D *get_simulator() const;
Skeleton3D *get_skeleton() const;
void set_linear_velocity(const Vector3 &p_velocity);
Vector3 get_linear_velocity() const override;
void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const override;
void set_use_custom_integrator(bool p_enable);
bool is_using_custom_integrator();
#ifdef TOOLS_ENABLED
void _set_gizmo_move_joint(bool p_move_joint);
virtual Transform3D get_global_gizmo_transform() const override;
virtual Transform3D get_local_gizmo_transform() const override;
#endif
const JointData *get_joint_data() const;
int get_bone_id() const {
return bone_id;
}
void set_joint_type(JointType p_joint_type);
JointType get_joint_type() const;
void set_joint_offset(const Transform3D &p_offset);
const Transform3D &get_joint_offset() const;
void set_joint_rotation(const Vector3 &p_euler_rad);
Vector3 get_joint_rotation() const;
void set_body_offset(const Transform3D &p_offset);
const Transform3D &get_body_offset() const;
void set_simulate_physics(bool p_simulate);
bool get_simulate_physics();
bool is_simulating_physics();
void set_bone_name(const String &p_name);
const String &get_bone_name() const;
void set_mass(real_t p_mass);
real_t get_mass() const;
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_bounce(real_t p_bounce);
real_t get_bounce() const;
void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const;
void set_linear_damp_mode(DampMode p_mode);
DampMode get_linear_damp_mode() const;
void set_angular_damp_mode(DampMode p_mode);
DampMode get_angular_damp_mode() const;
void set_linear_damp(real_t p_linear_damp);
real_t get_linear_damp() const;
void set_angular_damp(real_t p_angular_damp);
real_t get_angular_damp() const;
void set_can_sleep(bool p_active);
bool is_able_to_sleep() const;
void apply_central_impulse(const Vector3 &p_impulse);
void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
void reset_physics_simulation_state();
void reset_to_rest_position();
PhysicalBone3D();
~PhysicalBone3D();
private:
void update_bone_id();
void update_offset();
void _start_physics_simulation();
void _stop_physics_simulation();
};
VARIANT_ENUM_CAST(PhysicalBone3D::JointType);
VARIANT_ENUM_CAST(PhysicalBone3D::DampMode);
#endif // PHYSICAL_BONE_3D_H
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