1 /*************************************************************************/
2 /*  cone_twist_joint_sw.h                                                */
3 /*************************************************************************/
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5 /*                           GODOT ENGINE                                */
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8 /* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur.                 */
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30 
31 /*
32 Adapted to Godot from the Bullet library.
33 */
34 
35 /*
36 Bullet Continuous Collision Detection and Physics Library
37 ConeTwistJointSW is Copyright (c) 2007 Starbreeze Studios
38 
39 This software is provided 'as-is', without any express or implied warranty.
40 In no event will the authors be held liable for any damages arising from the use of this software.
41 Permission is granted to anyone to use this software for any purpose,
42 including commercial applications, and to alter it and redistribute it freely,
43 subject to the following restrictions:
44 
45 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.
46 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
47 3. This notice may not be removed or altered from any source distribution.
48 
49 Written by: Marcus Hennix
50 */
51 
52 #ifndef CONE_TWIST_JOINT_SW_H
53 #define CONE_TWIST_JOINT_SW_H
54 
55 #include "servers/physics/joints/jacobian_entry_sw.h"
56 #include "servers/physics/joints_sw.h"
57 
58 ///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc)
59 class ConeTwistJointSW : public JointSW {
60 #ifdef IN_PARALLELL_SOLVER
61 public:
62 #endif
63 
64 	union {
65 		struct {
66 			BodySW *A;
67 			BodySW *B;
68 		};
69 
70 		BodySW *_arr[2];
71 	};
72 
73 	JacobianEntrySW m_jac[3]; //3 orthogonal linear constraints
74 
75 	real_t m_appliedImpulse;
76 	Transform m_rbAFrame;
77 	Transform m_rbBFrame;
78 
79 	real_t m_limitSoftness;
80 	real_t m_biasFactor;
81 	real_t m_relaxationFactor;
82 
83 	real_t m_swingSpan1;
84 	real_t m_swingSpan2;
85 	real_t m_twistSpan;
86 
87 	Vector3 m_swingAxis;
88 	Vector3 m_twistAxis;
89 
90 	real_t m_kSwing;
91 	real_t m_kTwist;
92 
93 	real_t m_twistLimitSign;
94 	real_t m_swingCorrection;
95 	real_t m_twistCorrection;
96 
97 	real_t m_accSwingLimitImpulse;
98 	real_t m_accTwistLimitImpulse;
99 
100 	bool m_angularOnly;
101 	bool m_solveTwistLimit;
102 	bool m_solveSwingLimit;
103 
104 public:
get_type()105 	virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }
106 
107 	virtual bool setup(float p_step);
108 	virtual void solve(float p_step);
109 
110 	ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rbAFrame, const Transform &rbBFrame);
111 
setAngularOnly(bool angularOnly)112 	void setAngularOnly(bool angularOnly) {
113 		m_angularOnly = angularOnly;
114 	}
115 
116 	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) {
117 		m_swingSpan1 = _swingSpan1;
118 		m_swingSpan2 = _swingSpan2;
119 		m_twistSpan = _twistSpan;
120 
121 		m_limitSoftness = _softness;
122 		m_biasFactor = _biasFactor;
123 		m_relaxationFactor = _relaxationFactor;
124 	}
125 
getSolveTwistLimit()126 	inline int getSolveTwistLimit() {
127 		return m_solveTwistLimit;
128 	}
129 
getSolveSwingLimit()130 	inline int getSolveSwingLimit() {
131 		return m_solveTwistLimit;
132 	}
133 
getTwistLimitSign()134 	inline real_t getTwistLimitSign() {
135 		return m_twistLimitSign;
136 	}
137 
138 	void set_param(PhysicsServer::ConeTwistJointParam p_param, float p_value);
139 	float get_param(PhysicsServer::ConeTwistJointParam p_param) const;
140 };
141 
142 #endif // CONE_TWIST_JOINT_SW_H
143