diff options
Diffstat (limited to 'servers/physics/joints_sw.h')
| -rw-r--r-- | servers/physics/joints_sw.h | 176 |
1 files changed, 176 insertions, 0 deletions
diff --git a/servers/physics/joints_sw.h b/servers/physics/joints_sw.h new file mode 100644 index 000000000..c10568fb5 --- /dev/null +++ b/servers/physics/joints_sw.h @@ -0,0 +1,176 @@ +/*************************************************************************/ +/* joints_sw.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* 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_SW_H +#define JOINTS_SW_H + +#include "constraint_sw.h" +#include "body_sw.h" + + + +class JointSW : public ConstraintSW { + + 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 PhysicsServer::JointType get_type() const=0; + JointSW(BodySW **p_body_ptr=NULL,int p_body_count=0) : ConstraintSW(p_body_ptr,p_body_count) { bias=0; max_force=max_bias=3.40282e+38; }; + +}; + +#if 0 +class PinJointSW : public JointSW { + + union { + struct { + BodySW *A; + BodySW *B; + }; + + BodySW *_arr[2]; + }; + + Vector2 anchor_A; + Vector2 anchor_B; + real_t dist; + real_t jn_acc; + real_t jn_max; + real_t max_distance; + real_t mass_normal; + real_t bias; + + Vector2 rA,rB; + Vector2 n; //normal + bool correct; + + +public: + + virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_PIN; } + + virtual bool setup(float p_step); + virtual void solve(float p_step); + + + PinJointSW(const Vector2& p_pos,BodySW* p_body_a,BodySW* p_body_b=NULL); + ~PinJointSW(); +}; + + +class GrooveJointSW : public JointSW { + + union { + struct { + BodySW *A; + BodySW *B; + }; + + BodySW *_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 PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_GROOVE; } + + virtual bool setup(float p_step); + virtual void solve(float p_step); + + + GrooveJointSW(const Vector2& p_a_groove1,const Vector2& p_a_groove2, const Vector2& p_b_anchor, BodySW* p_body_a,BodySW* p_body_b); + ~GrooveJointSW(); +}; + + +class DampedSpringJointSW : public JointSW { + + union { + struct { + BodySW *A; + BodySW *B; + }; + + BodySW *_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 PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_DAMPED_SPRING; } + + virtual bool setup(float p_step); + virtual void solve(float p_step); + + void set_param(PhysicsServer::DampedStringParam p_param, real_t p_value); + real_t get_param(PhysicsServer::DampedStringParam p_param) const; + + DampedSpringJointSW(const Vector2& p_anchor_a,const Vector2& p_anchor_b, BodySW* p_body_a,BodySW* p_body_b); + ~DampedSpringJointSW(); +}; +#endif + +#endif // JOINTS__SW_H |