1/**************************************************************************/
2/* godot_joints_2d.h */
3/**************************************************************************/
4/* This file is part of: */
5/* GODOT ENGINE */
6/* https://godotengine.org */
7/**************************************************************************/
8/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
10/* */
11/* Permission is hereby granted, free of charge, to any person obtaining */
12/* a copy of this software and associated documentation files (the */
13/* "Software"), to deal in the Software without restriction, including */
14/* without limitation the rights to use, copy, modify, merge, publish, */
15/* distribute, sublicense, and/or sell copies of the Software, and to */
16/* permit persons to whom the Software is furnished to do so, subject to */
17/* the following conditions: */
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19/* The above copyright notice and this permission notice shall be */
20/* included in all copies or substantial portions of the Software. */
21/* */
22/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
23/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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28/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
29/**************************************************************************/
30
31#ifndef GODOT_JOINTS_2D_H
32#define GODOT_JOINTS_2D_H
33
34#include "godot_body_2d.h"
35#include "godot_constraint_2d.h"
36
37class GodotJoint2D : public GodotConstraint2D {
38 real_t bias = 0;
39 real_t max_bias = 3.40282e+38;
40 real_t max_force = 3.40282e+38;
41
42protected:
43 bool dynamic_A = false;
44 bool dynamic_B = false;
45
46public:
47 _FORCE_INLINE_ void set_max_force(real_t p_force) { max_force = p_force; }
48 _FORCE_INLINE_ real_t get_max_force() const { return max_force; }
49
50 _FORCE_INLINE_ void set_bias(real_t p_bias) { bias = p_bias; }
51 _FORCE_INLINE_ real_t get_bias() const { return bias; }
52
53 _FORCE_INLINE_ void set_max_bias(real_t p_bias) { max_bias = p_bias; }
54 _FORCE_INLINE_ real_t get_max_bias() const { return max_bias; }
55
56 virtual bool setup(real_t p_step) override { return false; }
57 virtual bool pre_solve(real_t p_step) override { return false; }
58 virtual void solve(real_t p_step) override {}
59
60 void copy_settings_from(GodotJoint2D *p_joint);
61
62 virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_MAX; }
63 GodotJoint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) :
64 GodotConstraint2D(p_body_ptr, p_body_count) {}
65
66 virtual ~GodotJoint2D() {
67 for (int i = 0; i < get_body_count(); i++) {
68 GodotBody2D *body = get_body_ptr()[i];
69 if (body) {
70 body->remove_constraint(this, i);
71 }
72 }
73 };
74};
75
76class GodotPinJoint2D : public GodotJoint2D {
77 union {
78 struct {
79 GodotBody2D *A;
80 GodotBody2D *B;
81 };
82
83 GodotBody2D *_arr[2] = { nullptr, nullptr };
84 };
85
86 Transform2D M;
87 Vector2 rA, rB;
88 Vector2 anchor_A;
89 Vector2 anchor_B;
90 Vector2 bias;
91 Vector2 P;
92 real_t softness = 0.0;
93
94public:
95 virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_PIN; }
96
97 virtual bool setup(real_t p_step) override;
98 virtual bool pre_solve(real_t p_step) override;
99 virtual void solve(real_t p_step) override;
100
101 void set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value);
102 real_t get_param(PhysicsServer2D::PinJointParam p_param) const;
103
104 GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b = nullptr);
105};
106
107class GodotGrooveJoint2D : public GodotJoint2D {
108 union {
109 struct {
110 GodotBody2D *A;
111 GodotBody2D *B;
112 };
113
114 GodotBody2D *_arr[2] = { nullptr, nullptr };
115 };
116
117 Vector2 A_groove_1;
118 Vector2 A_groove_2;
119 Vector2 A_groove_normal;
120 Vector2 B_anchor;
121 Vector2 jn_acc;
122 Vector2 gbias;
123 real_t jn_max = 0.0;
124 real_t clamp = 0.0;
125 Vector2 xf_normal;
126 Vector2 rA, rB;
127 Vector2 k1, k2;
128
129 bool correct = false;
130
131public:
132 virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_GROOVE; }
133
134 virtual bool setup(real_t p_step) override;
135 virtual bool pre_solve(real_t p_step) override;
136 virtual void solve(real_t p_step) override;
137
138 GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b);
139};
140
141class GodotDampedSpringJoint2D : public GodotJoint2D {
142 union {
143 struct {
144 GodotBody2D *A;
145 GodotBody2D *B;
146 };
147
148 GodotBody2D *_arr[2] = { nullptr, nullptr };
149 };
150
151 Vector2 anchor_A;
152 Vector2 anchor_B;
153
154 real_t rest_length = 0.0;
155 real_t damping = 1.5;
156 real_t stiffness = 20.0;
157
158 Vector2 rA, rB;
159 Vector2 n;
160 Vector2 j;
161 real_t n_mass = 0.0;
162 real_t target_vrn = 0.0;
163 real_t v_coef = 0.0;
164
165public:
166 virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_DAMPED_SPRING; }
167
168 virtual bool setup(real_t p_step) override;
169 virtual bool pre_solve(real_t p_step) override;
170 virtual void solve(real_t p_step) override;
171
172 void set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value);
173 real_t get_param(PhysicsServer2D::DampedSpringParam p_param) const;
174
175 GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b);
176};
177
178#endif // GODOT_JOINTS_2D_H
179