1/**************************************************************************/
2/* godot_joint_3d.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. */
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29/**************************************************************************/
30
31#ifndef GODOT_JOINT_3D_H
32#define GODOT_JOINT_3D_H
33
34#include "godot_body_3d.h"
35#include "godot_constraint_3d.h"
36
37class GodotJoint3D : public GodotConstraint3D {
38protected:
39 bool dynamic_A = false;
40 bool dynamic_B = false;
41
42 void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
43 if (Math::abs(n.z) > Math_SQRT12) {
44 // choose p in y-z plane
45 real_t a = n[1] * n[1] + n[2] * n[2];
46 real_t k = 1.0 / Math::sqrt(a);
47 p = Vector3(0, -n[2] * k, n[1] * k);
48 // set q = n x p
49 q = Vector3(a * k, -n[0] * p[2], n[0] * p[1]);
50 } else {
51 // choose p in x-y plane
52 real_t a = n.x * n.x + n.y * n.y;
53 real_t k = 1.0 / Math::sqrt(a);
54 p = Vector3(-n.y * k, n.x * k, 0);
55 // set q = n x p
56 q = Vector3(-n.z * p.y, n.z * p.x, a * k);
57 }
58 }
59
60 _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
61 real_t coeff_1 = Math_PI / 4.0f;
62 real_t coeff_2 = 3.0f * coeff_1;
63 real_t abs_y = Math::abs(y);
64 real_t angle;
65 if (x >= 0.0f) {
66 real_t r = (x - abs_y) / (x + abs_y);
67 angle = coeff_1 - coeff_1 * r;
68 } else {
69 real_t r = (x + abs_y) / (abs_y - x);
70 angle = coeff_2 - coeff_1 * r;
71 }
72 return (y < 0.0f) ? -angle : angle;
73 }
74
75public:
76 virtual bool setup(real_t p_step) override { return false; }
77 virtual bool pre_solve(real_t p_step) override { return true; }
78 virtual void solve(real_t p_step) override {}
79
80 void copy_settings_from(GodotJoint3D *p_joint) {
81 set_self(p_joint->get_self());
82 set_priority(p_joint->get_priority());
83 disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
84 }
85
86 virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; }
87 _FORCE_INLINE_ GodotJoint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
88 GodotConstraint3D(p_body_ptr, p_body_count) {
89 }
90
91 virtual ~GodotJoint3D() {
92 for (int i = 0; i < get_body_count(); i++) {
93 GodotBody3D *body = get_body_ptr()[i];
94 if (body) {
95 body->remove_constraint(this);
96 }
97 }
98 }
99};
100
101#endif // GODOT_JOINT_3D_H
102