1/**************************************************************************/
2/* godot_pin_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. */
10/* */
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12/* a copy of this software and associated documentation files (the */
13/* "Software"), to deal in the Software without restriction, including */
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17/* the following conditions: */
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29/**************************************************************************/
30
31#ifndef GODOT_PIN_JOINT_3D_H
32#define GODOT_PIN_JOINT_3D_H
33
34/*
35Adapted to Godot from the Bullet library.
36*/
37
38#include "servers/physics_3d/godot_joint_3d.h"
39#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
40
41/*
42Bullet Continuous Collision Detection and Physics Library
43Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
44
45This software is provided 'as-is', without any express or implied warranty.
46In no event will the authors be held liable for any damages arising from the use of this software.
47Permission is granted to anyone to use this software for any purpose,
48including commercial applications, and to alter it and redistribute it freely,
49subject to the following restrictions:
50
511. 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.
522. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
533. This notice may not be removed or altered from any source distribution.
54*/
55
56class GodotPinJoint3D : public GodotJoint3D {
57 union {
58 struct {
59 GodotBody3D *A;
60 GodotBody3D *B;
61 };
62
63 GodotBody3D *_arr[2] = {};
64 };
65
66 real_t m_tau = 0.3; //bias
67 real_t m_damping = 1.0;
68 real_t m_impulseClamp = 0.0;
69 real_t m_appliedImpulse = 0.0;
70
71 GodotJacobianEntry3D m_jac[3] = {}; //3 orthogonal linear constraints
72
73 Vector3 m_pivotInA;
74 Vector3 m_pivotInB;
75
76public:
77 virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_PIN; }
78
79 virtual bool setup(real_t p_step) override;
80 virtual void solve(real_t p_step) override;
81
82 void set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value);
83 real_t get_param(PhysicsServer3D::PinJointParam p_param) const;
84
85 void set_pos_a(const Vector3 &p_pos) { m_pivotInA = p_pos; }
86 void set_pos_b(const Vector3 &p_pos) { m_pivotInB = p_pos; }
87
88 Vector3 get_position_a() { return m_pivotInA; }
89 Vector3 get_position_b() { return m_pivotInB; }
90
91 GodotPinJoint3D(GodotBody3D *p_body_a, const Vector3 &p_pos_a, GodotBody3D *p_body_b, const Vector3 &p_pos_b);
92 ~GodotPinJoint3D();
93};
94
95#endif // GODOT_PIN_JOINT_3D_H
96