mirror of
https://github.com/godotengine/godot
synced 2024-09-16 04:27:15 +00:00
b69c8b4791
Adds support for simple SCU build (DEV_ENABLED only). This speeds up compilation by compiling multiple cpp files within a single translation unit.
102 lines
4.1 KiB
C++
102 lines
4.1 KiB
C++
/**************************************************************************/
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/* godot_joint_3d.h */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef GODOT_JOINT_3D_H
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#define GODOT_JOINT_3D_H
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#include "godot_body_3d.h"
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#include "godot_constraint_3d.h"
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class GodotJoint3D : public GodotConstraint3D {
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protected:
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bool dynamic_A = false;
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bool dynamic_B = false;
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void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
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if (Math::abs(n.z) > Math_SQRT12) {
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// choose p in y-z plane
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real_t a = n[1] * n[1] + n[2] * n[2];
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real_t k = 1.0 / Math::sqrt(a);
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p = Vector3(0, -n[2] * k, n[1] * k);
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// set q = n x p
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q = Vector3(a * k, -n[0] * p[2], n[0] * p[1]);
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} else {
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// choose p in x-y plane
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real_t a = n.x * n.x + n.y * n.y;
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real_t k = 1.0 / Math::sqrt(a);
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p = Vector3(-n.y * k, n.x * k, 0);
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// set q = n x p
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q = Vector3(-n.z * p.y, n.z * p.x, a * k);
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}
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}
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_FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
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real_t coeff_1 = Math_PI / 4.0f;
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real_t coeff_2 = 3.0f * coeff_1;
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real_t abs_y = Math::abs(y);
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real_t angle;
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if (x >= 0.0f) {
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real_t r = (x - abs_y) / (x + abs_y);
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angle = coeff_1 - coeff_1 * r;
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} else {
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real_t r = (x + abs_y) / (abs_y - x);
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angle = coeff_2 - coeff_1 * r;
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}
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return (y < 0.0f) ? -angle : angle;
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}
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public:
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virtual bool setup(real_t p_step) override { return false; }
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virtual bool pre_solve(real_t p_step) override { return true; }
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virtual void solve(real_t p_step) override {}
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void copy_settings_from(GodotJoint3D *p_joint) {
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set_self(p_joint->get_self());
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set_priority(p_joint->get_priority());
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disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
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}
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virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; }
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_FORCE_INLINE_ GodotJoint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
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GodotConstraint3D(p_body_ptr, p_body_count) {
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}
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virtual ~GodotJoint3D() {
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for (int i = 0; i < get_body_count(); i++) {
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GodotBody3D *body = get_body_ptr()[i];
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if (body) {
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body->remove_constraint(this);
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}
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}
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}
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};
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#endif // GODOT_JOINT_3D_H
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