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Update PinJoint2D API with angle limits and motor speed #81610

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Sep 26, 2023
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Update PinJoint2D API with angle limits and motor speed #81610

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5 changes: 5 additions & 0 deletions COPYRIGHT.txt
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Expand Up @@ -85,6 +85,11 @@ Copyright: 2001, Robert Penner
2007-2014, Juan Linietsky, Ariel Manzur
License: Expat

Files: ./servers/physics_2d/godot_joints_2d.cpp
Comment: Chipmunk2D Joint Constraints
Copyright: 2007, Scott Lembcke
License: Expat

Files: ./servers/physics_3d/collision_solver_3d_sat.cpp
Comment: Open Dynamics Engine
Copyright: 2001-2003, Russell L. Smith, Alen Ladavac, Nguyen Binh
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32 changes: 32 additions & 0 deletions doc/classes/PhysicsServer2D.xml
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Expand Up @@ -839,6 +839,14 @@
Sets the value of the given joint parameter. See [enum JointParam] for the list of available parameters.
</description>
</method>
<method name="pin_joint_get_flag" qualifiers="const">
<return type="bool" />
<param index="0" name="joint" type="RID" />
<param index="1" name="flag" type="int" enum="PhysicsServer2D.PinJointFlag" />
<description>
Gets a pin joint flag (see [enum PinJointFlag] constants).
</description>
</method>
<method name="pin_joint_get_param" qualifiers="const">
<return type="float" />
<param index="0" name="joint" type="RID" />
Expand All @@ -847,6 +855,15 @@
Returns the value of a pin joint parameter. See [enum PinJointParam] for a list of available parameters.
</description>
</method>
<method name="pin_joint_set_flag">
<return type="void" />
<param index="0" name="joint" type="RID" />
<param index="1" name="flag" type="int" enum="PhysicsServer2D.PinJointFlag" />
<param index="2" name="enabled" type="bool" />
<description>
Sets a pin joint flag (see [enum PinJointFlag] constants).
</description>
</method>
<method name="pin_joint_set_param">
<return type="void" />
<param index="0" name="joint" type="RID" />
Expand Down Expand Up @@ -1160,6 +1177,21 @@
<constant name="PIN_JOINT_SOFTNESS" value="0" enum="PinJointParam">
Constant to set/get a how much the bond of the pin joint can flex. The default value of this parameter is [code]0.0[/code].
</constant>
<constant name="PIN_JOINT_LIMIT_UPPER" value="1" enum="PinJointParam">
The maximum rotation around the pin.
</constant>
<constant name="PIN_JOINT_LIMIT_LOWER" value="2" enum="PinJointParam">
The minimum rotation around the pin.
</constant>
<constant name="PIN_JOINT_MOTOR_TARGET_VELOCITY" value="3" enum="PinJointParam">
Target speed for the motor. In radians per second.
</constant>
<constant name="PIN_JOINT_FLAG_ANGULAR_LIMIT_ENABLED" value="0" enum="PinJointFlag">
If [code]true[/code], the pin has a maximum and a minimum rotation.
</constant>
<constant name="PIN_JOINT_FLAG_MOTOR_ENABLED" value="1" enum="PinJointFlag">
If [code]true[/code], a motor turns the pin.
</constant>
<constant name="DAMPED_SPRING_REST_LENGTH" value="0" enum="DampedSpringParam">
Sets the resting length of the spring joint. The joint will always try to go to back this length when pulled apart. The default value of this parameter is the distance between the joint's anchor points.
</constant>
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15 changes: 15 additions & 0 deletions doc/classes/PhysicsServer2DExtension.xml
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Expand Up @@ -780,13 +780,28 @@
<description>
</description>
</method>
<method name="_pin_joint_get_flag" qualifiers="virtual const">
<return type="bool" />
<param index="0" name="joint" type="RID" />
<param index="1" name="flag" type="int" enum="PhysicsServer2D.PinJointFlag" />
<description>
</description>
</method>
<method name="_pin_joint_get_param" qualifiers="virtual const">
<return type="float" />
<param index="0" name="joint" type="RID" />
<param index="1" name="param" type="int" enum="PhysicsServer2D.PinJointParam" />
<description>
</description>
</method>
<method name="_pin_joint_set_flag" qualifiers="virtual">
<return type="void" />
<param index="0" name="joint" type="RID" />
<param index="1" name="flag" type="int" enum="PhysicsServer2D.PinJointFlag" />
<param index="2" name="enabled" type="bool" />
<description>
</description>
</method>
<method name="_pin_joint_set_param" qualifiers="virtual">
<return type="void" />
<param index="0" name="joint" type="RID" />
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15 changes: 15 additions & 0 deletions doc/classes/PinJoint2D.xml
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Expand Up @@ -9,6 +9,21 @@
<tutorials>
</tutorials>
<members>
<member name="angular_limit_enabled" type="bool" setter="set_angular_limit_enabled" getter="is_angular_limit_enabled" default="false">
If [code]true[/code], the pin maximum and minimum rotation, defined by [member angular_limit_lower] and [member angular_limit_upper] are applied.
</member>
<member name="angular_limit_lower" type="float" setter="set_angular_limit_lower" getter="get_angular_limit_lower" default="0.0">
The minimum rotation. Only active if [member angular_limit_enabled] is [code]true[/code].
</member>
<member name="angular_limit_upper" type="float" setter="set_angular_limit_upper" getter="get_angular_limit_upper" default="0.0">
The maximum rotation. Only active if [member angular_limit_enabled] is [code]true[/code].
</member>
<member name="motor_enabled" type="bool" setter="set_motor_enabled" getter="is_motor_enabled" default="false">
When activated, a motor turns the pin.
</member>
<member name="motor_target_velocity" type="float" setter="set_motor_target_velocity" getter="get_motor_target_velocity" default="0.0">
Target speed for the motor. In radians per second.
</member>
<member name="softness" type="float" setter="set_softness" getter="get_softness" default="0.0">
The higher this value, the more the bond to the pinned partner can flex.
</member>
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100 changes: 100 additions & 0 deletions scene/2d/joint_2d.cpp
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Expand Up @@ -277,9 +277,17 @@ void PinJoint2D::_notification(int p_what) {
void PinJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) {
PhysicsServer2D::get_singleton()->joint_make_pin(p_joint, get_global_position(), body_a->get_rid(), body_b ? body_b->get_rid() : RID());
PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_SOFTNESS, softness);
PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_LIMIT_UPPER, angular_limit_upper);
PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_LIMIT_LOWER, angular_limit_lower);
PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_MOTOR_TARGET_VELOCITY, motor_target_velocity);
PhysicsServer2D::get_singleton()->pin_joint_set_flag(p_joint, PhysicsServer2D::PIN_JOINT_FLAG_MOTOR_ENABLED, motor_enabled);
PhysicsServer2D::get_singleton()->pin_joint_set_flag(p_joint, PhysicsServer2D::PIN_JOINT_FLAG_ANGULAR_LIMIT_ENABLED, angular_limit_enabled);
}

void PinJoint2D::set_softness(real_t p_softness) {
if (softness == p_softness) {
return;
}
softness = p_softness;
queue_redraw();
if (is_configured()) {
Expand All @@ -291,11 +299,103 @@ real_t PinJoint2D::get_softness() const {
return softness;
}

void PinJoint2D::set_angular_limit_lower(real_t p_angular_limit_lower) {
if (angular_limit_lower == p_angular_limit_lower) {
return;
}
angular_limit_lower = p_angular_limit_lower;
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queue_redraw();
if (is_configured()) {
PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_LIMIT_LOWER, p_angular_limit_lower);
}
}

real_t PinJoint2D::get_angular_limit_lower() const {
return angular_limit_lower;
}

void PinJoint2D::set_angular_limit_upper(real_t p_angular_limit_upper) {
if (angular_limit_upper == p_angular_limit_upper) {
return;
}
angular_limit_upper = p_angular_limit_upper;
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queue_redraw();
if (is_configured()) {
PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_LIMIT_UPPER, p_angular_limit_upper);
}
}

real_t PinJoint2D::get_angular_limit_upper() const {
return angular_limit_upper;
}

void PinJoint2D::set_motor_target_velocity(real_t p_motor_target_velocity) {
if (motor_target_velocity == p_motor_target_velocity) {
return;
}
motor_target_velocity = p_motor_target_velocity;
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queue_redraw();
if (is_configured()) {
PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_MOTOR_TARGET_VELOCITY, motor_target_velocity);
}
}

real_t PinJoint2D::get_motor_target_velocity() const {
return motor_target_velocity;
}

void PinJoint2D::set_motor_enabled(bool p_motor_enabled) {
if (motor_enabled == p_motor_enabled) {
return;
}
motor_enabled = p_motor_enabled;
queue_redraw();
if (is_configured()) {
PhysicsServer2D::get_singleton()->pin_joint_set_flag(get_rid(), PhysicsServer2D::PIN_JOINT_FLAG_MOTOR_ENABLED, motor_enabled);
}
}

bool PinJoint2D::is_motor_enabled() const {
return motor_enabled;
}

void PinJoint2D::set_angular_limit_enabled(bool p_angular_limit_enabled) {
if (angular_limit_enabled == p_angular_limit_enabled) {
return;
}
angular_limit_enabled = p_angular_limit_enabled;
queue_redraw();
if (is_configured()) {
PhysicsServer2D::get_singleton()->pin_joint_set_flag(get_rid(), PhysicsServer2D::PIN_JOINT_FLAG_ANGULAR_LIMIT_ENABLED, angular_limit_enabled);
}
}

bool PinJoint2D::is_angular_limit_enabled() const {
return angular_limit_enabled;
}

void PinJoint2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_softness", "softness"), &PinJoint2D::set_softness);
ClassDB::bind_method(D_METHOD("get_softness"), &PinJoint2D::get_softness);
ClassDB::bind_method(D_METHOD("set_angular_limit_lower", "angular_limit_lower"), &PinJoint2D::set_angular_limit_lower);
ClassDB::bind_method(D_METHOD("get_angular_limit_lower"), &PinJoint2D::get_angular_limit_lower);
ClassDB::bind_method(D_METHOD("set_angular_limit_upper", "angular_limit_upper"), &PinJoint2D::set_angular_limit_upper);
ClassDB::bind_method(D_METHOD("get_angular_limit_upper"), &PinJoint2D::get_angular_limit_upper);
ClassDB::bind_method(D_METHOD("set_motor_target_velocity", "motor_target_velocity"), &PinJoint2D::set_motor_target_velocity);
ClassDB::bind_method(D_METHOD("get_motor_target_velocity"), &PinJoint2D::get_motor_target_velocity);
ClassDB::bind_method(D_METHOD("set_motor_enabled", "enabled"), &PinJoint2D::set_motor_enabled);
ClassDB::bind_method(D_METHOD("is_motor_enabled"), &PinJoint2D::is_motor_enabled);
ClassDB::bind_method(D_METHOD("set_angular_limit_enabled", "enabled"), &PinJoint2D::set_angular_limit_enabled);
ClassDB::bind_method(D_METHOD("is_angular_limit_enabled"), &PinJoint2D::is_angular_limit_enabled);

ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.00,16,0.01,exp"), "set_softness", "get_softness");
ADD_GROUP("Angular Limit", "angular_limit_");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "angular_limit_enabled"), "set_angular_limit_enabled", "is_angular_limit_enabled");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_angular_limit_lower", "get_angular_limit_lower");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_angular_limit_upper", "get_angular_limit_upper");
ADD_GROUP("Motor", "motor_");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "motor_enabled"), "set_motor_enabled", "is_motor_enabled");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "motor_target_velocity", PROPERTY_HINT_RANGE, U"-200,200,0.01,or_greater,or_less,radians_as_degrees,suffix:\u00B0/s"), "set_motor_target_velocity", "get_motor_target_velocity");
}

PinJoint2D::PinJoint2D() {
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16 changes: 16 additions & 0 deletions scene/2d/joint_2d.h
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Expand Up @@ -85,6 +85,11 @@ class PinJoint2D : public Joint2D {
GDCLASS(PinJoint2D, Joint2D);

real_t softness = 0.0;
real_t angular_limit_lower = 0.0;
real_t angular_limit_upper = 0.0;
real_t motor_target_velocity = 0.0;
bool motor_enabled = false;
bool angular_limit_enabled = false;

protected:
void _notification(int p_what);
Expand All @@ -94,6 +99,17 @@ class PinJoint2D : public Joint2D {
public:
void set_softness(real_t p_softness);
real_t get_softness() const;
void set_angular_limit_lower(real_t p_angular_limit_lower);
real_t get_angular_limit_lower() const;
void set_angular_limit_upper(real_t p_angular_limit_upper);
real_t get_angular_limit_upper() const;
void set_motor_target_velocity(real_t p_motor_target_velocity);
real_t get_motor_target_velocity() const;

void set_motor_enabled(bool p_motor_enabled);
bool is_motor_enabled() const;
void set_angular_limit_enabled(bool p_angular_limit_enabled);
bool is_angular_limit_enabled() const;

PinJoint2D();
};
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3 changes: 3 additions & 0 deletions servers/extensions/physics_server_2d_extension.cpp
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Expand Up @@ -316,6 +316,9 @@ void PhysicsServer2DExtension::_bind_methods() {
GDVIRTUAL_BIND(_joint_make_groove, "joint", "a_groove1", "a_groove2", "b_anchor", "body_a", "body_b");
GDVIRTUAL_BIND(_joint_make_damped_spring, "joint", "anchor_a", "anchor_b", "body_a", "body_b");

GDVIRTUAL_BIND(_pin_joint_set_flag, "joint", "flag", "enabled");
GDVIRTUAL_BIND(_pin_joint_get_flag, "joint", "flag");

GDVIRTUAL_BIND(_pin_joint_set_param, "joint", "param", "value");
GDVIRTUAL_BIND(_pin_joint_get_param, "joint", "param");

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3 changes: 3 additions & 0 deletions servers/extensions/physics_server_2d_extension.h
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Expand Up @@ -419,6 +419,9 @@ class PhysicsServer2DExtension : public PhysicsServer2D {
EXBIND6(joint_make_groove, RID, const Vector2 &, const Vector2 &, const Vector2 &, RID, RID)
EXBIND5(joint_make_damped_spring, RID, const Vector2 &, const Vector2 &, RID, RID)

EXBIND3(pin_joint_set_flag, RID, PinJointFlag, bool)
EXBIND2RC(bool, pin_joint_get_flag, RID, PinJointFlag)

EXBIND3(pin_joint_set_param, RID, PinJointParam, real_t)
EXBIND2RC(real_t, pin_joint_get_param, RID, PinJointParam)

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