text: /*************************************************************************/
  /*  physics_joint_3d.h                                                   */
  /*************************************************************************/
  /*                       This file is part of:                           */
  /*                           GODOT ENGINE                                */
  /*                      https://godotengine.org                          */
  /*************************************************************************/
  /* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
  /* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md).   */
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  #ifndef PHYSICS_JOINT_H
  #define PHYSICS_JOINT_H
  
  #include "scene/3d/node_3d.h"
  #include "scene/3d/physics_body_3d.h"
  
  class Joint3D : public Node3D {
  	GDCLASS(Joint3D, Node3D);
  
  	RID ba, bb;
  
  	RID joint;
  
  	NodePath a;
  	NodePath b;
  
  	int solver_priority;
  	bool exclude_from_collision;
  
  protected:
  	void _update_joint(bool p_only_free = false);
  
  	void _notification(int p_what);
  
  	virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b) = 0;
  
  	static void _bind_methods();
  
  public:
  	void set_node_a(const NodePath &p_node_a);
  	NodePath get_node_a() const;
  
  	void set_node_b(const NodePath &p_node_b);
  	NodePath get_node_b() const;
  
  	void set_solver_priority(int p_priority);
  	int get_solver_priority() const;
  
  	void set_exclude_nodes_from_collision(bool p_enable);
  	bool get_exclude_nodes_from_collision() const;
  
  	RID get_joint() const { return joint; }
  	Joint3D();
  };
  
  ///////////////////////////////////////////
  
  class PinJoint3D : public Joint3D {
  	GDCLASS(PinJoint3D, Joint3D);
  
  public:
  	enum Param {
  		PARAM_BIAS = PhysicsServer3D::PIN_JOINT_BIAS,
  		PARAM_DAMPING = PhysicsServer3D::PIN_JOINT_DAMPING,
  		PARAM_IMPULSE_CLAMP = PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP
  	};
  
  protected:
  	float params[3];
  	virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
  	static void _bind_methods();
  
  public:
  	void set_param(Param p_param, float p_value);
  	float get_param(Param p_param) const;
  
  	PinJoint3D();
  };
  
  VARIANT_ENUM_CAST(PinJoint3D::Param);
  
  class HingeJoint3D : public Joint3D {
  	GDCLASS(HingeJoint3D, Joint3D);
  
  public:
  	enum Param {
  		PARAM_BIAS = PhysicsServer3D::HINGE_JOINT_BIAS,
  		PARAM_LIMIT_UPPER = PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER,
  		PARAM_LIMIT_LOWER = PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER,
  		PARAM_LIMIT_BIAS = PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS,
  		PARAM_LIMIT_SOFTNESS = PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS,
  		PARAM_LIMIT_RELAXATION = PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION,
  		PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY,
  		PARAM_MOTOR_MAX_IMPULSE = PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE,
  		PARAM_MAX = PhysicsServer3D::HINGE_JOINT_MAX
  	};
  
  	enum Flag {
  		FLAG_USE_LIMIT = PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT,
  		FLAG_ENABLE_MOTOR = PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR,
  		FLAG_MAX = PhysicsServer3D::HINGE_JOINT_FLAG_MAX
  	};
  
  protected:
  	float params[PARAM_MAX];
  	bool flags[FLAG_MAX];
  	virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
  	static void _bind_methods();
  
  	void _set_upper_limit(float p_limit);
  	float _get_upper_limit() const;
  
  	void _set_lower_limit(float p_limit);
  	float _get_lower_limit() const;
  
  public:
  	void set_param(Param p_param, float p_value);
  	float get_param(Param p_param) const;
  
  	void set_flag(Flag p_flag, bool p_value);
  	bool get_flag(Flag p_flag) const;
  
  	HingeJoint3D();
  };
  
  VARIANT_ENUM_CAST(HingeJoint3D::Param);
  VARIANT_ENUM_CAST(HingeJoint3D::Flag);
  
  class SliderJoint3D : public Joint3D {
  	GDCLASS(SliderJoint3D, Joint3D);
  
  public:
  	enum Param {
  		PARAM_LINEAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER,
  		PARAM_LINEAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER,
  		PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS,
  		PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION,
  		PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING,
  		PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS,
  		PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION,
  		PARAM_LINEAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING,
  		PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS,
  		PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION,
  		PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING,
  
  		PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER,
  		PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER,
  		PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS,
  		PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION,
  		PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING,
  		PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS,
  		PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION,
  		PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING,
  		PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS,
  		PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION,
  		PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING,
  		PARAM_MAX = PhysicsServer3D::SLIDER_JOINT_MAX
  
  	};
  
  protected:
  	void _set_upper_limit_angular(float p_limit_angular);
  	float _get_upper_limit_angular() const;
  
  	void _set_lower_limit_angular(float p_limit_angular);
  	float _get_lower_limit_angular() const;
  
  	float params[PARAM_MAX];
  	virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
  	static void _bind_methods();
  
  public:
  	void set_param(Param p_param, float p_value);
  	float get_param(Param p_param) const;
  
  	SliderJoint3D();
  };
  
  VARIANT_ENUM_CAST(SliderJoint3D::Param);
  
  class ConeTwistJoint3D : public Joint3D {
  	GDCLASS(ConeTwistJoint3D, Joint3D);
  
  public:
  	enum Param {
  		PARAM_SWING_SPAN,
  		PARAM_TWIST_SPAN,
  		PARAM_BIAS,
  		PARAM_SOFTNESS,
  		PARAM_RELAXATION,
  		PARAM_MAX
  	};
  
  protected:
  	void _set_swing_span(float p_limit_angular);
  	float _get_swing_span() const;
  
  	void _set_twist_span(float p_limit_angular);
  	float _get_twist_span() const;
  
  	float params[PARAM_MAX];
  	virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
  	static void _bind_methods();
  
  public:
  	void set_param(Param p_param, float p_value);
  	float get_param(Param p_param) const;
  
  	ConeTwistJoint3D();
  };
  
  VARIANT_ENUM_CAST(ConeTwistJoint3D::Param);
  
  class Generic6DOFJoint3D : public Joint3D {
  	GDCLASS(Generic6DOFJoint3D, Joint3D);
  
  public:
  	enum Param {
  		PARAM_LINEAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT,
  		PARAM_LINEAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT,
  		PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
  		PARAM_LINEAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION,
  		PARAM_LINEAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING,
  		PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
  		PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
  		PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS,
  		PARAM_LINEAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING,
  		PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT,
  		PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
  		PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
  		PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
  		PARAM_ANGULAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING,
  		PARAM_ANGULAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION,
  		PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_FORCE_LIMIT,
  		PARAM_ANGULAR_ERP = PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP,
  		PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
  		PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
  		PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
  		PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
  		PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
  		PARAM_MAX = PhysicsServer3D::G6DOF_JOINT_MAX,
  	};
  
  	enum Flag {
  		FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
  		FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
  		FLAG_ENABLE_LINEAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING,
  		FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING,
  		FLAG_ENABLE_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
  		FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
  		FLAG_MAX = PhysicsServer3D::G6DOF_JOINT_FLAG_MAX
  	};
  
  protected:
  	void _set_angular_hi_limit_x(float p_limit_angular);
  	float _get_angular_hi_limit_x() const;
  
  	void _set_angular_hi_limit_y(float p_limit_angular);
  	float _get_angular_hi_limit_y() const;
  
  	void _set_angular_hi_limit_z(float p_limit_angular);
  	float _get_angular_hi_limit_z() const;
  
  	void _set_angular_lo_limit_x(float p_limit_angular);
  	float _get_angular_lo_limit_x() const;
  
  	void _set_angular_lo_limit_y(float p_limit_angular);
  	float _get_angular_lo_limit_y() const;
  
  	void _set_angular_lo_limit_z(float p_limit_angular);
  	float _get_angular_lo_limit_z() const;
  
  	float params_x[PARAM_MAX];
  	bool flags_x[FLAG_MAX];
  	float params_y[PARAM_MAX];
  	bool flags_y[FLAG_MAX];
  	float params_z[PARAM_MAX];
  	bool flags_z[FLAG_MAX];
  
  	int precision = 1;
  
  	virtual RID _configure_joint(PhysicsBody3D *body_a, PhysicsBody3D *body_b) override;
  	static void _bind_methods();
  
  public:
  	void set_param_x(Param p_param, float p_value);
  	float get_param_x(Param p_param) const;
  
  	void set_param_y(Param p_param, float p_value);
  	float get_param_y(Param p_param) const;
  
  	void set_param_z(Param p_param, float p_value);
  	float get_param_z(Param p_param) const;
  
  	void set_flag_x(Flag p_flag, bool p_enabled);
  	bool get_flag_x(Flag p_flag) const;
  
  	void set_flag_y(Flag p_flag, bool p_enabled);
  	bool get_flag_y(Flag p_flag) const;
  
  	void set_flag_z(Flag p_flag, bool p_enabled);
  	bool get_flag_z(Flag p_flag) const;
  
  	void set_precision(int p_precision);
  	int get_precision() const {
  		return precision;
  	}
  
  	Generic6DOFJoint3D();
  };
  
  VARIANT_ENUM_CAST(Generic6DOFJoint3D::Param);
  VARIANT_ENUM_CAST(Generic6DOFJoint3D::Flag);
  
  #endif // PHYSICS_JOINT_H
  