440 lines
16 KiB
C++
440 lines
16 KiB
C++
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#include "slider_joint_sw.h"
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//-----------------------------------------------------------------------------
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static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x)
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{
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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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void SliderJointSW::initParams()
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{
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m_lowerLinLimit = real_t(1.0);
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m_upperLinLimit = real_t(-1.0);
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m_lowerAngLimit = real_t(0.);
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m_upperAngLimit = real_t(0.);
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m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingDirLin = real_t(0.);
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m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingDirAng = real_t(0.);
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m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_poweredLinMotor = false;
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m_targetLinMotorVelocity = real_t(0.);
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m_maxLinMotorForce = real_t(0.);
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m_accumulatedLinMotorImpulse = real_t(0.0);
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m_poweredAngMotor = false;
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m_targetAngMotorVelocity = real_t(0.);
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m_maxAngMotorForce = real_t(0.);
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m_accumulatedAngMotorImpulse = real_t(0.0);
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} // SliderJointSW::initParams()
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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SliderJointSW::SliderJointSW(BodySW* rbA, BodySW* rbB, const Transform& frameInA, const Transform& frameInB)
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: JointSW(_arr,2)
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, m_frameInA(frameInA)
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, m_frameInB(frameInB)
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{
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A=rbA;
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B=rbB;
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A->add_constraint(this,0);
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B->add_constraint(this,1);
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initParams();
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} // SliderJointSW::SliderJointSW()
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//-----------------------------------------------------------------------------
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bool SliderJointSW::setup(float p_step)
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{
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//calculate transforms
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m_calculatedTransformA = A->get_transform() * m_frameInA;
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m_calculatedTransformB = B->get_transform() * m_frameInB;
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m_realPivotAInW = m_calculatedTransformA.origin;
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m_realPivotBInW = m_calculatedTransformB.origin;
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m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X
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m_delta = m_realPivotBInW - m_realPivotAInW;
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m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
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m_relPosA = m_projPivotInW - A->get_transform().origin;
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m_relPosB = m_realPivotBInW - B->get_transform().origin;
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Vector3 normalWorld;
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int i;
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//linear part
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for(i = 0; i < 3; i++)
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{
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normalWorld = m_calculatedTransformA.basis.get_axis(i);
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memnew_placement(&m_jacLin[i], JacobianEntrySW(
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A->get_transform().basis.transposed(),
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B->get_transform().basis.transposed(),
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m_relPosA,
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m_relPosB,
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normalWorld,
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A->get_inv_inertia(),
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A->get_inv_mass(),
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B->get_inv_inertia(),
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B->get_inv_mass()
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));
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m_jacLinDiagABInv[i] = real_t(1.) / m_jacLin[i].getDiagonal();
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m_depth[i] = m_delta.dot(normalWorld);
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}
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testLinLimits();
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// angular part
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for(i = 0; i < 3; i++)
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{
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normalWorld = m_calculatedTransformA.basis.get_axis(i);
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memnew_placement(&m_jacAng[i], JacobianEntrySW(
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normalWorld,
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A->get_transform().basis.transposed(),
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B->get_transform().basis.transposed(),
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A->get_inv_inertia(),
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B->get_inv_inertia()
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));
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}
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testAngLimits();
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Vector3 axisA = m_calculatedTransformA.basis.get_axis(0);
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m_kAngle = real_t(1.0 )/ (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA));
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// clear accumulator for motors
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m_accumulatedLinMotorImpulse = real_t(0.0);
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m_accumulatedAngMotorImpulse = real_t(0.0);
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return true;
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} // SliderJointSW::buildJacobianInt()
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//-----------------------------------------------------------------------------
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void SliderJointSW::solve(real_t p_step) {
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int i;
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// linear
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Vector3 velA = A->get_velocity_in_local_point(m_relPosA);
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Vector3 velB = B->get_velocity_in_local_point(m_relPosB);
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Vector3 vel = velA - velB;
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for(i = 0; i < 3; i++)
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{
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const Vector3& normal = m_jacLin[i].m_linearJointAxis;
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real_t rel_vel = normal.dot(vel);
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// calculate positional error
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real_t depth = m_depth[i];
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// get parameters
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real_t softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin);
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real_t restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin);
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real_t damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin);
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// calcutate and apply impulse
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real_t normalImpulse = softness * (restitution * depth / p_step - damping * rel_vel) * m_jacLinDiagABInv[i];
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Vector3 impulse_vector = normal * normalImpulse;
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A->apply_impulse( m_relPosA, impulse_vector);
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B->apply_impulse(m_relPosB,-impulse_vector);
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if(m_poweredLinMotor && (!i))
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{ // apply linear motor
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if(m_accumulatedLinMotorImpulse < m_maxLinMotorForce)
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{
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real_t desiredMotorVel = m_targetLinMotorVelocity;
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real_t motor_relvel = desiredMotorVel + rel_vel;
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normalImpulse = -motor_relvel * m_jacLinDiagABInv[i];
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// clamp accumulated impulse
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real_t new_acc = m_accumulatedLinMotorImpulse + Math::abs(normalImpulse);
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if(new_acc > m_maxLinMotorForce)
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{
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new_acc = m_maxLinMotorForce;
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}
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real_t del = new_acc - m_accumulatedLinMotorImpulse;
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if(normalImpulse < real_t(0.0))
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{
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normalImpulse = -del;
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}
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else
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{
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normalImpulse = del;
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}
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m_accumulatedLinMotorImpulse = new_acc;
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// apply clamped impulse
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impulse_vector = normal * normalImpulse;
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A->apply_impulse( m_relPosA, impulse_vector);
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B->apply_impulse( m_relPosB,-impulse_vector);
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}
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}
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}
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// angular
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// get axes in world space
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Vector3 axisA = m_calculatedTransformA.basis.get_axis(0);
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Vector3 axisB = m_calculatedTransformB.basis.get_axis(0);
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const Vector3& angVelA = A->get_angular_velocity();
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const Vector3& angVelB = B->get_angular_velocity();
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Vector3 angVelAroundAxisA = axisA * axisA.dot(angVelA);
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Vector3 angVelAroundAxisB = axisB * axisB.dot(angVelB);
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Vector3 angAorthog = angVelA - angVelAroundAxisA;
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Vector3 angBorthog = angVelB - angVelAroundAxisB;
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Vector3 velrelOrthog = angAorthog-angBorthog;
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//solve orthogonal angular velocity correction
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real_t len = velrelOrthog.length();
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if (len > real_t(0.00001))
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{
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Vector3 normal = velrelOrthog.normalized();
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real_t denom = A->compute_angular_impulse_denominator(normal) + B->compute_angular_impulse_denominator(normal);
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velrelOrthog *= (real_t(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
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}
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//solve angular positional correction
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Vector3 angularError = axisA.cross(axisB) *(real_t(1.)/p_step);
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real_t len2 = angularError.length();
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if (len2>real_t(0.00001))
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{
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Vector3 normal2 = angularError.normalized();
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real_t denom2 = A->compute_angular_impulse_denominator(normal2) + B->compute_angular_impulse_denominator(normal2);
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angularError *= (real_t(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
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}
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// apply impulse
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A->apply_torque_impulse(-velrelOrthog+angularError);
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B->apply_torque_impulse(velrelOrthog-angularError);
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real_t impulseMag;
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//solve angular limits
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if(m_solveAngLim)
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{
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impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / p_step;
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impulseMag *= m_kAngle * m_softnessLimAng;
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}
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else
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{
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impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / p_step;
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impulseMag *= m_kAngle * m_softnessDirAng;
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}
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Vector3 impulse = axisA * impulseMag;
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A->apply_torque_impulse(impulse);
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B->apply_torque_impulse(-impulse);
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//apply angular motor
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if(m_poweredAngMotor)
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{
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if(m_accumulatedAngMotorImpulse < m_maxAngMotorForce)
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{
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Vector3 velrel = angVelAroundAxisA - angVelAroundAxisB;
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real_t projRelVel = velrel.dot(axisA);
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real_t desiredMotorVel = m_targetAngMotorVelocity;
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real_t motor_relvel = desiredMotorVel - projRelVel;
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real_t angImpulse = m_kAngle * motor_relvel;
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// clamp accumulated impulse
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real_t new_acc = m_accumulatedAngMotorImpulse + Math::abs(angImpulse);
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if(new_acc > m_maxAngMotorForce)
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{
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new_acc = m_maxAngMotorForce;
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}
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real_t del = new_acc - m_accumulatedAngMotorImpulse;
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if(angImpulse < real_t(0.0))
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{
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angImpulse = -del;
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}
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else
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{
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angImpulse = del;
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}
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m_accumulatedAngMotorImpulse = new_acc;
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// apply clamped impulse
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Vector3 motorImp = angImpulse * axisA;
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A->apply_torque_impulse(motorImp);
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B->apply_torque_impulse(-motorImp);
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}
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}
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} // SliderJointSW::solveConstraint()
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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void SliderJointSW::calculateTransforms(void){
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m_calculatedTransformA = A->get_transform() * m_frameInA ;
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m_calculatedTransformB = B->get_transform() * m_frameInB;
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m_realPivotAInW = m_calculatedTransformA.origin;
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m_realPivotBInW = m_calculatedTransformB.origin;
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m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X
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m_delta = m_realPivotBInW - m_realPivotAInW;
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m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
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Vector3 normalWorld;
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int i;
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//linear part
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for(i = 0; i < 3; i++)
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{
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normalWorld = m_calculatedTransformA.basis.get_axis(i);
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m_depth[i] = m_delta.dot(normalWorld);
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}
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} // SliderJointSW::calculateTransforms()
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//-----------------------------------------------------------------------------
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void SliderJointSW::testLinLimits(void)
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{
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m_solveLinLim = false;
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m_linPos = m_depth[0];
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if(m_lowerLinLimit <= m_upperLinLimit)
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{
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if(m_depth[0] > m_upperLinLimit)
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{
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m_depth[0] -= m_upperLinLimit;
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m_solveLinLim = true;
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}
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else if(m_depth[0] < m_lowerLinLimit)
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{
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m_depth[0] -= m_lowerLinLimit;
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m_solveLinLim = true;
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}
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else
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{
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m_depth[0] = real_t(0.);
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}
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}
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else
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{
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m_depth[0] = real_t(0.);
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}
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} // SliderJointSW::testLinLimits()
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//-----------------------------------------------------------------------------
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void SliderJointSW::testAngLimits(void)
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{
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m_angDepth = real_t(0.);
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m_solveAngLim = false;
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if(m_lowerAngLimit <= m_upperAngLimit)
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{
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|
const Vector3 axisA0 = m_calculatedTransformA.basis.get_axis(1);
|
||
|
|
const Vector3 axisA1 = m_calculatedTransformA.basis.get_axis(2);
|
||
|
|
const Vector3 axisB0 = m_calculatedTransformB.basis.get_axis(1);
|
||
|
|
real_t rot = atan2fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
|
||
|
|
if(rot < m_lowerAngLimit)
|
||
|
|
{
|
||
|
|
m_angDepth = rot - m_lowerAngLimit;
|
||
|
|
m_solveAngLim = true;
|
||
|
|
}
|
||
|
|
else if(rot > m_upperAngLimit)
|
||
|
|
{
|
||
|
|
m_angDepth = rot - m_upperAngLimit;
|
||
|
|
m_solveAngLim = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
} // SliderJointSW::testAngLimits()
|
||
|
|
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
Vector3 SliderJointSW::getAncorInA(void)
|
||
|
|
{
|
||
|
|
Vector3 ancorInA;
|
||
|
|
ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * real_t(0.5) * m_sliderAxis;
|
||
|
|
ancorInA = A->get_transform().inverse().xform( ancorInA );
|
||
|
|
return ancorInA;
|
||
|
|
} // SliderJointSW::getAncorInA()
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
|
||
|
|
Vector3 SliderJointSW::getAncorInB(void)
|
||
|
|
{
|
||
|
|
Vector3 ancorInB;
|
||
|
|
ancorInB = m_frameInB.origin;
|
||
|
|
return ancorInB;
|
||
|
|
} // SliderJointSW::getAncorInB();
|
||
|
|
|
||
|
|
void SliderJointSW::set_param(PhysicsServer::SliderJointParam p_param, float p_value) {
|
||
|
|
|
||
|
|
switch(p_param) {
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: m_upperLinLimit=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: m_lowerLinLimit=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: m_softnessLimLin=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: m_restitutionLimLin=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: m_dampingLimLin=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: m_softnessDirLin=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: m_restitutionDirLin=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: m_dampingDirLin=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: m_softnessOrthoLin=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: m_restitutionOrthoLin=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: m_dampingOrthoLin=p_value; break;
|
||
|
|
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: m_upperAngLimit=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: m_lowerAngLimit=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: m_softnessLimAng=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: m_restitutionLimAng=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: m_dampingLimAng=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: m_softnessDirAng=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: m_restitutionDirAng=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: m_dampingDirAng=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: m_softnessOrthoAng=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: m_restitutionOrthoAng=p_value; break;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: m_dampingOrthoAng=p_value; break;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
float SliderJointSW::get_param(PhysicsServer::SliderJointParam p_param) const {
|
||
|
|
|
||
|
|
switch(p_param) {
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: return m_upperLinLimit;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: return m_lowerLinLimit;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: return m_softnessLimLin;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: return m_restitutionLimLin;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: return m_dampingLimLin;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: return m_softnessDirLin;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: return m_restitutionDirLin;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: return m_dampingDirLin;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: return m_softnessOrthoLin;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: return m_restitutionOrthoLin;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: return m_dampingOrthoLin;
|
||
|
|
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: return m_upperAngLimit;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: return m_lowerAngLimit;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: return m_softnessLimAng;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: return m_restitutionLimAng;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: return m_dampingLimAng;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: return m_softnessDirAng;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: return m_restitutionDirAng;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: return m_dampingDirAng;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: return m_softnessOrthoAng;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: return m_restitutionOrthoAng;
|
||
|
|
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: return m_dampingOrthoAng;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|