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Added function to control 6DOF precision

This commit is contained in:
Andrea Catania 2018-11-27 07:11:28 +01:00
parent 631cf676c3
commit a395d809a5
8 changed files with 58 additions and 1 deletions
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16
modules/bullet/bullet_physics_server.cpp
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@ -1471,6 +1471,22 @@ bool BulletPhysicsServer::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis
return generic_6dof_joint->get_flag(p_axis, p_flag);
}
void BulletPhysicsServer::generic_6dof_joint_set_precision(RID p_joint, int p_precision) {
JointBullet *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
generic_6dof_joint->set_precision(p_precision);
}
int BulletPhysicsServer::generic_6dof_joint_get_precision(RID p_joint) {
JointBullet *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint, 0);
ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
return generic_6dof_joint->get_precision();
}
void BulletPhysicsServer::free(RID p_rid) {
if (shape_owner.owns(p_rid)) {

3
modules/bullet/bullet_physics_server.h
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@ -375,6 +375,9 @@ public:
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable);
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag);
virtual void generic_6dof_joint_set_precision(RID p_joint, int precision);
virtual int generic_6dof_joint_get_precision(RID p_joint);
/* MISC */
virtual void free(RID p_rid);

8
modules/bullet/generic_6dof_joint_bullet.cpp
View File

@ -265,3 +265,11 @@ bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
ERR_FAIL_INDEX_V(p_axis, 3, false);
return flags[p_axis][p_flag];
}
void Generic6DOFJointBullet::set_precision(int p_precision) {
sixDOFConstraint->setOverrideNumSolverIterations(MAX(1, p_precision));
}
int Generic6DOFJointBullet::get_precision() const {
return sixDOFConstraint->getOverrideNumSolverIterations();
}

3
modules/bullet/generic_6dof_joint_bullet.h
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@ -68,6 +68,9 @@ public:
void set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value);
bool get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const;
void set_precision(int p_precision);
int get_precision() const;
};
#endif

16
scene/3d/physics_joint.cpp
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@ -707,6 +707,9 @@ void Generic6DOFJoint::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_flag_z", "flag", "value"), &Generic6DOFJoint::set_flag_z);
ClassDB::bind_method(D_METHOD("get_flag_z", "flag"), &Generic6DOFJoint::get_flag_z);
ClassDB::bind_method(D_METHOD("set_precision", "precision"), &Generic6DOFJoint::set_precision);
ClassDB::bind_method(D_METHOD("get_precision"), &Generic6DOFJoint::get_precision);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/upper_distance"), "set_param_x", "get_param_x", PARAM_LINEAR_UPPER_LIMIT);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/lower_distance"), "set_param_x", "get_param_x", PARAM_LINEAR_LOWER_LIMIT);
@ -795,6 +798,8 @@ void Generic6DOFJoint::_bind_methods() {
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/damping"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_DAMPING);
ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/equilibrium_point"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT);
ADD_PROPERTY(PropertyInfo(Variant::INT, "precision", PROPERTY_HINT_RANGE, "1,99999,1"), "set_precision", "get_precision");
BIND_ENUM_CONSTANT(PARAM_LINEAR_LOWER_LIMIT);
BIND_ENUM_CONSTANT(PARAM_LINEAR_UPPER_LIMIT);
BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS);
@ -907,6 +912,14 @@ bool Generic6DOFJoint::get_flag_z(Flag p_flag) const {
return flags_z[p_flag];
}
void Generic6DOFJoint::set_precision(int p_precision) {
precision = p_precision;
PhysicsServer::get_singleton()->generic_6dof_joint_set_precision(
get_joint(),
precision);
}
RID Generic6DOFJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b) {
Transform gt = get_global_transform();
@ -941,7 +954,8 @@ RID Generic6DOFJoint::_configure_joint(PhysicsBody *body_a, PhysicsBody *body_b)
return j;
}
Generic6DOFJoint::Generic6DOFJoint() {
Generic6DOFJoint::Generic6DOFJoint() :
precision(1) {
set_param_x(PARAM_LINEAR_LOWER_LIMIT, 0);
set_param_x(PARAM_LINEAR_UPPER_LIMIT, 0);

7
scene/3d/physics_joint.h
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@ -305,6 +305,8 @@ protected:
float params_z[PARAM_MAX];
bool flags_z[FLAG_MAX];
int precision;
virtual RID _configure_joint(PhysicsBody *body_a, PhysicsBody *body_b);
static void _bind_methods();
@ -327,6 +329,11 @@ public:
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;
}
Generic6DOFJoint();
};

3
servers/physics/physics_server_sw.h
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@ -348,6 +348,9 @@ public:
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable);
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag);
virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) {}
virtual int generic_6dof_joint_get_precision(RID p_joint) { return 0; }
virtual JointType joint_get_type(RID p_joint) const;
virtual void joint_set_solver_priority(RID p_joint, int p_priority);

3
servers/physics_server.h
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@ -734,6 +734,9 @@ public:
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) = 0;
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) = 0;
virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) = 0;
virtual int generic_6dof_joint_get_precision(RID p_joint) = 0;
/* QUERY API */
enum AreaBodyStatus {