466 lines
16 KiB
C++
466 lines
16 KiB
C++
/*************************************************************************/
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/* slider_joint_bullet.cpp */
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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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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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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#include "slider_joint_bullet.h"
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#include "bullet_types_converter.h"
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#include "bullet_utilities.h"
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#include "rigid_body_bullet.h"
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#include <BulletDynamics/ConstraintSolver/btSliderConstraint.h>
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/**
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@author AndreaCatania
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*/
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SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
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JointBullet() {
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Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
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scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
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btTransform btFrameA;
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G_TO_B(scaled_AFrame, btFrameA);
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if (rbB) {
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Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
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scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
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btTransform btFrameB;
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G_TO_B(scaled_BFrame, btFrameB);
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sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true));
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} else {
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sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), btFrameA, true));
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}
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setup(sliderConstraint);
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}
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const RigidBodyBullet *SliderJointBullet::getRigidBodyA() const {
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return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyA().getUserPointer());
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}
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const RigidBodyBullet *SliderJointBullet::getRigidBodyB() const {
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return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyB().getUserPointer());
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}
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const Transform SliderJointBullet::getCalculatedTransformA() const {
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btTransform btTransform = sliderConstraint->getCalculatedTransformA();
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Transform gTrans;
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B_TO_G(btTransform, gTrans);
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return gTrans;
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}
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const Transform SliderJointBullet::getCalculatedTransformB() const {
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btTransform btTransform = sliderConstraint->getCalculatedTransformB();
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Transform gTrans;
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B_TO_G(btTransform, gTrans);
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return gTrans;
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}
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const Transform SliderJointBullet::getFrameOffsetA() const {
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btTransform btTransform = sliderConstraint->getFrameOffsetA();
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Transform gTrans;
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B_TO_G(btTransform, gTrans);
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return gTrans;
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}
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const Transform SliderJointBullet::getFrameOffsetB() const {
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btTransform btTransform = sliderConstraint->getFrameOffsetB();
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Transform gTrans;
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B_TO_G(btTransform, gTrans);
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return gTrans;
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}
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Transform SliderJointBullet::getFrameOffsetA() {
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btTransform btTransform = sliderConstraint->getFrameOffsetA();
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Transform gTrans;
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B_TO_G(btTransform, gTrans);
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return gTrans;
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}
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Transform SliderJointBullet::getFrameOffsetB() {
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btTransform btTransform = sliderConstraint->getFrameOffsetB();
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Transform gTrans;
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B_TO_G(btTransform, gTrans);
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return gTrans;
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}
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real_t SliderJointBullet::getLowerLinLimit() const {
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return sliderConstraint->getLowerLinLimit();
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}
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void SliderJointBullet::setLowerLinLimit(real_t lowerLimit) {
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sliderConstraint->setLowerLinLimit(lowerLimit);
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}
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real_t SliderJointBullet::getUpperLinLimit() const {
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return sliderConstraint->getUpperLinLimit();
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}
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void SliderJointBullet::setUpperLinLimit(real_t upperLimit) {
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sliderConstraint->setUpperLinLimit(upperLimit);
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}
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real_t SliderJointBullet::getLowerAngLimit() const {
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return sliderConstraint->getLowerAngLimit();
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}
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void SliderJointBullet::setLowerAngLimit(real_t lowerLimit) {
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sliderConstraint->setLowerAngLimit(lowerLimit);
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}
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real_t SliderJointBullet::getUpperAngLimit() const {
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return sliderConstraint->getUpperAngLimit();
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}
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void SliderJointBullet::setUpperAngLimit(real_t upperLimit) {
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sliderConstraint->setUpperAngLimit(upperLimit);
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}
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real_t SliderJointBullet::getSoftnessDirLin() const {
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return sliderConstraint->getSoftnessDirLin();
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}
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real_t SliderJointBullet::getRestitutionDirLin() const {
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return sliderConstraint->getRestitutionDirLin();
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}
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real_t SliderJointBullet::getDampingDirLin() const {
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return sliderConstraint->getDampingDirLin();
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}
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real_t SliderJointBullet::getSoftnessDirAng() const {
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return sliderConstraint->getSoftnessDirAng();
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}
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real_t SliderJointBullet::getRestitutionDirAng() const {
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return sliderConstraint->getRestitutionDirAng();
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}
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real_t SliderJointBullet::getDampingDirAng() const {
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return sliderConstraint->getDampingDirAng();
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}
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real_t SliderJointBullet::getSoftnessLimLin() const {
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return sliderConstraint->getSoftnessLimLin();
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}
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real_t SliderJointBullet::getRestitutionLimLin() const {
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return sliderConstraint->getRestitutionLimLin();
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}
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real_t SliderJointBullet::getDampingLimLin() const {
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return sliderConstraint->getDampingLimLin();
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}
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real_t SliderJointBullet::getSoftnessLimAng() const {
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return sliderConstraint->getSoftnessLimAng();
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}
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real_t SliderJointBullet::getRestitutionLimAng() const {
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return sliderConstraint->getRestitutionLimAng();
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}
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real_t SliderJointBullet::getDampingLimAng() const {
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return sliderConstraint->getDampingLimAng();
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}
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real_t SliderJointBullet::getSoftnessOrthoLin() const {
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return sliderConstraint->getSoftnessOrthoLin();
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}
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real_t SliderJointBullet::getRestitutionOrthoLin() const {
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return sliderConstraint->getRestitutionOrthoLin();
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}
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real_t SliderJointBullet::getDampingOrthoLin() const {
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return sliderConstraint->getDampingOrthoLin();
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}
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real_t SliderJointBullet::getSoftnessOrthoAng() const {
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return sliderConstraint->getSoftnessOrthoAng();
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}
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real_t SliderJointBullet::getRestitutionOrthoAng() const {
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return sliderConstraint->getRestitutionOrthoAng();
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}
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real_t SliderJointBullet::getDampingOrthoAng() const {
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return sliderConstraint->getDampingOrthoAng();
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}
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void SliderJointBullet::setSoftnessDirLin(real_t softnessDirLin) {
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sliderConstraint->setSoftnessDirLin(softnessDirLin);
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}
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void SliderJointBullet::setRestitutionDirLin(real_t restitutionDirLin) {
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sliderConstraint->setRestitutionDirLin(restitutionDirLin);
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}
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void SliderJointBullet::setDampingDirLin(real_t dampingDirLin) {
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sliderConstraint->setDampingDirLin(dampingDirLin);
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}
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void SliderJointBullet::setSoftnessDirAng(real_t softnessDirAng) {
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sliderConstraint->setSoftnessDirAng(softnessDirAng);
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}
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void SliderJointBullet::setRestitutionDirAng(real_t restitutionDirAng) {
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sliderConstraint->setRestitutionDirAng(restitutionDirAng);
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}
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void SliderJointBullet::setDampingDirAng(real_t dampingDirAng) {
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sliderConstraint->setDampingDirAng(dampingDirAng);
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}
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void SliderJointBullet::setSoftnessLimLin(real_t softnessLimLin) {
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sliderConstraint->setSoftnessLimLin(softnessLimLin);
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}
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void SliderJointBullet::setRestitutionLimLin(real_t restitutionLimLin) {
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sliderConstraint->setRestitutionLimLin(restitutionLimLin);
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}
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void SliderJointBullet::setDampingLimLin(real_t dampingLimLin) {
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sliderConstraint->setDampingLimLin(dampingLimLin);
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}
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void SliderJointBullet::setSoftnessLimAng(real_t softnessLimAng) {
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sliderConstraint->setSoftnessLimAng(softnessLimAng);
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}
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void SliderJointBullet::setRestitutionLimAng(real_t restitutionLimAng) {
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sliderConstraint->setRestitutionLimAng(restitutionLimAng);
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}
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void SliderJointBullet::setDampingLimAng(real_t dampingLimAng) {
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sliderConstraint->setDampingLimAng(dampingLimAng);
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}
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void SliderJointBullet::setSoftnessOrthoLin(real_t softnessOrthoLin) {
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sliderConstraint->setSoftnessOrthoLin(softnessOrthoLin);
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}
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void SliderJointBullet::setRestitutionOrthoLin(real_t restitutionOrthoLin) {
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sliderConstraint->setRestitutionOrthoLin(restitutionOrthoLin);
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}
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void SliderJointBullet::setDampingOrthoLin(real_t dampingOrthoLin) {
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sliderConstraint->setDampingOrthoLin(dampingOrthoLin);
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}
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void SliderJointBullet::setSoftnessOrthoAng(real_t softnessOrthoAng) {
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sliderConstraint->setSoftnessOrthoAng(softnessOrthoAng);
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}
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void SliderJointBullet::setRestitutionOrthoAng(real_t restitutionOrthoAng) {
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sliderConstraint->setRestitutionOrthoAng(restitutionOrthoAng);
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}
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void SliderJointBullet::setDampingOrthoAng(real_t dampingOrthoAng) {
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sliderConstraint->setDampingOrthoAng(dampingOrthoAng);
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}
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void SliderJointBullet::setPoweredLinMotor(bool onOff) {
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sliderConstraint->setPoweredLinMotor(onOff);
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}
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bool SliderJointBullet::getPoweredLinMotor() {
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return sliderConstraint->getPoweredLinMotor();
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}
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void SliderJointBullet::setTargetLinMotorVelocity(real_t targetLinMotorVelocity) {
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sliderConstraint->setTargetLinMotorVelocity(targetLinMotorVelocity);
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}
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real_t SliderJointBullet::getTargetLinMotorVelocity() {
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return sliderConstraint->getTargetLinMotorVelocity();
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}
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void SliderJointBullet::setMaxLinMotorForce(real_t maxLinMotorForce) {
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sliderConstraint->setMaxLinMotorForce(maxLinMotorForce);
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}
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real_t SliderJointBullet::getMaxLinMotorForce() {
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return sliderConstraint->getMaxLinMotorForce();
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}
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void SliderJointBullet::setPoweredAngMotor(bool onOff) {
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sliderConstraint->setPoweredAngMotor(onOff);
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}
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bool SliderJointBullet::getPoweredAngMotor() {
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return sliderConstraint->getPoweredAngMotor();
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}
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void SliderJointBullet::setTargetAngMotorVelocity(real_t targetAngMotorVelocity) {
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sliderConstraint->setTargetAngMotorVelocity(targetAngMotorVelocity);
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}
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real_t SliderJointBullet::getTargetAngMotorVelocity() {
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return sliderConstraint->getTargetAngMotorVelocity();
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}
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void SliderJointBullet::setMaxAngMotorForce(real_t maxAngMotorForce) {
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sliderConstraint->setMaxAngMotorForce(maxAngMotorForce);
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}
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real_t SliderJointBullet::getMaxAngMotorForce() {
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return sliderConstraint->getMaxAngMotorForce();
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}
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real_t SliderJointBullet::getLinearPos() {
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return sliderConstraint->getLinearPos();
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;
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}
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void SliderJointBullet::set_param(PhysicsServer::SliderJointParam p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
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setUpperLinLimit(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER:
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setLowerLinLimit(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS:
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setSoftnessLimLin(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION:
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setRestitutionLimLin(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING:
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setDampingLimLin(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS:
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setSoftnessDirLin(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION:
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setRestitutionDirLin(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING:
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setDampingDirLin(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS:
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setSoftnessOrthoLin(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION:
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setRestitutionOrthoLin(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING:
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setDampingOrthoLin(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER:
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setUpperAngLimit(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER:
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setLowerAngLimit(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS:
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setSoftnessLimAng(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION:
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setRestitutionLimAng(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING:
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setDampingLimAng(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS:
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setSoftnessDirAng(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION:
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setRestitutionDirAng(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING:
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setDampingDirAng(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS:
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setSoftnessOrthoAng(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION:
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setRestitutionOrthoAng(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING:
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setDampingOrthoAng(p_value);
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break;
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case PhysicsServer::SLIDER_JOINT_MAX:
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break; // Can't happen, but silences warning
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}
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}
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real_t SliderJointBullet::get_param(PhysicsServer::SliderJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
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return getUpperLinLimit();
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER:
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return getLowerLinLimit();
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS:
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return getSoftnessLimLin();
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION:
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return getRestitutionLimLin();
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case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING:
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return getDampingLimLin();
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS:
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return getSoftnessDirLin();
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION:
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return getRestitutionDirLin();
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case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING:
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return getDampingDirLin();
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS:
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return getSoftnessOrthoLin();
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION:
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return getRestitutionOrthoLin();
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case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING:
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return getDampingOrthoLin();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER:
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return getUpperAngLimit();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER:
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return getLowerAngLimit();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS:
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return getSoftnessLimAng();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION:
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return getRestitutionLimAng();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING:
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return getDampingLimAng();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS:
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return getSoftnessDirAng();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION:
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return getRestitutionDirAng();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING:
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return getDampingDirAng();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS:
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return getSoftnessOrthoAng();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION:
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return getRestitutionOrthoAng();
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case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING:
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return getDampingOrthoAng();
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default:
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return 0;
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}
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}
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