242 lines
10 KiB
C++
242 lines
10 KiB
C++
/*************************************************************************/
|
|
/* generic_6dof_joint_bullet.cpp */
|
|
/* Author: AndreaCatania */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
|
|
#include "generic_6dof_joint_bullet.h"
|
|
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
|
|
#include "bullet_types_converter.h"
|
|
#include "bullet_utilities.h"
|
|
#include "rigid_body_bullet.h"
|
|
|
|
Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA)
|
|
: JointBullet() {
|
|
|
|
btTransform btFrameA;
|
|
G_TO_B(frameInA, btFrameA);
|
|
|
|
if (rbB) {
|
|
btTransform btFrameB;
|
|
G_TO_B(frameInB, btFrameB);
|
|
|
|
sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA));
|
|
} else {
|
|
sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), btFrameA, useLinearReferenceFrameA));
|
|
}
|
|
|
|
setup(sixDOFConstraint);
|
|
}
|
|
|
|
Transform Generic6DOFJointBullet::getFrameOffsetA() const {
|
|
btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
|
|
Transform gTrs;
|
|
B_TO_G(btTrs, gTrs);
|
|
return gTrs;
|
|
}
|
|
|
|
Transform Generic6DOFJointBullet::getFrameOffsetB() const {
|
|
btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
|
|
Transform gTrs;
|
|
B_TO_G(btTrs, gTrs);
|
|
return gTrs;
|
|
}
|
|
|
|
Transform Generic6DOFJointBullet::getFrameOffsetA() {
|
|
btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
|
|
Transform gTrs;
|
|
B_TO_G(btTrs, gTrs);
|
|
return gTrs;
|
|
}
|
|
|
|
Transform Generic6DOFJointBullet::getFrameOffsetB() {
|
|
btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
|
|
Transform gTrs;
|
|
B_TO_G(btTrs, gTrs);
|
|
return gTrs;
|
|
}
|
|
|
|
void Generic6DOFJointBullet::set_linear_lower_limit(const Vector3 &linearLower) {
|
|
btVector3 btVec;
|
|
G_TO_B(linearLower, btVec);
|
|
sixDOFConstraint->setLinearLowerLimit(btVec);
|
|
}
|
|
|
|
void Generic6DOFJointBullet::set_linear_upper_limit(const Vector3 &linearUpper) {
|
|
btVector3 btVec;
|
|
G_TO_B(linearUpper, btVec);
|
|
sixDOFConstraint->setLinearUpperLimit(btVec);
|
|
}
|
|
|
|
void Generic6DOFJointBullet::set_angular_lower_limit(const Vector3 &angularLower) {
|
|
btVector3 btVec;
|
|
G_TO_B(angularLower, btVec);
|
|
sixDOFConstraint->setAngularLowerLimit(btVec);
|
|
}
|
|
|
|
void Generic6DOFJointBullet::set_angular_upper_limit(const Vector3 &angularUpper) {
|
|
btVector3 btVec;
|
|
G_TO_B(angularUpper, btVec);
|
|
sixDOFConstraint->setAngularUpperLimit(btVec);
|
|
}
|
|
|
|
void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value) {
|
|
ERR_FAIL_INDEX(p_axis, 3);
|
|
switch (p_param) {
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
|
|
sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis] = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
|
|
sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis] = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
|
|
sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
|
|
sixDOFConstraint->getTranslationalLimitMotor()->m_restitution = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
|
|
sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT:
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
|
|
break;
|
|
default:
|
|
WARN_PRINT("This parameter is not supported");
|
|
}
|
|
}
|
|
|
|
real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param) const {
|
|
ERR_FAIL_INDEX_V(p_axis, 3, 0.);
|
|
switch (p_param) {
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
|
|
return sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis];
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
|
|
return sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis];
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
|
|
return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
|
|
return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
|
|
return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
|
|
default:
|
|
WARN_PRINT("This parameter is not supported");
|
|
return 0.;
|
|
}
|
|
}
|
|
|
|
void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) {
|
|
ERR_FAIL_INDEX(p_axis, 3);
|
|
switch (p_flag) {
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
|
|
if (p_value) {
|
|
if (!get_flag(p_axis, p_flag)) // avoid overwrite, if limited
|
|
sixDOFConstraint->setLimit(p_axis, 0, 0); // Limited
|
|
} else {
|
|
if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
|
|
sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
|
|
}
|
|
break;
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: {
|
|
int angularAxis = 3 + p_axis;
|
|
if (p_value) {
|
|
if (!get_flag(p_axis, p_flag)) // avoid overwrite, if Limited
|
|
sixDOFConstraint->setLimit(angularAxis, 0, 0); // Limited
|
|
} else {
|
|
if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
|
|
sixDOFConstraint->setLimit(angularAxis, 0, -1); // Free
|
|
}
|
|
break;
|
|
}
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
|
|
//sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = p_value;
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = p_value;
|
|
break;
|
|
default:
|
|
WARN_PRINT("This flag is not supported by Bullet engine");
|
|
}
|
|
}
|
|
|
|
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
|
|
ERR_FAIL_INDEX_V(p_axis, 3, false);
|
|
switch (p_flag) {
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
|
|
return sixDOFConstraint->getTranslationalLimitMotor()->isLimited(p_axis);
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
|
|
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->isLimited();
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
|
|
return //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] &&
|
|
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor;
|
|
default:
|
|
WARN_PRINT("This flag is not supported by Bullet engine");
|
|
return false;
|
|
}
|
|
}
|