116 lines
4.4 KiB
C++
116 lines
4.4 KiB
C++
/*************************************************************************/
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/* pin_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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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 "pin_joint_bullet.h"
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#include "bullet_types_converter.h"
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#include "rigid_body_bullet.h"
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#include <BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h>
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/**
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@author AndreaCatania
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*/
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PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b) :
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JointBullet() {
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if (p_body_b) {
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btVector3 btPivotA;
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btVector3 btPivotB;
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G_TO_B(p_pos_a * p_body_a->get_body_scale(), btPivotA);
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G_TO_B(p_pos_b * p_body_b->get_body_scale(), btPivotB);
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p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(),
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*p_body_b->get_bt_rigid_body(),
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btPivotA,
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btPivotB));
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} else {
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btVector3 btPivotA;
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G_TO_B(p_pos_a, btPivotA);
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p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), btPivotA));
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}
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setup(p2pConstraint);
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}
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PinJointBullet::~PinJointBullet() {}
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void PinJointBullet::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer3D::PIN_JOINT_BIAS:
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p2pConstraint->m_setting.m_tau = p_value;
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break;
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case PhysicsServer3D::PIN_JOINT_DAMPING:
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p2pConstraint->m_setting.m_damping = p_value;
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break;
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case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP:
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p2pConstraint->m_setting.m_impulseClamp = p_value;
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break;
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}
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}
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real_t PinJointBullet::get_param(PhysicsServer3D::PinJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer3D::PIN_JOINT_BIAS:
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return p2pConstraint->m_setting.m_tau;
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case PhysicsServer3D::PIN_JOINT_DAMPING:
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return p2pConstraint->m_setting.m_damping;
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case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP:
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return p2pConstraint->m_setting.m_impulseClamp;
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}
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// Compiler doesn't seem to notice that all code paths are fulfilled...
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return 0;
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}
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void PinJointBullet::setPivotInA(const Vector3 &p_pos) {
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btVector3 btVec;
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G_TO_B(p_pos, btVec);
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p2pConstraint->setPivotA(btVec);
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}
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void PinJointBullet::setPivotInB(const Vector3 &p_pos) {
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btVector3 btVec;
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G_TO_B(p_pos, btVec);
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p2pConstraint->setPivotB(btVec);
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}
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Vector3 PinJointBullet::getPivotInA() {
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btVector3 vec = p2pConstraint->getPivotInA();
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Vector3 gVec;
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B_TO_G(vec, gVec);
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return gVec;
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}
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Vector3 PinJointBullet::getPivotInB() {
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btVector3 vec = p2pConstraint->getPivotInB();
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Vector3 gVec;
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B_TO_G(vec, gVec);
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return gVec;
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}
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