godot/modules/bullet/generic_6dof_joint_bullet.cpp
2017-12-07 08:02:00 +01:00

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 */
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/* 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;
}
}