70 lines
3.5 KiB
C++
70 lines
3.5 KiB
C++
/*************************************************************************/
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/* generic_6dof_joint_bullet.h */
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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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#ifndef GENERIC_6DOF_JOINT_BULLET_H
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#define GENERIC_6DOF_JOINT_BULLET_H
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#include "joint_bullet.h"
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class RigidBodyBullet;
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class Generic6DOFJointBullet : public JointBullet {
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class btGeneric6DofSpring2Constraint *sixDOFConstraint;
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// First is linear second is angular
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Vector3 limits_lower[2];
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Vector3 limits_upper[2];
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bool flags[3][PhysicsServer3D::G6DOF_JOINT_FLAG_MAX];
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public:
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Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
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virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_6DOF; }
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Transform3D getFrameOffsetA() const;
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Transform3D getFrameOffsetB() const;
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Transform3D getFrameOffsetA();
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Transform3D getFrameOffsetB();
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void set_linear_lower_limit(const Vector3 &linearLower);
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void set_linear_upper_limit(const Vector3 &linearUpper);
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void set_angular_lower_limit(const Vector3 &angularLower);
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void set_angular_upper_limit(const Vector3 &angularUpper);
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void set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value);
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real_t get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const;
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void set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value);
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bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const;
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};
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#endif // GENERIC_6DOF_JOINT_BULLET_H
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