fb4871c919
This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
112 lines
5.5 KiB
C++
112 lines
5.5 KiB
C++
/*************************************************************************/
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/* cone_twist_joint_bullet.cpp */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 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 "cone_twist_joint_bullet.h"
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#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.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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ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame)
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: JointBullet() {
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btTransform btFrameA;
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G_TO_B(rbAFrame, btFrameA);
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if (rbB) {
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btTransform btFrameB;
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G_TO_B(rbBFrame, btFrameB);
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coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
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} else {
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coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA));
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}
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setup(coneConstraint);
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}
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void ConeTwistJointBullet::set_angular_only(bool angularOnly) {
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coneConstraint->setAngularOnly(angularOnly);
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}
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void ConeTwistJointBullet::set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness, real_t _biasFactor, real_t _relaxationFactor) {
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coneConstraint->setLimit(_swingSpan1, _swingSpan2, _twistSpan, _softness, _biasFactor, _relaxationFactor);
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}
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int ConeTwistJointBullet::get_solve_twist_limit() {
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return coneConstraint->getSolveTwistLimit();
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}
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int ConeTwistJointBullet::get_solve_swing_limit() {
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return coneConstraint->getSolveSwingLimit();
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}
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real_t ConeTwistJointBullet::get_twist_limit_sign() {
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return coneConstraint->getTwistLimitSign();
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}
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void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN:
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coneConstraint->setLimit(5, p_value);
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coneConstraint->setLimit(4, p_value);
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break;
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case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN:
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coneConstraint->setLimit(3, p_value);
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break;
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case PhysicsServer::CONE_TWIST_JOINT_BIAS:
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coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), p_value, coneConstraint->getRelaxationFactor());
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break;
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case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS:
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coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), p_value, coneConstraint->getBiasFactor(), coneConstraint->getRelaxationFactor());
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break;
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case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
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coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
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break;
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default:
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WARN_PRINT("This parameter is not supported by Bullet engine");
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}
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}
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real_t ConeTwistJointBullet::get_param(PhysicsServer::ConeTwistJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN:
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return coneConstraint->getSwingSpan1();
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case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN:
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return coneConstraint->getTwistSpan();
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case PhysicsServer::CONE_TWIST_JOINT_BIAS:
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return coneConstraint->getBiasFactor();
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case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS:
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return coneConstraint->getLimitSoftness();
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case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
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return coneConstraint->getRelaxationFactor();
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default:
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WARN_PRINT("This parameter is not supported by Bullet engine");
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return 0;
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}
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}
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