108 lines
5.2 KiB
C++
108 lines
5.2 KiB
C++
/*************************************************************************/
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/* cone_twist_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 "cone_twist_joint_bullet.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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#include <BulletDynamics/ConstraintSolver/btConeTwistConstraint.h>
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/**
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@author AndreaCatania
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*/
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ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
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JointBullet() {
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Transform3D scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale()));
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scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
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btTransform btFrameA;
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G_TO_B(scaled_AFrame, btFrameA);
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if (rbB) {
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Transform3D scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale()));
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scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
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btTransform btFrameB;
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G_TO_B(scaled_BFrame, 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_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer3D::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 PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN:
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coneConstraint->setLimit(3, p_value);
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break;
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case PhysicsServer3D::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 PhysicsServer3D::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 PhysicsServer3D::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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case PhysicsServer3D::CONE_TWIST_MAX:
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// Internal size value, nothing to do.
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break;
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}
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}
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real_t ConeTwistJointBullet::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN:
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return coneConstraint->getSwingSpan1();
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case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN:
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return coneConstraint->getTwistSpan();
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case PhysicsServer3D::CONE_TWIST_JOINT_BIAS:
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return coneConstraint->getBiasFactor();
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case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS:
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return coneConstraint->getLimitSoftness();
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case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION:
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return coneConstraint->getRelaxationFactor();
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case PhysicsServer3D::CONE_TWIST_MAX:
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// Internal size value, nothing to do.
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return 0;
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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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