250 lines
11 KiB
C++
250 lines
11 KiB
C++
/*************************************************************************/
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/* slider_joint_sw.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) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 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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/*
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Adapted to Godot from the Bullet library.
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*/
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#ifndef SLIDER_JOINT_SW_H
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#define SLIDER_JOINT_SW_H
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#include "servers/physics/joints/jacobian_entry_sw.h"
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#include "servers/physics/joints_sw.h"
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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Added by Roman Ponomarev (rponom@gmail.com)
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April 04, 2008
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*/
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#define SLIDER_CONSTRAINT_DEF_SOFTNESS (real_t(1.0))
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#define SLIDER_CONSTRAINT_DEF_DAMPING (real_t(1.0))
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#define SLIDER_CONSTRAINT_DEF_RESTITUTION (real_t(0.7))
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//-----------------------------------------------------------------------------
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class SliderJointSW : public JointSW {
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protected:
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union {
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struct {
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BodySW *A;
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BodySW *B;
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};
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BodySW *_arr[2];
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};
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Transform m_frameInA;
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Transform m_frameInB;
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// linear limits
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real_t m_lowerLinLimit;
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real_t m_upperLinLimit;
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// angular limits
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real_t m_lowerAngLimit;
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real_t m_upperAngLimit;
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// softness, restitution and damping for different cases
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// DirLin - moving inside linear limits
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// LimLin - hitting linear limit
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// DirAng - moving inside angular limits
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// LimAng - hitting angular limit
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// OrthoLin, OrthoAng - against constraint axis
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real_t m_softnessDirLin;
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real_t m_restitutionDirLin;
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real_t m_dampingDirLin;
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real_t m_softnessDirAng;
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real_t m_restitutionDirAng;
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real_t m_dampingDirAng;
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real_t m_softnessLimLin;
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real_t m_restitutionLimLin;
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real_t m_dampingLimLin;
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real_t m_softnessLimAng;
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real_t m_restitutionLimAng;
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real_t m_dampingLimAng;
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real_t m_softnessOrthoLin;
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real_t m_restitutionOrthoLin;
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real_t m_dampingOrthoLin;
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real_t m_softnessOrthoAng;
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real_t m_restitutionOrthoAng;
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real_t m_dampingOrthoAng;
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// for interlal use
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bool m_solveLinLim;
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bool m_solveAngLim;
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JacobianEntrySW m_jacLin[3];
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real_t m_jacLinDiagABInv[3];
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JacobianEntrySW m_jacAng[3];
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real_t m_timeStep;
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Transform m_calculatedTransformA;
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Transform m_calculatedTransformB;
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Vector3 m_sliderAxis;
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Vector3 m_realPivotAInW;
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Vector3 m_realPivotBInW;
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Vector3 m_projPivotInW;
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Vector3 m_delta;
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Vector3 m_depth;
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Vector3 m_relPosA;
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Vector3 m_relPosB;
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real_t m_linPos;
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real_t m_angDepth;
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real_t m_kAngle;
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bool m_poweredLinMotor;
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real_t m_targetLinMotorVelocity;
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real_t m_maxLinMotorForce;
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real_t m_accumulatedLinMotorImpulse;
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bool m_poweredAngMotor;
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real_t m_targetAngMotorVelocity;
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real_t m_maxAngMotorForce;
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real_t m_accumulatedAngMotorImpulse;
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//------------------------
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void initParams();
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public:
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// constructors
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SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB);
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//SliderJointSW();
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// overrides
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// access
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const BodySW *getRigidBodyA() const { return A; }
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const BodySW *getRigidBodyB() const { return B; }
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const Transform &getCalculatedTransformA() const { return m_calculatedTransformA; }
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const Transform &getCalculatedTransformB() const { return m_calculatedTransformB; }
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const Transform &getFrameOffsetA() const { return m_frameInA; }
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const Transform &getFrameOffsetB() const { return m_frameInB; }
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Transform &getFrameOffsetA() { return m_frameInA; }
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Transform &getFrameOffsetB() { return m_frameInB; }
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real_t getLowerLinLimit() { return m_lowerLinLimit; }
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void setLowerLinLimit(real_t lowerLimit) { m_lowerLinLimit = lowerLimit; }
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real_t getUpperLinLimit() { return m_upperLinLimit; }
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void setUpperLinLimit(real_t upperLimit) { m_upperLinLimit = upperLimit; }
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real_t getLowerAngLimit() { return m_lowerAngLimit; }
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void setLowerAngLimit(real_t lowerLimit) { m_lowerAngLimit = lowerLimit; }
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real_t getUpperAngLimit() { return m_upperAngLimit; }
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void setUpperAngLimit(real_t upperLimit) { m_upperAngLimit = upperLimit; }
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real_t getSoftnessDirLin() { return m_softnessDirLin; }
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real_t getRestitutionDirLin() { return m_restitutionDirLin; }
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real_t getDampingDirLin() { return m_dampingDirLin; }
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real_t getSoftnessDirAng() { return m_softnessDirAng; }
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real_t getRestitutionDirAng() { return m_restitutionDirAng; }
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real_t getDampingDirAng() { return m_dampingDirAng; }
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real_t getSoftnessLimLin() { return m_softnessLimLin; }
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real_t getRestitutionLimLin() { return m_restitutionLimLin; }
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real_t getDampingLimLin() { return m_dampingLimLin; }
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real_t getSoftnessLimAng() { return m_softnessLimAng; }
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real_t getRestitutionLimAng() { return m_restitutionLimAng; }
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real_t getDampingLimAng() { return m_dampingLimAng; }
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real_t getSoftnessOrthoLin() { return m_softnessOrthoLin; }
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real_t getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
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real_t getDampingOrthoLin() { return m_dampingOrthoLin; }
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real_t getSoftnessOrthoAng() { return m_softnessOrthoAng; }
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real_t getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
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real_t getDampingOrthoAng() { return m_dampingOrthoAng; }
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void setSoftnessDirLin(real_t softnessDirLin) { m_softnessDirLin = softnessDirLin; }
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void setRestitutionDirLin(real_t restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
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void setDampingDirLin(real_t dampingDirLin) { m_dampingDirLin = dampingDirLin; }
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void setSoftnessDirAng(real_t softnessDirAng) { m_softnessDirAng = softnessDirAng; }
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void setRestitutionDirAng(real_t restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
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void setDampingDirAng(real_t dampingDirAng) { m_dampingDirAng = dampingDirAng; }
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void setSoftnessLimLin(real_t softnessLimLin) { m_softnessLimLin = softnessLimLin; }
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void setRestitutionLimLin(real_t restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
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void setDampingLimLin(real_t dampingLimLin) { m_dampingLimLin = dampingLimLin; }
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void setSoftnessLimAng(real_t softnessLimAng) { m_softnessLimAng = softnessLimAng; }
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void setRestitutionLimAng(real_t restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
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void setDampingLimAng(real_t dampingLimAng) { m_dampingLimAng = dampingLimAng; }
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void setSoftnessOrthoLin(real_t softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
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void setRestitutionOrthoLin(real_t restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
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void setDampingOrthoLin(real_t dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
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void setSoftnessOrthoAng(real_t softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
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void setRestitutionOrthoAng(real_t restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
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void setDampingOrthoAng(real_t dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
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void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
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bool getPoweredLinMotor() { return m_poweredLinMotor; }
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void setTargetLinMotorVelocity(real_t targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
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real_t getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
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void setMaxLinMotorForce(real_t maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
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real_t getMaxLinMotorForce() { return m_maxLinMotorForce; }
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void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
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bool getPoweredAngMotor() { return m_poweredAngMotor; }
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void setTargetAngMotorVelocity(real_t targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
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real_t getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
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void setMaxAngMotorForce(real_t maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
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real_t getMaxAngMotorForce() { return m_maxAngMotorForce; }
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real_t getLinearPos() { return m_linPos; }
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// access for ODE solver
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bool getSolveLinLimit() { return m_solveLinLim; }
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real_t getLinDepth() { return m_depth[0]; }
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bool getSolveAngLimit() { return m_solveAngLim; }
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real_t getAngDepth() { return m_angDepth; }
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// shared code used by ODE solver
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void calculateTransforms(void);
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void testLinLimits(void);
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void testAngLimits(void);
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// access for PE Solver
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Vector3 getAncorInA(void);
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Vector3 getAncorInB(void);
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void set_param(PhysicsServer::SliderJointParam p_param, real_t p_value);
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real_t get_param(PhysicsServer::SliderJointParam p_param) const;
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bool setup(real_t p_step);
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void solve(real_t p_step);
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virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_SLIDER; }
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};
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#endif // SLIDER_JOINT_SW_H
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