77 lines
3.6 KiB
C++
77 lines
3.6 KiB
C++
/*************************************************************************/
|
|
/* generic_6dof_joint_bullet.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2020 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 */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
|
|
#ifndef GENERIC_6DOF_JOINT_BULLET_H
|
|
#define GENERIC_6DOF_JOINT_BULLET_H
|
|
|
|
#include "joint_bullet.h"
|
|
|
|
/**
|
|
@author AndreaCatania
|
|
*/
|
|
|
|
class RigidBodyBullet;
|
|
|
|
class Generic6DOFJointBullet : public JointBullet {
|
|
class btGeneric6DofSpring2Constraint *sixDOFConstraint;
|
|
|
|
// First is linear second is angular
|
|
Vector3 limits_lower[2];
|
|
Vector3 limits_upper[2];
|
|
bool flags[3][PhysicsServer3D::G6DOF_JOINT_FLAG_MAX];
|
|
|
|
public:
|
|
Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB);
|
|
|
|
virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_6DOF; }
|
|
|
|
Transform getFrameOffsetA() const;
|
|
Transform getFrameOffsetB() const;
|
|
Transform getFrameOffsetA();
|
|
Transform getFrameOffsetB();
|
|
|
|
void set_linear_lower_limit(const Vector3 &linearLower);
|
|
void set_linear_upper_limit(const Vector3 &linearUpper);
|
|
|
|
void set_angular_lower_limit(const Vector3 &angularLower);
|
|
void set_angular_upper_limit(const Vector3 &angularUpper);
|
|
|
|
void set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value);
|
|
real_t get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const;
|
|
|
|
void set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value);
|
|
bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const;
|
|
|
|
void set_precision(int p_precision);
|
|
int get_precision() const;
|
|
};
|
|
|
|
#endif
|