godot/modules/bullet/hinge_joint_bullet.cpp

/**************************************************************************/
/*  hinge_joint_bullet.cpp                                                */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
/*                        https://godotengine.org                         */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
/*                                                                        */
/* 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.                 */
/**************************************************************************/

#include "hinge_joint_bullet.h"

#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "rigid_body_bullet.h"

#include <BulletDynamics/ConstraintSolver/btHingeConstraint.h>

/**
	@author AndreaCatania
*/

HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) :
		JointBullet() {
	Transform scaled_AFrame(frameA.scaled(rbA->get_body_scale()));
	_ALLOW_DISCARD_ scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);

	btTransform btFrameA;
	G_TO_B(scaled_AFrame, btFrameA);

	if (rbB) {
		Transform scaled_BFrame(frameB.scaled(rbB->get_body_scale()));
		_ALLOW_DISCARD_ scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);

		btTransform btFrameB;
		G_TO_B(scaled_BFrame, btFrameB);

		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
	} else {
		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA));
	}

	setup(hingeConstraint);
}

HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) :
		JointBullet() {
	btVector3 btPivotA;
	btVector3 btAxisA;
	G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA);
	G_TO_B(axisInA * rbA->get_body_scale(), btAxisA);

	if (rbB) {
		btVector3 btPivotB;
		btVector3 btAxisB;
		G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB);
		G_TO_B(axisInB * rbB->get_body_scale(), btAxisB);

		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB));
	} else {
		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA));
	}

	setup(hingeConstraint);
}

real_t HingeJointBullet::get_hinge_angle() {
	return hingeConstraint->getHingeAngle();
}

void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t p_value) {
	switch (p_param) {
		case PhysicsServer::HINGE_JOINT_LIMIT_UPPER:
			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_LOWER:
			hingeConstraint->setLimit(p_value, hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_BIAS:
			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), p_value, hingeConstraint->getLimitRelaxationFactor());
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS:
			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), p_value, hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION:
			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), p_value);
			break;
		case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
			hingeConstraint->setMotorTargetVelocity(p_value);
			break;
		case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
			hingeConstraint->setMaxMotorImpulse(p_value);
			break;
		default:
			WARN_DEPRECATED_MSG("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
			break;
	}
}

real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const {
	switch (p_param) {
		case PhysicsServer::HINGE_JOINT_BIAS:
			return 0;
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_UPPER:
			return hingeConstraint->getUpperLimit();
		case PhysicsServer::HINGE_JOINT_LIMIT_LOWER:
			return hingeConstraint->getLowerLimit();
		case PhysicsServer::HINGE_JOINT_LIMIT_BIAS:
			return hingeConstraint->getLimitBiasFactor();
		case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS:
			return hingeConstraint->getLimitSoftness();
		case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION:
			return hingeConstraint->getLimitRelaxationFactor();
		case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
			return hingeConstraint->getMotorTargetVelocity();
		case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
			return hingeConstraint->getMaxMotorImpulse();
		default:
			WARN_DEPRECATED_MSG("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
			return 0;
	}
}

void HingeJointBullet::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value) {
	switch (p_flag) {
		case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT:
			if (!p_value) {
				hingeConstraint->setLimit(-Math_PI, Math_PI);
			}
			break;
		case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR:
			hingeConstraint->enableMotor(p_value);
			break;
		case PhysicsServer::HINGE_JOINT_FLAG_MAX:
			break; // Can't happen, but silences warning
	}
}

bool HingeJointBullet::get_flag(PhysicsServer::HingeJointFlag p_flag) const {
	switch (p_flag) {
		case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT:
			return true;
		case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR:
			return hingeConstraint->getEnableAngularMotor();
		default:
			return false;
	}
}