122 lines
5.8 KiB
C++
122 lines
5.8 KiB
C++
/*************************************************************************/
|
|
/* cone_twist_joint_bullet.cpp */
|
|
/* Author: AndreaCatania */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2017 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. */
|
|
/*************************************************************************/
|
|
|
|
#include "cone_twist_joint_bullet.h"
|
|
#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
|
|
#include "bullet_types_converter.h"
|
|
#include "bullet_utilities.h"
|
|
#include "rigid_body_bullet.h"
|
|
|
|
ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) :
|
|
JointBullet() {
|
|
|
|
Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale()));
|
|
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
|
|
|
|
btTransform btFrameA;
|
|
G_TO_B(scaled_AFrame, btFrameA);
|
|
|
|
if (rbB) {
|
|
|
|
Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale()));
|
|
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
|
|
|
|
btTransform btFrameB;
|
|
G_TO_B(scaled_BFrame, btFrameB);
|
|
|
|
coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
|
|
} else {
|
|
coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA));
|
|
}
|
|
setup(coneConstraint);
|
|
}
|
|
|
|
void ConeTwistJointBullet::set_angular_only(bool angularOnly) {
|
|
coneConstraint->setAngularOnly(angularOnly);
|
|
}
|
|
|
|
void ConeTwistJointBullet::set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness, real_t _biasFactor, real_t _relaxationFactor) {
|
|
coneConstraint->setLimit(_swingSpan1, _swingSpan2, _twistSpan, _softness, _biasFactor, _relaxationFactor);
|
|
}
|
|
|
|
int ConeTwistJointBullet::get_solve_twist_limit() {
|
|
return coneConstraint->getSolveTwistLimit();
|
|
}
|
|
|
|
int ConeTwistJointBullet::get_solve_swing_limit() {
|
|
return coneConstraint->getSolveSwingLimit();
|
|
}
|
|
|
|
real_t ConeTwistJointBullet::get_twist_limit_sign() {
|
|
return coneConstraint->getTwistLimitSign();
|
|
}
|
|
|
|
void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value) {
|
|
switch (p_param) {
|
|
case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN:
|
|
coneConstraint->setLimit(5, p_value);
|
|
coneConstraint->setLimit(4, p_value);
|
|
break;
|
|
case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN:
|
|
coneConstraint->setLimit(3, p_value);
|
|
break;
|
|
case PhysicsServer::CONE_TWIST_JOINT_BIAS:
|
|
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), p_value, coneConstraint->getRelaxationFactor());
|
|
break;
|
|
case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS:
|
|
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), p_value, coneConstraint->getBiasFactor(), coneConstraint->getRelaxationFactor());
|
|
break;
|
|
case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
|
|
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
|
|
break;
|
|
default:
|
|
WARN_PRINT("This parameter is not supported by Bullet engine");
|
|
}
|
|
}
|
|
|
|
real_t ConeTwistJointBullet::get_param(PhysicsServer::ConeTwistJointParam p_param) const {
|
|
switch (p_param) {
|
|
case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN:
|
|
return coneConstraint->getSwingSpan1();
|
|
case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN:
|
|
return coneConstraint->getTwistSpan();
|
|
case PhysicsServer::CONE_TWIST_JOINT_BIAS:
|
|
return coneConstraint->getBiasFactor();
|
|
case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS:
|
|
return coneConstraint->getLimitSoftness();
|
|
case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
|
|
return coneConstraint->getRelaxationFactor();
|
|
default:
|
|
WARN_PRINT("This parameter is not supported by Bullet engine");
|
|
return 0;
|
|
}
|
|
}
|