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| author | Geoffrey <geoffrey.irons@simedis.com> | 2018-03-16 13:07:52 +0100 |
|---|---|---|
| committer | Geoffrey <geoffrey.irons@simedis.com> | 2018-03-16 13:37:15 +0100 |
| commit | 09c887f38eeb4de22c90e54e3ff02eaf2f32d1ae (patch) | |
| tree | 58048e9a48af5d0d021785b70f3649e4e780d0cd /modules | |
| parent | cc617dc5d117cb2c979de6fb76c64620ab7cf04f (diff) | |
Implemented interface for bullet joint motors
Diffstat (limited to 'modules')
| -rw-r--r-- | modules/bullet/generic_6dof_joint_bullet.cpp | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 151a79a69f..adfad7803f 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -138,6 +138,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value; break; + case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY: + sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value; + break; + case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT: + sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value; + break; case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: limits_lower[1][p_axis] = p_value; set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter @@ -185,6 +191,10 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6 return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution; case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: return sixDOFConstraint->getTranslationalLimitMotor()->m_damping; + case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY: + return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis]; + case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT: + return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis]; case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: return limits_lower[1][p_axis]; case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: @@ -232,6 +242,9 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag]; break; + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR: + sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag]; + break; default: WARN_PRINT("This flag is not supported by Bullet engine"); return; |