Merge pull request #23668 from sdfgeoff/fix_angular_constraints

Exposing more of bullets 6DOF spring constraints

1 files changed, 39 insertions, 1 deletions

diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index a36f1123bc..a94b88d566 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -135,6 +135,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
 		case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
 			sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
 			break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.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][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
@@ -143,6 +152,9 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
 			limits_upper[1][p_axis] = p_value;
 			set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
 			break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
+			break;
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
 			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
 			break;
@@ -152,6 +164,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
 			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
 			break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
+			break;
 		default:
 			ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
 			WARN_DEPRECATED
@@ -170,6 +191,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
 			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_LINEAR_SPRING_DAMPING:
+			return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+			return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+			return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
 			return limits_lower[1][p_axis];
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
@@ -182,6 +209,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
 			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
 			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
 		default:
 			ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
 			WARN_DEPRECATED;
@@ -215,6 +248,12 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
 		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
 			sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
 			break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
+			break;
 		default:
 			ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
 			WARN_DEPRECATED
@@ -224,6 +263,5 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
 
 bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
 	ERR_FAIL_INDEX_V(p_axis, 3, false);
-
 	return flags[p_axis][p_flag];
 }