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-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp61
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.h5
2 files changed, 31 insertions, 35 deletions
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 2b17738c31..da09d4e12f 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -117,10 +117,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
ERR_FAIL_INDEX(p_axis, 3);
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
- sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis] = p_value;
+ limits_lower[0][p_axis] = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
- sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis] = p_value;
+ limits_upper[0][p_axis] = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value;
@@ -132,10 +134,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit = p_value;
+ 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
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit = p_value;
+ limits_upper[1][p_axis] = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value;
@@ -167,9 +171,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
ERR_FAIL_INDEX_V(p_axis, 3, 0.);
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis];
+ return limits_lower[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis];
+ return limits_upper[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
@@ -177,9 +181,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit;
+ return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit;
+ return limits_upper[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
@@ -202,48 +206,35 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) {
ERR_FAIL_INDEX(p_axis, 3);
+
+ flags[p_axis][p_flag] = p_value;
+
switch (p_flag) {
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
- if (p_value) {
- if (!get_flag(p_axis, p_flag)) // avoid overwrite, if limited
- sixDOFConstraint->setLimit(p_axis, 0, 0); // Limited
+ if (flags[p_axis][p_flag]) {
+ sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]);
} else {
- if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
- sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
+ sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
}
break;
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: {
- int angularAxis = 3 + p_axis;
- if (p_value) {
- if (!get_flag(p_axis, p_flag)) // avoid overwrite, if Limited
- sixDOFConstraint->setLimit(angularAxis, 0, 0); // Limited
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
+ if (flags[p_axis][p_flag]) {
+ sixDOFConstraint->setLimit(p_axis + 3, limits_lower[1][p_axis], limits_upper[1][p_axis]);
} else {
- if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
- sixDOFConstraint->setLimit(angularAxis, 0, -1); // Free
+ sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free
}
break;
- }
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
- //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = p_value;
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = p_value;
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
break;
default:
WARN_PRINT("This flag is not supported by Bullet engine");
+ return;
}
}
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, false);
- switch (p_flag) {
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
- return sixDOFConstraint->getTranslationalLimitMotor()->isLimited(p_axis);
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->isLimited();
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
- return //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] &&
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor;
- default:
- WARN_PRINT("This flag is not supported by Bullet engine");
- return false;
- }
+
+ return flags[p_axis][p_flag];
}
diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h
index 0d47b823de..ba0ae08800 100644
--- a/modules/bullet/generic_6dof_joint_bullet.h
+++ b/modules/bullet/generic_6dof_joint_bullet.h
@@ -39,6 +39,11 @@ class RigidBodyBullet;
class Generic6DOFJointBullet : public JointBullet {
class btGeneric6DofConstraint *sixDOFConstraint;
+ // First is linear second is angular
+ Vector3 limits_lower[2];
+ Vector3 limits_upper[2];
+ bool flags[3][PhysicsServer::G6DOF_JOINT_FLAG_MAX];
+
public:
Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-24 23:47:28 +0000