diff options
Diffstat (limited to 'modules/bullet/cone_twist_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/cone_twist_joint_bullet.cpp | 103 |
1 files changed, 0 insertions, 103 deletions
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp deleted file mode 100644 index fc73036713..0000000000 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ /dev/null @@ -1,103 +0,0 @@ -/*************************************************************************/ -/* cone_twist_joint_bullet.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2022 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 "bullet_types_converter.h" -#include "bullet_utilities.h" -#include "rigid_body_bullet.h" - -#include <BulletDynamics/ConstraintSolver/btConeTwistConstraint.h> - -ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) : - JointBullet() { - Transform3D 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) { - Transform3D 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_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) { - switch (p_param) { - case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: - coneConstraint->setLimit(5, p_value); - coneConstraint->setLimit(4, p_value); - break; - case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN: - coneConstraint->setLimit(3, p_value); - break; - case PhysicsServer3D::CONE_TWIST_JOINT_BIAS: - coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), p_value, coneConstraint->getRelaxationFactor()); - break; - case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS: - coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), p_value, coneConstraint->getBiasFactor(), coneConstraint->getRelaxationFactor()); - break; - case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION: - coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value); - break; - case PhysicsServer3D::CONE_TWIST_MAX: - // Internal size value, nothing to do. - break; - } -} - -real_t ConeTwistJointBullet::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const { - switch (p_param) { - case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: - return coneConstraint->getSwingSpan1(); - case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN: - return coneConstraint->getTwistSpan(); - case PhysicsServer3D::CONE_TWIST_JOINT_BIAS: - return coneConstraint->getBiasFactor(); - case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS: - return coneConstraint->getLimitSoftness(); - case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION: - return coneConstraint->getRelaxationFactor(); - case PhysicsServer3D::CONE_TWIST_MAX: - // Internal size value, nothing to do. - return 0; - } - // Compiler doesn't seem to notice that all code paths are fulfilled... - return 0; -} |