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Diffstat (limited to 'modules/bullet/cone_twist_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/cone_twist_joint_bullet.cpp | 111 |
1 files changed, 111 insertions, 0 deletions
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp new file mode 100644 index 0000000000..f6ac40e001 --- /dev/null +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -0,0 +1,111 @@ +/*************************************************************************/ +/* 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() { + btTransform btFrameA; + G_TO_B(rbAFrame, btFrameA); + if (rbB) { + btTransform btFrameB; + G_TO_B(rbBFrame, 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; + } +} |