diff options
Diffstat (limited to 'modules/bullet/generic_6dof_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/generic_6dof_joint_bullet.cpp | 48 |
1 files changed, 47 insertions, 1 deletions
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index a36f1123bc..812dcd2d56 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 +263,13 @@ 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]; } + +void Generic6DOFJointBullet::set_precision(int p_precision) { + sixDOFConstraint->setOverrideNumSolverIterations(MAX(1, p_precision)); +} + +int Generic6DOFJointBullet::get_precision() const { + return sixDOFConstraint->getOverrideNumSolverIterations(); +} |