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path: root/modules/bullet/generic_6dof_joint_bullet.cpp
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-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp271
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diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
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--- a/modules/bullet/generic_6dof_joint_bullet.cpp
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-/*************************************************************************/
-/* generic_6dof_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 "generic_6dof_joint_bullet.h"
-
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "rigid_body_bullet.h"
-
-#include <BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h>
-
-Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
- JointBullet() {
- for (int i = 0; i < 3; i++) {
- for (int j = 0; j < PhysicsServer3D::G6DOF_JOINT_FLAG_MAX; j++) {
- flags[i][j] = false;
- }
- }
-
- Transform3D scaled_AFrame(frameInA.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(frameInB.scaled(rbB->get_body_scale()));
-
- scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
-
- btTransform btFrameB;
- G_TO_B(scaled_BFrame, btFrameB);
-
- sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
- } else {
- sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), btFrameA));
- }
-
- setup(sixDOFConstraint);
-}
-
-Transform3D Generic6DOFJointBullet::getFrameOffsetA() const {
- btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
- Transform3D gTrs;
- B_TO_G(btTrs, gTrs);
- return gTrs;
-}
-
-Transform3D Generic6DOFJointBullet::getFrameOffsetB() const {
- btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
- Transform3D gTrs;
- B_TO_G(btTrs, gTrs);
- return gTrs;
-}
-
-Transform3D Generic6DOFJointBullet::getFrameOffsetA() {
- btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
- Transform3D gTrs;
- B_TO_G(btTrs, gTrs);
- return gTrs;
-}
-
-Transform3D Generic6DOFJointBullet::getFrameOffsetB() {
- btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
- Transform3D gTrs;
- B_TO_G(btTrs, gTrs);
- return gTrs;
-}
-
-void Generic6DOFJointBullet::set_linear_lower_limit(const Vector3 &linearLower) {
- btVector3 btVec;
- G_TO_B(linearLower, btVec);
- sixDOFConstraint->setLinearLowerLimit(btVec);
-}
-
-void Generic6DOFJointBullet::set_linear_upper_limit(const Vector3 &linearUpper) {
- btVector3 btVec;
- G_TO_B(linearUpper, btVec);
- sixDOFConstraint->setLinearUpperLimit(btVec);
-}
-
-void Generic6DOFJointBullet::set_angular_lower_limit(const Vector3 &angularLower) {
- btVector3 btVec;
- G_TO_B(angularLower, btVec);
- sixDOFConstraint->setAngularLowerLimit(btVec);
-}
-
-void Generic6DOFJointBullet::set_angular_upper_limit(const Vector3 &angularUpper) {
- btVector3 btVec;
- G_TO_B(angularUpper, btVec);
- sixDOFConstraint->setAngularUpperLimit(btVec);
-}
-
-void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
- ERR_FAIL_INDEX(p_axis, 3);
- switch (p_param) {
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
- limits_lower[0][p_axis] = p_value;
- set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
- break;
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
- limits_upper[0][p_axis] = p_value;
- set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
- break;
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
- sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
- sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
- sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
- sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
- sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
- limits_lower[1][p_axis] = p_value;
- set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
- break;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
- limits_upper[1][p_axis] = p_value;
- set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
- break;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_MAX:
- // Internal size value, nothing to do.
- break;
- default:
- WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
- break;
- }
-}
-
-real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
- ERR_FAIL_INDEX_V(p_axis, 3, 0.);
- switch (p_param) {
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
- return limits_lower[0][p_axis];
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
- return limits_upper[0][p_axis];
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
- case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
- return limits_lower[1][p_axis];
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
- return limits_upper[1][p_axis];
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
- case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
- case PhysicsServer3D::G6DOF_JOINT_MAX:
- // Internal size value, nothing to do.
- return 0;
- default:
- WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
- return 0;
- }
-}
-
-void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) {
- ERR_FAIL_INDEX(p_axis, 3);
-
- flags[p_axis][p_flag] = p_value;
-
- switch (p_flag) {
- case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
- if (flags[p_axis][p_flag]) {
- sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]);
- } else {
- sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
- }
- break;
- case PhysicsServer3D::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 {
- sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free
- }
- break;
- case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
- sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
- break;
- case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
- break;
- case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
- sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
- break;
- case PhysicsServer3D::G6DOF_JOINT_FLAG_MAX:
- // Internal size value, nothing to do.
- break;
- }
-}
-
-bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
- ERR_FAIL_INDEX_V(p_axis, 3, false);
- return flags[p_axis][p_flag];
-}
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