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path: root/modules/bullet/generic_6dof_joint_bullet.cpp
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Diffstat (limited to 'modules/bullet/generic_6dof_joint_bullet.cpp')
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp109
1 files changed, 63 insertions, 46 deletions
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index adfad7803f..812dcd2d56 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -34,13 +34,13 @@
#include "bullet_utilities.h"
#include "rigid_body_bullet.h"
-#include <BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h>
+#include <BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h>
/**
@author AndreaCatania
*/
-Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) :
+Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
JointBullet() {
Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
@@ -58,9 +58,9 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBu
btTransform btFrameB;
G_TO_B(scaled_BFrame, btFrameB);
- sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA));
+ sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
} else {
- sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), btFrameA, useLinearReferenceFrameA));
+ sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), btFrameA));
}
setup(sixDOFConstraint);
@@ -123,20 +123,11 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
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
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
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;
- break;
- case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
- sixDOFConstraint->getTranslationalLimitMotor()->m_restitution = p_value;
- break;
- case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
- sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
@@ -144,26 +135,26 @@ 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][p_param]); // Reload bullet parameter
+ 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_UPPER_LIMIT:
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;
- break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping = 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_FORCE_LIMIT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
- break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
break;
@@ -171,10 +162,21 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
+ 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:
- WARN_PRINT("This parameter is not supported");
+ ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ WARN_DEPRECATED
+ break;
}
}
@@ -185,37 +187,38 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return limits_lower[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
return limits_upper[0][p_axis];
- case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness;
- case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution;
- case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
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:
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:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping;
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
+ 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:
- WARN_PRINT("This parameter is not supported");
- return 0.;
+ ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ WARN_DEPRECATED;
+ return 0;
}
}
@@ -245,14 +248,28 @@ 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:
- WARN_PRINT("This flag is not supported by Bullet engine");
- return;
+ ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
+ WARN_DEPRECATED
+ break;
}
}
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();
+}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-26 10:52:00 +0000