summaryrefslogtreecommitdiff
path: root/modules/bullet/generic_6dof_joint_bullet.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'modules/bullet/generic_6dof_joint_bullet.cpp')
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp115
1 files changed, 63 insertions, 52 deletions
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 86bedd6c45..56a66dba45 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -42,6 +42,11 @@
Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
JointBullet() {
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < PhysicsServer3D::G6DOF_JOINT_FLAG_MAX; j++) {
+ flags[i][j] = false;
+ }
+ }
Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
@@ -118,147 +123,153 @@ void Generic6DOFJointBullet::set_angular_upper_limit(const Vector3 &angularUpper
sixDOFConstraint->setAngularUpperLimit(btVec);
}
-void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value) {
+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 PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
+ case PhysicsServer3D::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][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
+ 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 PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
+ case PhysicsServer3D::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][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
+ 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 PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
+ case PhysicsServer3D::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
+ 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 PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
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
+ 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 PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+ 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, PhysicsServer::G6DOFJointAxisParam p_param) const {
+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 PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
return limits_lower[0][p_axis];
- case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
return limits_upper[0][p_axis];
- case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
- case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
- case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
- case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
- case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+ case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
- case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
return limits_lower[1][p_axis];
- case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
return limits_upper[1][p_axis];
- case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+ case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+ 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, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) {
+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 PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
+ 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 PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
+ 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 PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
- break;
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
- sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
+ case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
break;
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
+ case PhysicsServer3D::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;
+ case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
break;
- default:
- WARN_DEPRECATED_MSG("The flag " + itos(p_flag) + " is deprecated.");
+ 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, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
+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];
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-09 01:46:47 +0000