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Diffstat (limited to 'modules/bullet/generic_6dof_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/generic_6dof_joint_bullet.cpp | 241 |
1 files changed, 241 insertions, 0 deletions
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp new file mode 100644 index 0000000000..647396c24c --- /dev/null +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -0,0 +1,241 @@ +/*************************************************************************/ +/* generic_6dof_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 "generic_6dof_joint_bullet.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "rigid_body_bullet.h" + +Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) + : JointBullet() { + + btTransform btFrameA; + G_TO_B(frameInA, btFrameA); + + if (rbB) { + btTransform btFrameB; + G_TO_B(frameInB, btFrameB); + + sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA)); + } else { + sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), btFrameA, useLinearReferenceFrameA)); + } + + setup(sixDOFConstraint); +} + +Transform Generic6DOFJointBullet::getFrameOffsetA() const { + btTransform btTrs = sixDOFConstraint->getFrameOffsetA(); + Transform gTrs; + B_TO_G(btTrs, gTrs); + return gTrs; +} + +Transform Generic6DOFJointBullet::getFrameOffsetB() const { + btTransform btTrs = sixDOFConstraint->getFrameOffsetB(); + Transform gTrs; + B_TO_G(btTrs, gTrs); + return gTrs; +} + +Transform Generic6DOFJointBullet::getFrameOffsetA() { + btTransform btTrs = sixDOFConstraint->getFrameOffsetA(); + Transform gTrs; + B_TO_G(btTrs, gTrs); + return gTrs; +} + +Transform Generic6DOFJointBullet::getFrameOffsetB() { + btTransform btTrs = sixDOFConstraint->getFrameOffsetB(); + Transform 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, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value) { + ERR_FAIL_INDEX(p_axis, 3); + switch (p_param) { + case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: + sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis] = p_value; + break; + case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: + sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis] = p_value; + 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; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit = p_value; + 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; + 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; + case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY: + 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; + break; + default: + WARN_PRINT("This parameter is not supported"); + } +} + +real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param) const { + ERR_FAIL_INDEX_V(p_axis, 3, 0.); + switch (p_param) { + case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: + return sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis]; + case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: + return sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[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_ANGULAR_LOWER_LIMIT: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit; + case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit; + 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; + default: + WARN_PRINT("This parameter is not supported"); + return 0.; + } +} + +void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) { + ERR_FAIL_INDEX(p_axis, 3); + switch (p_flag) { + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: + if (p_value) { + if (!get_flag(p_axis, p_flag)) // avoid overwrite, if limited + sixDOFConstraint->setLimit(p_axis, 0, 0); // Limited + } else { + if (get_flag(p_axis, p_flag)) // avoid overwrite, if free + sixDOFConstraint->setLimit(p_axis, 0, -1); // Free + } + break; + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: { + int angularAxis = 3 + p_axis; + if (p_value) { + if (!get_flag(p_axis, p_flag)) // avoid overwrite, if Limited + sixDOFConstraint->setLimit(angularAxis, 0, 0); // Limited + } else { + if (get_flag(p_axis, p_flag)) // avoid overwrite, if free + sixDOFConstraint->setLimit(angularAxis, 0, -1); // Free + } + break; + } + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: + //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = p_value; + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = p_value; + break; + default: + WARN_PRINT("This flag is not supported by Bullet engine"); + } +} + +bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const { + ERR_FAIL_INDEX_V(p_axis, 3, false); + switch (p_flag) { + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: + return sixDOFConstraint->getTranslationalLimitMotor()->isLimited(p_axis); + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->isLimited(); + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: + return //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] && + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor; + default: + WARN_PRINT("This flag is not supported by Bullet engine"); + return false; + } +} |