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Diffstat (limited to 'modules/bullet/hinge_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/hinge_joint_bullet.cpp | 163 |
1 files changed, 163 insertions, 0 deletions
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp new file mode 100644 index 0000000000..bb70babd99 --- /dev/null +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -0,0 +1,163 @@ +/*************************************************************************/ +/* hinge_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 "hinge_joint_bullet.h" +#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "rigid_body_bullet.h" + +HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) + : JointBullet() { + btTransform btFrameA; + G_TO_B(frameA, btFrameA); + + if (rbB) { + btTransform btFrameB; + G_TO_B(frameB, btFrameB); + + hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); + } else { + + hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA)); + } + + setup(hingeConstraint); +} + +HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) + : JointBullet() { + + btVector3 btPivotA; + btVector3 btAxisA; + G_TO_B(pivotInA, btPivotA); + G_TO_B(axisInA, btAxisA); + + if (rbB) { + btVector3 btPivotB; + btVector3 btAxisB; + G_TO_B(pivotInB, btPivotB); + G_TO_B(axisInB, btAxisB); + + hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB)); + } else { + + hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA)); + } + + setup(hingeConstraint); +} + +real_t HingeJointBullet::get_hinge_angle() { + return hingeConstraint->getHingeAngle(); +} + +void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer::HINGE_JOINT_BIAS: + if (0 < p_value) { + print_line("The Bullet Hinge Joint doesn't support bias, So it's always 0"); + } + break; + case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: + hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); + break; + case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: + hingeConstraint->setLimit(p_value, hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); + break; + case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: + hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), p_value, hingeConstraint->getLimitRelaxationFactor()); + break; + case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: + hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), p_value, hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); + break; + case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: + hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), p_value); + break; + case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: + hingeConstraint->setMotorTargetVelocity(p_value); + break; + case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: + hingeConstraint->setMaxMotorImpulse(p_value); + break; + default: + WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param) + ", value: " + itos(p_value)); + } +} + +real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const { + switch (p_param) { + case PhysicsServer::HINGE_JOINT_BIAS: + return 0; + break; + case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: + return hingeConstraint->getUpperLimit(); + case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: + return hingeConstraint->getLowerLimit(); + case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: + return hingeConstraint->getLimitBiasFactor(); + case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: + return hingeConstraint->getLimitSoftness(); + case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: + return hingeConstraint->getLimitRelaxationFactor(); + case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: + return hingeConstraint->getMotorTargetVelocity(); + case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: + return hingeConstraint->getMaxMotorImpulse(); + default: + WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param)); + return 0; + } +} + +void HingeJointBullet::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value) { + switch (p_flag) { + case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: + if (!p_value) { + hingeConstraint->setLimit(-Math_PI, Math_PI); + } + break; + case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: + hingeConstraint->enableMotor(p_value); + break; + } +} + +bool HingeJointBullet::get_flag(PhysicsServer::HingeJointFlag p_flag) const { + switch (p_flag) { + case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: + return true; + case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: + return hingeConstraint->getEnableAngularMotor(); + default: + return false; + } +} |