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Diffstat (limited to 'modules/bullet/hinge_joint_bullet.cpp')
-rw-r--r--modules/bullet/hinge_joint_bullet.cpp170
1 files changed, 0 insertions, 170 deletions
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
deleted file mode 100644
index 0b1bb7890d..0000000000
--- a/modules/bullet/hinge_joint_bullet.cpp
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-/*************************************************************************/
-/* hinge_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 "hinge_joint_bullet.h"
-
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "rigid_body_bullet.h"
-
-#include <BulletDynamics/ConstraintSolver/btHingeConstraint.h>
-
-HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameA, const Transform3D &frameB) :
- JointBullet() {
- Transform3D scaled_AFrame(frameA.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(frameB.scaled(rbB->get_body_scale()));
- scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
-
- btTransform btFrameB;
- G_TO_B(scaled_BFrame, 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 * rbA->get_body_scale(), btPivotA);
- G_TO_B(axisInA * rbA->get_body_scale(), btAxisA);
-
- if (rbB) {
- btVector3 btPivotB;
- btVector3 btAxisB;
- G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB);
- G_TO_B(axisInB * rbB->get_body_scale(), 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(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
- switch (p_param) {
- case PhysicsServer3D::HINGE_JOINT_BIAS:
- WARN_DEPRECATED_MSG("The HingeJoint3D parameter \"bias\" is deprecated.");
- break;
- case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER:
- hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
- break;
- case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER:
- hingeConstraint->setLimit(p_value, hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
- break;
- case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS:
- hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), p_value, hingeConstraint->getLimitRelaxationFactor());
- break;
- case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS:
- hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), p_value, hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
- break;
- case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION:
- hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), p_value);
- break;
- case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
- hingeConstraint->setMotorTargetVelocity(p_value);
- break;
- case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE:
- hingeConstraint->setMaxMotorImpulse(p_value);
- break;
- case PhysicsServer3D::HINGE_JOINT_MAX:
- // Internal size value, nothing to do.
- break;
- }
-}
-
-real_t HingeJointBullet::get_param(PhysicsServer3D::HingeJointParam p_param) const {
- switch (p_param) {
- case PhysicsServer3D::HINGE_JOINT_BIAS:
- WARN_DEPRECATED_MSG("The HingeJoint3D parameter \"bias\" is deprecated.");
- return 0;
- case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER:
- return hingeConstraint->getUpperLimit();
- case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER:
- return hingeConstraint->getLowerLimit();
- case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS:
- return hingeConstraint->getLimitBiasFactor();
- case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS:
- return hingeConstraint->getLimitSoftness();
- case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION:
- return hingeConstraint->getLimitRelaxationFactor();
- case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
- return hingeConstraint->getMotorTargetVelocity();
- case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE:
- return hingeConstraint->getMaxMotorImpulse();
- case PhysicsServer3D::HINGE_JOINT_MAX:
- // Internal size value, nothing to do.
- return 0;
- }
- // Compiler doesn't seem to notice that all code paths are fulfilled...
- return 0;
-}
-
-void HingeJointBullet::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
- switch (p_flag) {
- case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
- if (!p_value) {
- hingeConstraint->setLimit(-Math_PI, Math_PI);
- }
- break;
- case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR:
- hingeConstraint->enableMotor(p_value);
- break;
- case PhysicsServer3D::HINGE_JOINT_FLAG_MAX:
- break; // Can't happen, but silences warning
- }
-}
-
-bool HingeJointBullet::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
- switch (p_flag) {
- case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
- return true;
- case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR:
- return hingeConstraint->getEnableAngularMotor();
- default:
- return false;
- }
-}
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