diff options
Diffstat (limited to 'modules/bullet/pin_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/pin_joint_bullet.cpp | 112 |
1 files changed, 112 insertions, 0 deletions
diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp new file mode 100644 index 0000000000..cd9e9a4557 --- /dev/null +++ b/modules/bullet/pin_joint_bullet.cpp @@ -0,0 +1,112 @@ +/*************************************************************************/ +/* pin_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 "pin_joint_bullet.h" +#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h" +#include "bullet_types_converter.h" +#include "rigid_body_bullet.h" + +PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b) + : JointBullet() { + if (p_body_b) { + + btVector3 btPivotA; + btVector3 btPivotB; + G_TO_B(p_pos_a, btPivotA); + G_TO_B(p_pos_b, btPivotB); + p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), + *p_body_b->get_bt_rigid_body(), + btPivotA, + btPivotB)); + } else { + btVector3 btPivotA; + G_TO_B(p_pos_a, btPivotA); + p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), btPivotA)); + } + + setup(p2pConstraint); +} + +PinJointBullet::~PinJointBullet() {} + +void PinJointBullet::set_param(PhysicsServer::PinJointParam p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer::PIN_JOINT_BIAS: + p2pConstraint->m_setting.m_tau = p_value; + break; + case PhysicsServer::PIN_JOINT_DAMPING: + p2pConstraint->m_setting.m_damping = p_value; + break; + case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP: + p2pConstraint->m_setting.m_impulseClamp = p_value; + break; + } +} + +real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const { + switch (p_param) { + case PhysicsServer::PIN_JOINT_BIAS: + return p2pConstraint->m_setting.m_tau; + case PhysicsServer::PIN_JOINT_DAMPING: + return p2pConstraint->m_setting.m_damping; + case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP: + return p2pConstraint->m_setting.m_impulseClamp; + default: + WARN_PRINTS("This get parameter is not supported"); + return 0; + } +} + +void PinJointBullet::setPivotInA(const Vector3 &p_pos) { + btVector3 btVec; + G_TO_B(p_pos, btVec); + p2pConstraint->setPivotA(btVec); +} + +void PinJointBullet::setPivotInB(const Vector3 &p_pos) { + btVector3 btVec; + G_TO_B(p_pos, btVec); + p2pConstraint->setPivotB(btVec); +} + +Vector3 PinJointBullet::getPivotInA() { + btVector3 vec = p2pConstraint->getPivotInA(); + Vector3 gVec; + B_TO_G(vec, gVec); + return gVec; +} + +Vector3 PinJointBullet::getPivotInB() { + btVector3 vec = p2pConstraint->getPivotInB(); + Vector3 gVec; + B_TO_G(vec, gVec); + return gVec; +} |