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Diffstat (limited to 'modules/bullet/slider_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/slider_joint_bullet.cpp | 466 |
1 files changed, 0 insertions, 466 deletions
diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp deleted file mode 100644 index 1d83118468..0000000000 --- a/modules/bullet/slider_joint_bullet.cpp +++ /dev/null @@ -1,466 +0,0 @@ -/*************************************************************************/ -/* slider_joint_bullet.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 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 "slider_joint_bullet.h" - -#include "bullet_types_converter.h" -#include "bullet_utilities.h" -#include "rigid_body_bullet.h" - -#include <BulletDynamics/ConstraintSolver/btSliderConstraint.h> - -/** - @author AndreaCatania -*/ - -SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) : - JointBullet() { - Transform3D scaled_AFrame(frameInA.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(frameInB.scaled(rbB->get_body_scale())); - scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); - - btTransform btFrameB; - G_TO_B(scaled_BFrame, btFrameB); - sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true)); - - } else { - sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), btFrameA, true)); - } - setup(sliderConstraint); -} - -const RigidBodyBullet *SliderJointBullet::getRigidBodyA() const { - return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyA().getUserPointer()); -} - -const RigidBodyBullet *SliderJointBullet::getRigidBodyB() const { - return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyB().getUserPointer()); -} - -const Transform3D SliderJointBullet::getCalculatedTransformA() const { - btTransform btTransform = sliderConstraint->getCalculatedTransformA(); - Transform3D gTrans; - B_TO_G(btTransform, gTrans); - return gTrans; -} - -const Transform3D SliderJointBullet::getCalculatedTransformB() const { - btTransform btTransform = sliderConstraint->getCalculatedTransformB(); - Transform3D gTrans; - B_TO_G(btTransform, gTrans); - return gTrans; -} - -const Transform3D SliderJointBullet::getFrameOffsetA() const { - btTransform btTransform = sliderConstraint->getFrameOffsetA(); - Transform3D gTrans; - B_TO_G(btTransform, gTrans); - return gTrans; -} - -const Transform3D SliderJointBullet::getFrameOffsetB() const { - btTransform btTransform = sliderConstraint->getFrameOffsetB(); - Transform3D gTrans; - B_TO_G(btTransform, gTrans); - return gTrans; -} - -Transform3D SliderJointBullet::getFrameOffsetA() { - btTransform btTransform = sliderConstraint->getFrameOffsetA(); - Transform3D gTrans; - B_TO_G(btTransform, gTrans); - return gTrans; -} - -Transform3D SliderJointBullet::getFrameOffsetB() { - btTransform btTransform = sliderConstraint->getFrameOffsetB(); - Transform3D gTrans; - B_TO_G(btTransform, gTrans); - return gTrans; -} - -real_t SliderJointBullet::getLowerLinLimit() const { - return sliderConstraint->getLowerLinLimit(); -} - -void SliderJointBullet::setLowerLinLimit(real_t lowerLimit) { - sliderConstraint->setLowerLinLimit(lowerLimit); -} - -real_t SliderJointBullet::getUpperLinLimit() const { - return sliderConstraint->getUpperLinLimit(); -} - -void SliderJointBullet::setUpperLinLimit(real_t upperLimit) { - sliderConstraint->setUpperLinLimit(upperLimit); -} - -real_t SliderJointBullet::getLowerAngLimit() const { - return sliderConstraint->getLowerAngLimit(); -} - -void SliderJointBullet::setLowerAngLimit(real_t lowerLimit) { - sliderConstraint->setLowerAngLimit(lowerLimit); -} - -real_t SliderJointBullet::getUpperAngLimit() const { - return sliderConstraint->getUpperAngLimit(); -} - -void SliderJointBullet::setUpperAngLimit(real_t upperLimit) { - sliderConstraint->setUpperAngLimit(upperLimit); -} - -real_t SliderJointBullet::getSoftnessDirLin() const { - return sliderConstraint->getSoftnessDirLin(); -} - -real_t SliderJointBullet::getRestitutionDirLin() const { - return sliderConstraint->getRestitutionDirLin(); -} - -real_t SliderJointBullet::getDampingDirLin() const { - return sliderConstraint->getDampingDirLin(); -} - -real_t SliderJointBullet::getSoftnessDirAng() const { - return sliderConstraint->getSoftnessDirAng(); -} - -real_t SliderJointBullet::getRestitutionDirAng() const { - return sliderConstraint->getRestitutionDirAng(); -} - -real_t SliderJointBullet::getDampingDirAng() const { - return sliderConstraint->getDampingDirAng(); -} - -real_t SliderJointBullet::getSoftnessLimLin() const { - return sliderConstraint->getSoftnessLimLin(); -} - -real_t SliderJointBullet::getRestitutionLimLin() const { - return sliderConstraint->getRestitutionLimLin(); -} - -real_t SliderJointBullet::getDampingLimLin() const { - return sliderConstraint->getDampingLimLin(); -} - -real_t SliderJointBullet::getSoftnessLimAng() const { - return sliderConstraint->getSoftnessLimAng(); -} - -real_t SliderJointBullet::getRestitutionLimAng() const { - return sliderConstraint->getRestitutionLimAng(); -} - -real_t SliderJointBullet::getDampingLimAng() const { - return sliderConstraint->getDampingLimAng(); -} - -real_t SliderJointBullet::getSoftnessOrthoLin() const { - return sliderConstraint->getSoftnessOrthoLin(); -} - -real_t SliderJointBullet::getRestitutionOrthoLin() const { - return sliderConstraint->getRestitutionOrthoLin(); -} - -real_t SliderJointBullet::getDampingOrthoLin() const { - return sliderConstraint->getDampingOrthoLin(); -} - -real_t SliderJointBullet::getSoftnessOrthoAng() const { - return sliderConstraint->getSoftnessOrthoAng(); -} - -real_t SliderJointBullet::getRestitutionOrthoAng() const { - return sliderConstraint->getRestitutionOrthoAng(); -} - -real_t SliderJointBullet::getDampingOrthoAng() const { - return sliderConstraint->getDampingOrthoAng(); -} - -void SliderJointBullet::setSoftnessDirLin(real_t softnessDirLin) { - sliderConstraint->setSoftnessDirLin(softnessDirLin); -} - -void SliderJointBullet::setRestitutionDirLin(real_t restitutionDirLin) { - sliderConstraint->setRestitutionDirLin(restitutionDirLin); -} - -void SliderJointBullet::setDampingDirLin(real_t dampingDirLin) { - sliderConstraint->setDampingDirLin(dampingDirLin); -} - -void SliderJointBullet::setSoftnessDirAng(real_t softnessDirAng) { - sliderConstraint->setSoftnessDirAng(softnessDirAng); -} - -void SliderJointBullet::setRestitutionDirAng(real_t restitutionDirAng) { - sliderConstraint->setRestitutionDirAng(restitutionDirAng); -} - -void SliderJointBullet::setDampingDirAng(real_t dampingDirAng) { - sliderConstraint->setDampingDirAng(dampingDirAng); -} - -void SliderJointBullet::setSoftnessLimLin(real_t softnessLimLin) { - sliderConstraint->setSoftnessLimLin(softnessLimLin); -} - -void SliderJointBullet::setRestitutionLimLin(real_t restitutionLimLin) { - sliderConstraint->setRestitutionLimLin(restitutionLimLin); -} - -void SliderJointBullet::setDampingLimLin(real_t dampingLimLin) { - sliderConstraint->setDampingLimLin(dampingLimLin); -} - -void SliderJointBullet::setSoftnessLimAng(real_t softnessLimAng) { - sliderConstraint->setSoftnessLimAng(softnessLimAng); -} - -void SliderJointBullet::setRestitutionLimAng(real_t restitutionLimAng) { - sliderConstraint->setRestitutionLimAng(restitutionLimAng); -} - -void SliderJointBullet::setDampingLimAng(real_t dampingLimAng) { - sliderConstraint->setDampingLimAng(dampingLimAng); -} - -void SliderJointBullet::setSoftnessOrthoLin(real_t softnessOrthoLin) { - sliderConstraint->setSoftnessOrthoLin(softnessOrthoLin); -} - -void SliderJointBullet::setRestitutionOrthoLin(real_t restitutionOrthoLin) { - sliderConstraint->setRestitutionOrthoLin(restitutionOrthoLin); -} - -void SliderJointBullet::setDampingOrthoLin(real_t dampingOrthoLin) { - sliderConstraint->setDampingOrthoLin(dampingOrthoLin); -} - -void SliderJointBullet::setSoftnessOrthoAng(real_t softnessOrthoAng) { - sliderConstraint->setSoftnessOrthoAng(softnessOrthoAng); -} - -void SliderJointBullet::setRestitutionOrthoAng(real_t restitutionOrthoAng) { - sliderConstraint->setRestitutionOrthoAng(restitutionOrthoAng); -} - -void SliderJointBullet::setDampingOrthoAng(real_t dampingOrthoAng) { - sliderConstraint->setDampingOrthoAng(dampingOrthoAng); -} - -void SliderJointBullet::setPoweredLinMotor(bool onOff) { - sliderConstraint->setPoweredLinMotor(onOff); -} - -bool SliderJointBullet::getPoweredLinMotor() { - return sliderConstraint->getPoweredLinMotor(); -} - -void SliderJointBullet::setTargetLinMotorVelocity(real_t targetLinMotorVelocity) { - sliderConstraint->setTargetLinMotorVelocity(targetLinMotorVelocity); -} - -real_t SliderJointBullet::getTargetLinMotorVelocity() { - return sliderConstraint->getTargetLinMotorVelocity(); -} - -void SliderJointBullet::setMaxLinMotorForce(real_t maxLinMotorForce) { - sliderConstraint->setMaxLinMotorForce(maxLinMotorForce); -} - -real_t SliderJointBullet::getMaxLinMotorForce() { - return sliderConstraint->getMaxLinMotorForce(); -} - -void SliderJointBullet::setPoweredAngMotor(bool onOff) { - sliderConstraint->setPoweredAngMotor(onOff); -} - -bool SliderJointBullet::getPoweredAngMotor() { - return sliderConstraint->getPoweredAngMotor(); -} - -void SliderJointBullet::setTargetAngMotorVelocity(real_t targetAngMotorVelocity) { - sliderConstraint->setTargetAngMotorVelocity(targetAngMotorVelocity); -} - -real_t SliderJointBullet::getTargetAngMotorVelocity() { - return sliderConstraint->getTargetAngMotorVelocity(); -} - -void SliderJointBullet::setMaxAngMotorForce(real_t maxAngMotorForce) { - sliderConstraint->setMaxAngMotorForce(maxAngMotorForce); -} - -real_t SliderJointBullet::getMaxAngMotorForce() { - return sliderConstraint->getMaxAngMotorForce(); -} - -real_t SliderJointBullet::getLinearPos() { - return sliderConstraint->getLinearPos(); - ; -} - -void SliderJointBullet::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) { - switch (p_param) { - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER: - setUpperLinLimit(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER: - setLowerLinLimit(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: - setSoftnessLimLin(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: - setRestitutionLimLin(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: - setDampingLimLin(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: - setSoftnessDirLin(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: - setRestitutionDirLin(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING: - setDampingDirLin(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: - setSoftnessOrthoLin(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: - setRestitutionOrthoLin(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: - setDampingOrthoLin(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: - setUpperAngLimit(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: - setLowerAngLimit(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: - setSoftnessLimAng(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: - setRestitutionLimAng(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: - setDampingLimAng(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: - setSoftnessDirAng(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: - setRestitutionDirAng(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: - setDampingDirAng(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: - setSoftnessOrthoAng(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: - setRestitutionOrthoAng(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: - setDampingOrthoAng(p_value); - break; - case PhysicsServer3D::SLIDER_JOINT_MAX: - break; // Can't happen, but silences warning - } -} - -real_t SliderJointBullet::get_param(PhysicsServer3D::SliderJointParam p_param) const { - switch (p_param) { - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER: - return getUpperLinLimit(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER: - return getLowerLinLimit(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: - return getSoftnessLimLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: - return getRestitutionLimLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: - return getDampingLimLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: - return getSoftnessDirLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: - return getRestitutionDirLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING: - return getDampingDirLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: - return getSoftnessOrthoLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: - return getRestitutionOrthoLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: - return getDampingOrthoLin(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: - return getUpperAngLimit(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: - return getLowerAngLimit(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: - return getSoftnessLimAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: - return getRestitutionLimAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: - return getDampingLimAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: - return getSoftnessDirAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: - return getRestitutionDirAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: - return getDampingDirAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: - return getSoftnessOrthoAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: - return getRestitutionOrthoAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: - return getDampingOrthoAng(); - default: - return 0; - } -} |