diff options
Diffstat (limited to 'modules/bullet/slider_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/slider_joint_bullet.cpp | 160 |
1 files changed, 113 insertions, 47 deletions
diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp index f193daef39..6d5d95d07a 100644 --- a/modules/bullet/slider_joint_bullet.cpp +++ b/modules/bullet/slider_joint_bullet.cpp @@ -42,7 +42,6 @@ SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) : JointBullet() { - Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); @@ -50,7 +49,6 @@ SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); @@ -121,6 +119,7 @@ real_t SliderJointBullet::getLowerLinLimit() const { void SliderJointBullet::setLowerLinLimit(real_t lowerLimit) { sliderConstraint->setLowerLinLimit(lowerLimit); } + real_t SliderJointBullet::getUpperLinLimit() const { return sliderConstraint->getUpperLinLimit(); } @@ -344,56 +343,123 @@ real_t SliderJointBullet::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 + 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(); + 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; } |