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-rw-r--r--modules/bullet/slider_joint_bullet.cpp194
1 files changed, 130 insertions, 64 deletions
diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp
index f193daef39..1d83118468 100644
--- a/modules/bullet/slider_joint_bullet.cpp
+++ b/modules/bullet/slider_joint_bullet.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* 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 */
@@ -40,18 +40,16 @@
@author AndreaCatania
*/
-SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
+SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
JointBullet() {
-
- Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
+ 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) {
-
- Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
+ Transform3D scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
btTransform btFrameB;
@@ -72,44 +70,44 @@ const RigidBodyBullet *SliderJointBullet::getRigidBodyB() const {
return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyB().getUserPointer());
}
-const Transform SliderJointBullet::getCalculatedTransformA() const {
+const Transform3D SliderJointBullet::getCalculatedTransformA() const {
btTransform btTransform = sliderConstraint->getCalculatedTransformA();
- Transform gTrans;
+ Transform3D gTrans;
B_TO_G(btTransform, gTrans);
return gTrans;
}
-const Transform SliderJointBullet::getCalculatedTransformB() const {
+const Transform3D SliderJointBullet::getCalculatedTransformB() const {
btTransform btTransform = sliderConstraint->getCalculatedTransformB();
- Transform gTrans;
+ Transform3D gTrans;
B_TO_G(btTransform, gTrans);
return gTrans;
}
-const Transform SliderJointBullet::getFrameOffsetA() const {
+const Transform3D SliderJointBullet::getFrameOffsetA() const {
btTransform btTransform = sliderConstraint->getFrameOffsetA();
- Transform gTrans;
+ Transform3D gTrans;
B_TO_G(btTransform, gTrans);
return gTrans;
}
-const Transform SliderJointBullet::getFrameOffsetB() const {
+const Transform3D SliderJointBullet::getFrameOffsetB() const {
btTransform btTransform = sliderConstraint->getFrameOffsetB();
- Transform gTrans;
+ Transform3D gTrans;
B_TO_G(btTransform, gTrans);
return gTrans;
}
-Transform SliderJointBullet::getFrameOffsetA() {
+Transform3D SliderJointBullet::getFrameOffsetA() {
btTransform btTransform = sliderConstraint->getFrameOffsetA();
- Transform gTrans;
+ Transform3D gTrans;
B_TO_G(btTransform, gTrans);
return gTrans;
}
-Transform SliderJointBullet::getFrameOffsetB() {
+Transform3D SliderJointBullet::getFrameOffsetB() {
btTransform btTransform = sliderConstraint->getFrameOffsetB();
- Transform gTrans;
+ Transform3D gTrans;
B_TO_G(btTransform, gTrans);
return gTrans;
}
@@ -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;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-27 20:43:14 +0000