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-rw-r--r--modules/bullet/bullet_physics_server.cpp2
-rw-r--r--modules/bullet/cone_twist_joint_bullet.cpp20
-rw-r--r--modules/bullet/cone_twist_joint_bullet.h8
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp53
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.h4
5 files changed, 13 insertions, 74 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 3a2cd3b2f1..dbd27a3564 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -1441,7 +1441,7 @@ RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform
ERR_FAIL_COND_V(body_A == body_B, RID());
- JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
+ JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp
index 472ad3b52c..6b5438c60f 100644
--- a/modules/bullet/cone_twist_joint_bullet.cpp
+++ b/modules/bullet/cone_twist_joint_bullet.cpp
@@ -64,26 +64,6 @@ ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet
setup(coneConstraint);
}
-void ConeTwistJointBullet::set_angular_only(bool angularOnly) {
- coneConstraint->setAngularOnly(angularOnly);
-}
-
-void ConeTwistJointBullet::set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness, real_t _biasFactor, real_t _relaxationFactor) {
- coneConstraint->setLimit(_swingSpan1, _swingSpan2, _twistSpan, _softness, _biasFactor, _relaxationFactor);
-}
-
-int ConeTwistJointBullet::get_solve_twist_limit() {
- return coneConstraint->getSolveTwistLimit();
-}
-
-int ConeTwistJointBullet::get_solve_swing_limit() {
- return coneConstraint->getSolveSwingLimit();
-}
-
-real_t ConeTwistJointBullet::get_twist_limit_sign() {
- return coneConstraint->getTwistLimitSign();
-}
-
void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN:
diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h
index bd6eb49196..d6040fd6ec 100644
--- a/modules/bullet/cone_twist_joint_bullet.h
+++ b/modules/bullet/cone_twist_joint_bullet.h
@@ -47,14 +47,6 @@ public:
virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }
- void set_angular_only(bool angularOnly);
-
- void set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f);
- int get_solve_twist_limit();
-
- int get_solve_swing_limit();
- real_t get_twist_limit_sign();
-
void set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value);
real_t get_param(PhysicsServer::ConeTwistJointParam p_param) const;
};
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index adfad7803f..6275a0d2ed 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -34,13 +34,13 @@
#include "bullet_utilities.h"
#include "rigid_body_bullet.h"
-#include <BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h>
+#include <BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h>
/**
@author AndreaCatania
*/
-Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) :
+Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
JointBullet() {
Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
@@ -58,9 +58,9 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBu
btTransform btFrameB;
G_TO_B(scaled_BFrame, btFrameB);
- sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA));
+ sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
} else {
- sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), btFrameA, useLinearReferenceFrameA));
+ sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), btFrameA));
}
setup(sixDOFConstraint);
@@ -123,20 +123,11 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
limits_lower[0][p_axis] = p_value;
- set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
limits_upper[0][p_axis] = p_value;
- set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
- break;
- case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
- sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value;
- break;
- case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
- sixDOFConstraint->getTranslationalLimitMotor()->m_restitution = p_value;
- break;
- case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
- sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
@@ -146,23 +137,11 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
limits_lower[1][p_axis] = p_value;
- set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
limits_upper[1][p_axis] = p_value;
- set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
- break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value;
- break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping = p_value;
- break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
- break;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
@@ -171,7 +150,7 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
break;
default:
WARN_PRINT("This parameter is not supported");
@@ -185,12 +164,6 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return limits_lower[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
return limits_upper[0][p_axis];
- case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness;
- case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution;
- case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
@@ -199,20 +172,14 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
return limits_upper[1][p_axis];
- case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping;
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
- case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
+ return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
default:
WARN_PRINT("This parameter is not supported");
return 0.;
diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h
index ad06582eac..176127ed6c 100644
--- a/modules/bullet/generic_6dof_joint_bullet.h
+++ b/modules/bullet/generic_6dof_joint_bullet.h
@@ -40,7 +40,7 @@
class RigidBodyBullet;
class Generic6DOFJointBullet : public JointBullet {
- class btGeneric6DofConstraint *sixDOFConstraint;
+ class btGeneric6DofSpring2Constraint *sixDOFConstraint;
// First is linear second is angular
Vector3 limits_lower[2];
@@ -48,7 +48,7 @@ class Generic6DOFJointBullet : public JointBullet {
bool flags[3][PhysicsServer::G6DOF_JOINT_FLAG_MAX];
public:
- Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA);
+ Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB);
virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_6DOF; }
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-16 22:11:00 +0000