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-rw-r--r--modules/bullet/bullet_physics_server.cpp96
-rw-r--r--modules/bullet/bullet_physics_server.h35
-rw-r--r--modules/bullet/shape_bullet.cpp10
-rw-r--r--modules/bullet/soft_body_bullet.cpp63
-rw-r--r--modules/bullet/soft_body_bullet.h22
5 files changed, 59 insertions, 167 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 7c27292e59..93642f2d5c 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -433,12 +433,6 @@ void BulletPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
area->set_ray_pickable(p_enable);
}
-bool BulletPhysicsServer3D::area_is_ray_pickable(RID p_area) const {
- AreaBullet *area = area_owner.getornull(p_area);
- ERR_FAIL_COND_V(!area, false);
- return area->is_ray_pickable();
-}
-
RID BulletPhysicsServer3D::body_create(BodyMode p_mode, bool p_init_sleeping) {
RigidBodyBullet *body = bulletnew(RigidBodyBullet);
body->set_mode(p_mode);
@@ -842,12 +836,6 @@ void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
body->set_ray_pickable(p_enable);
}
-bool BulletPhysicsServer3D::body_is_ray_pickable(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, false);
- return body->is_ray_pickable();
-}
-
PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, nullptr);
@@ -880,7 +868,7 @@ RID BulletPhysicsServer3D::soft_body_create(bool p_init_sleeping) {
CreateThenReturnRID(soft_body_owner, body);
}
-void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) {
+void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
@@ -922,6 +910,13 @@ void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, const REF &p_mesh) {
body->set_soft_mesh(p_mesh);
}
+AABB BulletPhysicsServer::soft_body_get_bounds(RID p_body) const {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, AABB());
+
+ return body->get_bounds();
+}
+
void BulletPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
@@ -1002,34 +997,19 @@ void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform
body->set_soft_transform(p_transform);
}
-Vector3 BulletPhysicsServer3D::soft_body_get_vertex_position(RID p_body, int vertex_index) const {
- const SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- Vector3 pos;
- ERR_FAIL_COND_V(!body, pos);
-
- body->get_node_position(vertex_index, pos);
- return pos;
-}
-
void BulletPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_ray_pickable(p_enable);
}
-bool BulletPhysicsServer3D::soft_body_is_ray_pickable(RID p_body) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, false);
- return body->is_ray_pickable();
-}
-
void BulletPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_simulation_precision(p_simulation_precision);
}
-int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) {
+int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_simulation_precision();
@@ -1041,13 +1021,13 @@ void BulletPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_
body->set_total_mass(p_total_mass);
}
-real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) {
+real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_total_mass();
}
-void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
+void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_linear_stiffness(p_stiffness);
@@ -1059,61 +1039,25 @@ real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) {
return body->get_linear_stiffness();
}
-void BulletPhysicsServer3D::soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND(!body);
- body->set_angular_stiffness(p_stiffness);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_angular_stiffness(RID p_body) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, 0.f);
- return body->get_angular_stiffness();
-}
-
-void BulletPhysicsServer3D::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND(!body);
- body->set_volume_stiffness(p_stiffness);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_volume_stiffness(RID p_body) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, 0.f);
- return body->get_volume_stiffness();
-}
-
void BulletPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_pressure_coefficient(p_pressure_coefficient);
}
-real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) {
+real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_pressure_coefficient();
}
-void BulletPhysicsServer3D::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND(!body);
- return body->set_pose_matching_coefficient(p_pose_matching_coefficient);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_pose_matching_coefficient(RID p_body) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, 0.f);
- return body->get_pose_matching_coefficient();
-}
-
void BulletPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_damping_coefficient(p_damping_coefficient);
}
-real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) {
+real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_damping_coefficient();
@@ -1125,7 +1069,7 @@ void BulletPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_
body->set_drag_coefficient(p_drag_coefficient);
}
-real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) {
+real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_drag_coefficient();
@@ -1137,7 +1081,7 @@ void BulletPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index,
body->set_node_position(p_point_index, p_global_position);
}
-Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) {
+Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.));
Vector3 pos;
@@ -1145,14 +1089,6 @@ Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, i
return pos;
}
-Vector3 BulletPhysicsServer3D::soft_body_get_point_offset(RID p_body, int p_point_index) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, Vector3());
- Vector3 res;
- body->get_node_offset(p_point_index, res);
- return res;
-}
-
void BulletPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
@@ -1165,7 +1101,7 @@ void BulletPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, b
body->set_node_mass(p_point_index, p_pin ? 0 : 1);
}
-bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) {
+bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_node_mass(p_point_index);
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 97b719ae8e..856ff74963 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -163,7 +163,6 @@ public:
virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override;
virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override;
virtual void area_set_ray_pickable(RID p_area, bool p_enable) override;
- virtual bool area_is_ray_pickable(RID p_area) const override;
/* RIGID BODY API */
@@ -250,7 +249,6 @@ public:
virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()) override;
virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
- virtual bool body_is_ray_pickable(RID p_body) const override;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
@@ -262,13 +260,15 @@ public:
virtual RID soft_body_create(bool p_init_sleeping = false) override;
- virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) override;
+ virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) override;
virtual void soft_body_set_space(RID p_body, RID p_space) override;
virtual RID soft_body_get_space(RID p_body) const override;
virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) override;
+ virtual AABB soft_body_get_bounds(RID p_body) const override;
+
virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) override;
virtual uint32_t soft_body_get_collision_layer(RID p_body) const override;
@@ -284,46 +284,33 @@ public:
/// Special function. This function has bad performance
virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) override;
- virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const override;
virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override;
- virtual bool soft_body_is_ray_pickable(RID p_body) const override;
virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) override;
- virtual int soft_body_get_simulation_precision(RID p_body) override;
+ virtual int soft_body_get_simulation_precision(RID p_body) const override;
virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) override;
- virtual real_t soft_body_get_total_mass(RID p_body) override;
+ virtual real_t soft_body_get_total_mass(RID p_body) const override;
virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override;
- virtual real_t soft_body_get_linear_stiffness(RID p_body) override;
-
- virtual void soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) override;
- virtual real_t soft_body_get_angular_stiffness(RID p_body) override;
-
- virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) override;
- virtual real_t soft_body_get_volume_stiffness(RID p_body) override;
+ virtual real_t soft_body_get_linear_stiffness(RID p_body) const override;
virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override;
- virtual real_t soft_body_get_pressure_coefficient(RID p_body) override;
-
- virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) override;
- virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) override;
+ virtual real_t soft_body_get_pressure_coefficient(RID p_body) const override;
virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) override;
- virtual real_t soft_body_get_damping_coefficient(RID p_body) override;
+ virtual real_t soft_body_get_damping_coefficient(RID p_body) const override;
virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override;
- virtual real_t soft_body_get_drag_coefficient(RID p_body) override;
+ virtual real_t soft_body_get_drag_coefficient(RID p_body) const override;
virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) override;
- virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) override;
-
- virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const override;
+ virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const override;
virtual void soft_body_remove_all_pinned_points(RID p_body) override;
virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) override;
- virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) override;
+ virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const override;
/* JOINT API */
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 82876ab77c..471b154813 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -375,11 +375,17 @@ ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() {
}
void ConcavePolygonShapeBullet::set_data(const Variant &p_data) {
- setup(p_data);
+ Dictionary d = p_data;
+ ERR_FAIL_COND(!d.has("faces"));
+
+ setup(d["faces"]);
}
Variant ConcavePolygonShapeBullet::get_data() const {
- return faces;
+ Dictionary d;
+ d["faces"] = faces;
+
+ return d;
}
PhysicsServer3D::ShapeType ConcavePolygonShapeBullet::get_type() const {
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index a8980984a7..2c8727baf2 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -65,7 +65,7 @@ void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {}
void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {}
-void SoftBodyBullet::update_rendering_server(SoftBodyRenderingServerHandler *p_rendering_server_handler) {
+void SoftBodyBullet::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
if (!bt_soft_body) {
return;
}
@@ -141,6 +141,24 @@ void SoftBodyBullet::set_soft_transform(const Transform &p_transform) {
move_all_nodes(p_transform);
}
+AABB SoftBodyBullet::get_bounds() const {
+ if (!bt_soft_body) {
+ return AABB();
+ }
+
+ btVector3 aabb_min;
+ btVector3 aabb_max;
+ bt_soft_body->getAabb(aabb_min, aabb_max);
+
+ btVector3 size(aabb_max - aabb_min);
+
+ AABB aabb;
+ B_TO_G(aabb_min, aabb.position);
+ B_TO_G(size, aabb.size);
+
+ return aabb;
+}
+
void SoftBodyBullet::move_all_nodes(const Transform &p_transform) {
if (!bt_soft_body) {
return;
@@ -169,25 +187,6 @@ void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) co
}
}
-void SoftBodyBullet::get_node_offset(int p_node_index, Vector3 &r_offset) const {
- if (soft_mesh.is_null()) {
- return;
- }
-
- Array arrays = soft_mesh->surface_get_arrays(0);
- Vector<Vector3> vertices(arrays[RS::ARRAY_VERTEX]);
-
- if (0 <= p_node_index && vertices.size() > p_node_index) {
- r_offset = vertices[p_node_index];
- }
-}
-
-void SoftBodyBullet::get_node_offset(int p_node_index, btVector3 &r_offset) const {
- Vector3 off;
- get_node_offset(p_node_index, off);
- G_TO_B(off, r_offset);
-}
-
void SoftBodyBullet::set_node_mass(int node_index, btScalar p_mass) {
if (0 >= p_mass) {
pin_node(node_index);
@@ -259,20 +258,6 @@ void SoftBodyBullet::set_linear_stiffness(real_t p_val) {
}
}
-void SoftBodyBullet::set_angular_stiffness(real_t p_val) {
- angular_stiffness = p_val;
- if (bt_soft_body) {
- mat0->m_kAST = angular_stiffness;
- }
-}
-
-void SoftBodyBullet::set_volume_stiffness(real_t p_val) {
- volume_stiffness = p_val;
- if (bt_soft_body) {
- mat0->m_kVST = volume_stiffness;
- }
-}
-
void SoftBodyBullet::set_simulation_precision(int p_val) {
simulation_precision = p_val;
if (bt_soft_body) {
@@ -290,13 +275,6 @@ void SoftBodyBullet::set_pressure_coefficient(real_t p_val) {
}
}
-void SoftBodyBullet::set_pose_matching_coefficient(real_t p_val) {
- pose_matching_coefficient = p_val;
- if (bt_soft_body) {
- bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
- }
-}
-
void SoftBodyBullet::set_damping_coefficient(real_t p_val) {
damping_coefficient = p_val;
if (bt_soft_body) {
@@ -409,8 +387,6 @@ void SoftBodyBullet::setup_soft_body() {
bt_soft_body->generateBendingConstraints(2, mat0);
mat0->m_kLST = linear_stiffness;
- mat0->m_kAST = angular_stiffness;
- mat0->m_kVST = volume_stiffness;
// Clusters allow to have Soft vs Soft collision but doesn't work well right now
@@ -430,7 +406,6 @@ void SoftBodyBullet::setup_soft_body() {
bt_soft_body->m_cfg.kDP = damping_coefficient;
bt_soft_body->m_cfg.kDG = drag_coefficient;
bt_soft_body->m_cfg.kPR = pressure_coefficient;
- bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
bt_soft_body->setTotalMass(total_mass);
btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body);
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h
index 23f6fba9a6..87023b2517 100644
--- a/modules/bullet/soft_body_bullet.h
+++ b/modules/bullet/soft_body_bullet.h
@@ -55,6 +55,8 @@
@author AndreaCatania
*/
+class RenderingServerHandler;
+
class SoftBodyBullet : public CollisionObjectBullet {
private:
btSoftBody *bt_soft_body = nullptr;
@@ -67,10 +69,7 @@ private:
int simulation_precision = 5;
real_t total_mass = 1.;
real_t linear_stiffness = 0.5; // [0,1]
- real_t angular_stiffness = 0.5; // [0,1]
- real_t volume_stiffness = 0.5; // [0,1]
real_t pressure_coefficient = 0.; // [-inf,+inf]
- real_t pose_matching_coefficient = 0.; // [0,1]
real_t damping_coefficient = 0.01; // [0,1]
real_t drag_coefficient = 0.; // [0,1]
Vector<int> pinned_nodes;
@@ -99,7 +98,7 @@ public:
_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
- void update_rendering_server(class SoftBodyRenderingServerHandler *p_rendering_server_handler);
+ void update_rendering_server(RenderingServerHandler *p_rendering_server_handler);
void set_soft_mesh(const Ref<Mesh> &p_mesh);
void destroy_soft_body();
@@ -107,14 +106,12 @@ public:
// Special function. This function has bad performance
void set_soft_transform(const Transform &p_transform);
+ AABB get_bounds() const;
+
void move_all_nodes(const Transform &p_transform);
void set_node_position(int node_index, const Vector3 &p_global_position);
void set_node_position(int node_index, const btVector3 &p_global_position);
void get_node_position(int node_index, Vector3 &r_position) const;
- // Heavy function, Please cache this info
- void get_node_offset(int node_index, Vector3 &r_offset) const;
- // Heavy function, Please cache this info
- void get_node_offset(int node_index, btVector3 &r_offset) const;
void set_node_mass(int node_index, btScalar p_mass);
btScalar get_node_mass(int node_index) const;
@@ -129,21 +126,12 @@ public:
void set_linear_stiffness(real_t p_val);
_FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; }
- void set_angular_stiffness(real_t p_val);
- _FORCE_INLINE_ real_t get_angular_stiffness() const { return angular_stiffness; }
-
- void set_volume_stiffness(real_t p_val);
- _FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_stiffness; }
-
void set_simulation_precision(int p_val);
_FORCE_INLINE_ int get_simulation_precision() const { return simulation_precision; }
void set_pressure_coefficient(real_t p_val);
_FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; }
- void set_pose_matching_coefficient(real_t p_val);
- _FORCE_INLINE_ real_t get_pose_matching_coefficient() const { return pose_matching_coefficient; }
-
void set_damping_coefficient(real_t p_val);
_FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; }
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-24 01:44:38 +0000