/*************************************************************************/ /* hinge_joint_bullet.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2019 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 "hinge_joint_bullet.h" #include "bullet_types_converter.h" #include "bullet_utilities.h" #include "rigid_body_bullet.h" #include <BulletDynamics/ConstraintSolver/btHingeConstraint.h> /** @author AndreaCatania */ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) : JointBullet() { Transform scaled_AFrame(frameA.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(frameB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); btTransform btFrameB; G_TO_B(scaled_BFrame, btFrameB); hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); } else { hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA)); } setup(hingeConstraint); } HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) : JointBullet() { btVector3 btPivotA; btVector3 btAxisA; G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA); G_TO_B(axisInA * rbA->get_body_scale(), btAxisA); if (rbB) { btVector3 btPivotB; btVector3 btAxisB; G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB); G_TO_B(axisInB * rbB->get_body_scale(), btAxisB); hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB)); } else { hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA)); } setup(hingeConstraint); } real_t HingeJointBullet::get_hinge_angle() { return hingeConstraint->getHingeAngle(); } void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); break; case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: hingeConstraint->setLimit(p_value, hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); break; case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), p_value, hingeConstraint->getLimitRelaxationFactor()); break; case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), p_value, hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); break; case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), p_value); break; case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: hingeConstraint->setMotorTargetVelocity(p_value); break; case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: hingeConstraint->setMaxMotorImpulse(p_value); break; default: ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated."); WARN_DEPRECATED; break; } } real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const { switch (p_param) { case PhysicsServer::HINGE_JOINT_BIAS: return 0; break; case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: return hingeConstraint->getUpperLimit(); case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: return hingeConstraint->getLowerLimit(); case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: return hingeConstraint->getLimitBiasFactor(); case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: return hingeConstraint->getLimitSoftness(); case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: return hingeConstraint->getLimitRelaxationFactor(); case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: return hingeConstraint->getMotorTargetVelocity(); case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: return hingeConstraint->getMaxMotorImpulse(); default: ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated."); WARN_DEPRECATED; return 0; } } void HingeJointBullet::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value) { switch (p_flag) { case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: if (!p_value) { hingeConstraint->setLimit(-Math_PI, Math_PI); } break; case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: hingeConstraint->enableMotor(p_value); break; case PhysicsServer::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning } } bool HingeJointBullet::get_flag(PhysicsServer::HingeJointFlag p_flag) const { switch (p_flag) { case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: return true; case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: return hingeConstraint->getEnableAngularMotor(); default: return false; } }