/*************************************************************************/ /* pin_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 "pin_joint_bullet.h" #include "bullet_types_converter.h" #include "rigid_body_bullet.h" #include <BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h> /** @author AndreaCatania */ PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b) : JointBullet() { if (p_body_b) { btVector3 btPivotA; btVector3 btPivotB; G_TO_B(p_pos_a * p_body_a->get_body_scale(), btPivotA); G_TO_B(p_pos_b * p_body_b->get_body_scale(), btPivotB); p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), *p_body_b->get_bt_rigid_body(), btPivotA, btPivotB)); } else { btVector3 btPivotA; G_TO_B(p_pos_a, btPivotA); p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), btPivotA)); } setup(p2pConstraint); } PinJointBullet::~PinJointBullet() {} void PinJointBullet::set_param(PhysicsServer::PinJointParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer::PIN_JOINT_BIAS: p2pConstraint->m_setting.m_tau = p_value; break; case PhysicsServer::PIN_JOINT_DAMPING: p2pConstraint->m_setting.m_damping = p_value; break; case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP: p2pConstraint->m_setting.m_impulseClamp = p_value; break; } } real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const { switch (p_param) { case PhysicsServer::PIN_JOINT_BIAS: return p2pConstraint->m_setting.m_tau; case PhysicsServer::PIN_JOINT_DAMPING: return p2pConstraint->m_setting.m_damping; case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP: return p2pConstraint->m_setting.m_impulseClamp; default: WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated."); return 0; } } void PinJointBullet::setPivotInA(const Vector3 &p_pos) { btVector3 btVec; G_TO_B(p_pos, btVec); p2pConstraint->setPivotA(btVec); } void PinJointBullet::setPivotInB(const Vector3 &p_pos) { btVector3 btVec; G_TO_B(p_pos, btVec); p2pConstraint->setPivotB(btVec); } Vector3 PinJointBullet::getPivotInA() { btVector3 vec = p2pConstraint->getPivotInA(); Vector3 gVec; B_TO_G(vec, gVec); return gVec; } Vector3 PinJointBullet::getPivotInB() { btVector3 vec = p2pConstraint->getPivotInB(); Vector3 gVec; B_TO_G(vec, gVec); return gVec; }