1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
|
/*************************************************************************/
/* cone_twist_joint_bullet.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* 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 */
/* "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 "cone_twist_joint_bullet.h"
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "rigid_body_bullet.h"
#include <BulletDynamics/ConstraintSolver/btConeTwistConstraint.h>
/**
@author AndreaCatania
*/
ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
JointBullet() {
Transform3D scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale()));
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
btTransform btFrameA;
G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
Transform3D scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
btTransform btFrameB;
G_TO_B(scaled_BFrame, btFrameB);
coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
} else {
coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA));
}
setup(coneConstraint);
}
void ConeTwistJointBullet::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN:
coneConstraint->setLimit(5, p_value);
coneConstraint->setLimit(4, p_value);
break;
case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN:
coneConstraint->setLimit(3, p_value);
break;
case PhysicsServer3D::CONE_TWIST_JOINT_BIAS:
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), p_value, coneConstraint->getRelaxationFactor());
break;
case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS:
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), p_value, coneConstraint->getBiasFactor(), coneConstraint->getRelaxationFactor());
break;
case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION:
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
break;
case PhysicsServer3D::CONE_TWIST_MAX:
// Internal size value, nothing to do.
break;
}
}
real_t ConeTwistJointBullet::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
switch (p_param) {
case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN:
return coneConstraint->getSwingSpan1();
case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN:
return coneConstraint->getTwistSpan();
case PhysicsServer3D::CONE_TWIST_JOINT_BIAS:
return coneConstraint->getBiasFactor();
case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS:
return coneConstraint->getLimitSoftness();
case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION:
return coneConstraint->getRelaxationFactor();
case PhysicsServer3D::CONE_TWIST_MAX:
// Internal size value, nothing to do.
return 0;
}
// Compiler doesn't seem to notice that all code paths are fulfilled...
return 0;
}
|