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
|
/*************************************************************************/
/* generic_6dof_joint_bullet.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 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. */
/*************************************************************************/
#ifndef GENERIC_6DOF_JOINT_BULLET_H
#define GENERIC_6DOF_JOINT_BULLET_H
#include "joint_bullet.h"
/**
@author AndreaCatania
*/
class RigidBodyBullet;
class Generic6DOFJointBullet : public JointBullet {
class btGeneric6DofSpring2Constraint *sixDOFConstraint;
// First is linear second is angular
Vector3 limits_lower[2];
Vector3 limits_upper[2];
bool flags[3][PhysicsServer3D::G6DOF_JOINT_FLAG_MAX];
public:
Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_6DOF; }
Transform3D getFrameOffsetA() const;
Transform3D getFrameOffsetB() const;
Transform3D getFrameOffsetA();
Transform3D getFrameOffsetB();
void set_linear_lower_limit(const Vector3 &linearLower);
void set_linear_upper_limit(const Vector3 &linearUpper);
void set_angular_lower_limit(const Vector3 &angularLower);
void set_angular_upper_limit(const Vector3 &angularUpper);
void set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value);
real_t get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const;
void set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value);
bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const;
};
#endif
|