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/*************************************************************************/
/* hinge_joint_bullet.cpp */
/* Author: AndreaCatania */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2018 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 "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "rigid_body_bullet.h"
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_BIAS:
if (0 < p_value) {
print_line("The Bullet Hinge Joint doesn't support bias, So it's always 0");
}
break;
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:
WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param) + ", value: " + itos(p_value));
}
}
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:
WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param));
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;
}
}
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;
}
}
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