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/*************************************************************************/
/* pin_joint_bullet.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 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;
}
// Compiler doesn't seem to notice that all code paths are fulfilled...
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;
}
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