godot/modules/bullet/pin_joint_bullet.cpp
Rémi Verschelde 6d16f2f053 Fix error macro calls not ending with semicolon
It's not necessary, but the vast majority of calls of error macros
do have an ending semicolon, so it's best to be consistent.
Most WARN_DEPRECATED calls did *not* have a semicolon, but there's
no reason for them to be treated differently.
2019-06-11 14:49:34 +02:00

119 lines
4.5 KiB
C++

/*************************************************************************/
/* 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:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_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;
}