117 lines
4.4 KiB
C++
117 lines
4.4 KiB
C++
/*************************************************************************/
|
|
/* pin_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 "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:
|
|
WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is 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;
|
|
}
|