276 lines
12 KiB
C++
276 lines
12 KiB
C++
/*************************************************************************/
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/* generic_6dof_joint_bullet.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "generic_6dof_joint_bullet.h"
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#include "bullet_types_converter.h"
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#include "bullet_utilities.h"
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#include "rigid_body_bullet.h"
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#include <BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h>
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/**
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@author AndreaCatania
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*/
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Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
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JointBullet() {
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < PhysicsServer3D::G6DOF_JOINT_FLAG_MAX; j++) {
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flags[i][j] = false;
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}
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}
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Transform3D scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
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scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
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btTransform btFrameA;
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G_TO_B(scaled_AFrame, btFrameA);
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if (rbB) {
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Transform3D scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
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scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
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btTransform btFrameB;
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G_TO_B(scaled_BFrame, btFrameB);
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sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
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} else {
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sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), btFrameA));
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}
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setup(sixDOFConstraint);
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}
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Transform3D Generic6DOFJointBullet::getFrameOffsetA() const {
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btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
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Transform3D gTrs;
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B_TO_G(btTrs, gTrs);
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return gTrs;
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}
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Transform3D Generic6DOFJointBullet::getFrameOffsetB() const {
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btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
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Transform3D gTrs;
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B_TO_G(btTrs, gTrs);
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return gTrs;
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}
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Transform3D Generic6DOFJointBullet::getFrameOffsetA() {
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btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
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Transform3D gTrs;
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B_TO_G(btTrs, gTrs);
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return gTrs;
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}
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Transform3D Generic6DOFJointBullet::getFrameOffsetB() {
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btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
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Transform3D gTrs;
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B_TO_G(btTrs, gTrs);
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return gTrs;
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}
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void Generic6DOFJointBullet::set_linear_lower_limit(const Vector3 &linearLower) {
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btVector3 btVec;
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G_TO_B(linearLower, btVec);
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sixDOFConstraint->setLinearLowerLimit(btVec);
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}
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void Generic6DOFJointBullet::set_linear_upper_limit(const Vector3 &linearUpper) {
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btVector3 btVec;
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G_TO_B(linearUpper, btVec);
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sixDOFConstraint->setLinearUpperLimit(btVec);
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}
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void Generic6DOFJointBullet::set_angular_lower_limit(const Vector3 &angularLower) {
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btVector3 btVec;
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G_TO_B(angularLower, btVec);
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sixDOFConstraint->setAngularLowerLimit(btVec);
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}
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void Generic6DOFJointBullet::set_angular_upper_limit(const Vector3 &angularUpper) {
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btVector3 btVec;
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G_TO_B(angularUpper, btVec);
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sixDOFConstraint->setAngularUpperLimit(btVec);
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}
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void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
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ERR_FAIL_INDEX(p_axis, 3);
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switch (p_param) {
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
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limits_lower[0][p_axis] = p_value;
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set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
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break;
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
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limits_upper[0][p_axis] = p_value;
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set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
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break;
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
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sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
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sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
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sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
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sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
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sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
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limits_lower[1][p_axis] = p_value;
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set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
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break;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
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limits_upper[1][p_axis] = p_value;
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set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
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break;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_MAX:
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// Internal size value, nothing to do.
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break;
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default:
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WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
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break;
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}
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}
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real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
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ERR_FAIL_INDEX_V(p_axis, 3, 0.);
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switch (p_param) {
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
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return limits_lower[0][p_axis];
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
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return limits_upper[0][p_axis];
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
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case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
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return limits_lower[1][p_axis];
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
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return limits_upper[1][p_axis];
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
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case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
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case PhysicsServer3D::G6DOF_JOINT_MAX:
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// Internal size value, nothing to do.
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return 0;
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default:
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WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
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return 0;
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}
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}
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void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) {
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ERR_FAIL_INDEX(p_axis, 3);
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flags[p_axis][p_flag] = p_value;
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switch (p_flag) {
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case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
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if (flags[p_axis][p_flag]) {
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sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]);
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} else {
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sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
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}
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break;
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case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
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if (flags[p_axis][p_flag]) {
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sixDOFConstraint->setLimit(p_axis + 3, limits_lower[1][p_axis], limits_upper[1][p_axis]);
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} else {
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sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free
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}
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break;
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case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
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sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
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break;
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case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
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break;
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case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
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sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
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break;
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case PhysicsServer3D::G6DOF_JOINT_FLAG_MAX:
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// Internal size value, nothing to do.
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break;
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}
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}
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bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
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ERR_FAIL_INDEX_V(p_axis, 3, false);
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return flags[p_axis][p_flag];
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}
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