175 lines
7.7 KiB
C++
175 lines
7.7 KiB
C++
/*************************************************************************/
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/* hinge_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 "hinge_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/btHingeConstraint.h>
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/**
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@author AndreaCatania
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*/
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HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameA, const Transform3D &frameB) :
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JointBullet() {
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Transform3D scaled_AFrame(frameA.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(frameB.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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hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
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} else {
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hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA));
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}
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setup(hingeConstraint);
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}
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HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) :
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JointBullet() {
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btVector3 btPivotA;
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btVector3 btAxisA;
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G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA);
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G_TO_B(axisInA * rbA->get_body_scale(), btAxisA);
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if (rbB) {
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btVector3 btPivotB;
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btVector3 btAxisB;
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G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB);
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G_TO_B(axisInB * rbB->get_body_scale(), btAxisB);
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hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB));
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} else {
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hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA));
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}
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setup(hingeConstraint);
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}
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real_t HingeJointBullet::get_hinge_angle() {
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return hingeConstraint->getHingeAngle();
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}
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void HingeJointBullet::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer3D::HINGE_JOINT_BIAS:
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WARN_DEPRECATED_MSG("The HingeJoint3D parameter \"bias\" is deprecated.");
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break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER:
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hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
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break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER:
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hingeConstraint->setLimit(p_value, hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
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break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS:
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hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), p_value, hingeConstraint->getLimitRelaxationFactor());
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break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS:
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hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), p_value, hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
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break;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION:
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hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), p_value);
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break;
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case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
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hingeConstraint->setMotorTargetVelocity(p_value);
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break;
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case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE:
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hingeConstraint->setMaxMotorImpulse(p_value);
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break;
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case PhysicsServer3D::HINGE_JOINT_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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real_t HingeJointBullet::get_param(PhysicsServer3D::HingeJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer3D::HINGE_JOINT_BIAS:
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WARN_DEPRECATED_MSG("The HingeJoint3D parameter \"bias\" is deprecated.");
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return 0;
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case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER:
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return hingeConstraint->getUpperLimit();
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case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER:
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return hingeConstraint->getLowerLimit();
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case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS:
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return hingeConstraint->getLimitBiasFactor();
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case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS:
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return hingeConstraint->getLimitSoftness();
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case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION:
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return hingeConstraint->getLimitRelaxationFactor();
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case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
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return hingeConstraint->getMotorTargetVelocity();
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case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE:
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return hingeConstraint->getMaxMotorImpulse();
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case PhysicsServer3D::HINGE_JOINT_MAX:
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// Internal size value, nothing to do.
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return 0;
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}
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// Compiler doesn't seem to notice that all code paths are fulfilled...
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return 0;
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}
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void HingeJointBullet::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
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switch (p_flag) {
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case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
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if (!p_value) {
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hingeConstraint->setLimit(-Math_PI, Math_PI);
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}
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break;
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case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR:
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hingeConstraint->enableMotor(p_value);
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break;
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case PhysicsServer3D::HINGE_JOINT_FLAG_MAX:
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break; // Can't happen, but silences warning
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}
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}
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bool HingeJointBullet::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
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switch (p_flag) {
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case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
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return true;
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case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR:
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return hingeConstraint->getEnableAngularMotor();
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default:
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return false;
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}
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}
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