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Merge pull request #21049 from AndreaCatania/joints

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Improved 6DOF joint implementation
This commit is contained in:
Rémi Verschelde 2018-08-24 17:10:54 +02:00 committed by GitHub
commit 77185aaf21
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 19 additions and 83 deletions
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2
modules/bullet/bullet_physics_server.cpp
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@ -1441,7 +1441,7 @@ RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);

20
modules/bullet/cone_twist_joint_bullet.cpp
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@ -64,26 +64,6 @@ ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet
setup(coneConstraint);
}
void ConeTwistJointBullet::set_angular_only(bool angularOnly) {
coneConstraint->setAngularOnly(angularOnly);
}
void ConeTwistJointBullet::set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness, real_t _biasFactor, real_t _relaxationFactor) {
coneConstraint->setLimit(_swingSpan1, _swingSpan2, _twistSpan, _softness, _biasFactor, _relaxationFactor);
}
int ConeTwistJointBullet::get_solve_twist_limit() {
return coneConstraint->getSolveTwistLimit();
}
int ConeTwistJointBullet::get_solve_swing_limit() {
return coneConstraint->getSolveSwingLimit();
}
real_t ConeTwistJointBullet::get_twist_limit_sign() {
return coneConstraint->getTwistLimitSign();
}
void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN:

8
modules/bullet/cone_twist_joint_bullet.h
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@ -47,14 +47,6 @@ public:
virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }
void set_angular_only(bool angularOnly);
void set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f);
int get_solve_twist_limit();
int get_solve_swing_limit();
real_t get_twist_limit_sign();
void set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value);
real_t get_param(PhysicsServer::ConeTwistJointParam p_param) const;
};

53
modules/bullet/generic_6dof_joint_bullet.cpp
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@ -34,13 +34,13 @@
#include "bullet_utilities.h"
#include "rigid_body_bullet.h"
#include <BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h>
#include <BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h>
/**
@author AndreaCatania
*/
Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) :
Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
JointBullet() {
Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
@ -58,9 +58,9 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBu
btTransform btFrameB;
G_TO_B(scaled_BFrame, btFrameB);
sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA));
sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
} else {
sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), btFrameA, useLinearReferenceFrameA));
sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), btFrameA));
}
setup(sixDOFConstraint);
@ -123,20 +123,11 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
limits_lower[0][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
limits_upper[0][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value;
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
sixDOFConstraint->getTranslationalLimitMotor()->m_restitution = p_value;
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
@ -146,23 +137,11 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
limits_lower[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
limits_upper[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
@ -171,7 +150,7 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
break;
default:
WARN_PRINT("This parameter is not supported");
@ -185,12 +164,6 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return limits_lower[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
return limits_upper[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution;
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
@ -199,20 +172,14 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
return limits_upper[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping;
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
default:
WARN_PRINT("This parameter is not supported");
return 0.;

4
modules/bullet/generic_6dof_joint_bullet.h
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@ -40,7 +40,7 @@
class RigidBodyBullet;
class Generic6DOFJointBullet : public JointBullet {
class btGeneric6DofConstraint *sixDOFConstraint;
class btGeneric6DofSpring2Constraint *sixDOFConstraint;
// First is linear second is angular
Vector3 limits_lower[2];
@ -48,7 +48,7 @@ class Generic6DOFJointBullet : public JointBullet {
bool flags[3][PhysicsServer::G6DOF_JOINT_FLAG_MAX];
public:
Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA);
Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB);
virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_6DOF; }

15
scene/3d/physics_joint.cpp
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@ -48,18 +48,14 @@ void Joint::_update_joint(bool p_only_free) {
Node *node_a = has_node(get_node_a()) ? get_node(get_node_a()) : (Node *)NULL;
Node *node_b = has_node(get_node_b()) ? get_node(get_node_b()) : (Node *)NULL;
if (!node_a || !node_b)
return;
PhysicsBody *body_a = Object::cast_to<PhysicsBody>(node_a);
PhysicsBody *body_b = Object::cast_to<PhysicsBody>(node_b);
if (!body_a || !body_b)
return;
if (!body_a) {
if (!body_a && body_b)
SWAP(body_a, body_b);
}
if (!body_a)
return;
joint = _configure_joint(body_a, body_b);
@ -69,7 +65,8 @@ void Joint::_update_joint(bool p_only_free) {
PhysicsServer::get_singleton()->joint_set_solver_priority(joint, solver_priority);
ba = body_a->get_rid();
bb = body_b->get_rid();
if (body_b)
bb = body_b->get_rid();
PhysicsServer::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision);
}