mirror of
https://github.com/godotengine/godot.git
synced 2024-11-25 05:33:11 +00:00
0be6d925dc
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
175 lines
7.7 KiB
C++
175 lines
7.7 KiB
C++
/*************************************************************************/
|
|
/* hinge_joint_bullet.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2020 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 "hinge_joint_bullet.h"
|
|
|
|
#include "bullet_types_converter.h"
|
|
#include "bullet_utilities.h"
|
|
#include "rigid_body_bullet.h"
|
|
|
|
#include <BulletDynamics/ConstraintSolver/btHingeConstraint.h>
|
|
|
|
/**
|
|
@author AndreaCatania
|
|
*/
|
|
|
|
HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) :
|
|
JointBullet() {
|
|
Transform scaled_AFrame(frameA.scaled(rbA->get_body_scale()));
|
|
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
|
|
|
|
btTransform btFrameA;
|
|
G_TO_B(scaled_AFrame, btFrameA);
|
|
|
|
if (rbB) {
|
|
Transform scaled_BFrame(frameB.scaled(rbB->get_body_scale()));
|
|
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
|
|
|
|
btTransform btFrameB;
|
|
G_TO_B(scaled_BFrame, btFrameB);
|
|
|
|
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
|
|
} else {
|
|
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA));
|
|
}
|
|
|
|
setup(hingeConstraint);
|
|
}
|
|
|
|
HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) :
|
|
JointBullet() {
|
|
btVector3 btPivotA;
|
|
btVector3 btAxisA;
|
|
G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA);
|
|
G_TO_B(axisInA * rbA->get_body_scale(), btAxisA);
|
|
|
|
if (rbB) {
|
|
btVector3 btPivotB;
|
|
btVector3 btAxisB;
|
|
G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB);
|
|
G_TO_B(axisInB * rbB->get_body_scale(), btAxisB);
|
|
|
|
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB));
|
|
} else {
|
|
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA));
|
|
}
|
|
|
|
setup(hingeConstraint);
|
|
}
|
|
|
|
real_t HingeJointBullet::get_hinge_angle() {
|
|
return hingeConstraint->getHingeAngle();
|
|
}
|
|
|
|
void HingeJointBullet::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
|
|
switch (p_param) {
|
|
case PhysicsServer3D::HINGE_JOINT_BIAS:
|
|
WARN_DEPRECATED_MSG("The HingeJoint3D parameter \"bias\" is deprecated.");
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER:
|
|
hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER:
|
|
hingeConstraint->setLimit(p_value, hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS:
|
|
hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), p_value, hingeConstraint->getLimitRelaxationFactor());
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS:
|
|
hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), p_value, hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION:
|
|
hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), p_value);
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
|
|
hingeConstraint->setMotorTargetVelocity(p_value);
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE:
|
|
hingeConstraint->setMaxMotorImpulse(p_value);
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_MAX:
|
|
// Internal size value, nothing to do.
|
|
break;
|
|
}
|
|
}
|
|
|
|
real_t HingeJointBullet::get_param(PhysicsServer3D::HingeJointParam p_param) const {
|
|
switch (p_param) {
|
|
case PhysicsServer3D::HINGE_JOINT_BIAS:
|
|
WARN_DEPRECATED_MSG("The HingeJoint3D parameter \"bias\" is deprecated.");
|
|
return 0;
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER:
|
|
return hingeConstraint->getUpperLimit();
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER:
|
|
return hingeConstraint->getLowerLimit();
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS:
|
|
return hingeConstraint->getLimitBiasFactor();
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS:
|
|
return hingeConstraint->getLimitSoftness();
|
|
case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION:
|
|
return hingeConstraint->getLimitRelaxationFactor();
|
|
case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
|
|
return hingeConstraint->getMotorTargetVelocity();
|
|
case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE:
|
|
return hingeConstraint->getMaxMotorImpulse();
|
|
case PhysicsServer3D::HINGE_JOINT_MAX:
|
|
// Internal size value, nothing to do.
|
|
return 0;
|
|
}
|
|
// Compiler doesn't seem to notice that all code paths are fulfilled...
|
|
return 0;
|
|
}
|
|
|
|
void HingeJointBullet::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
|
|
switch (p_flag) {
|
|
case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
|
|
if (!p_value) {
|
|
hingeConstraint->setLimit(-Math_PI, Math_PI);
|
|
}
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR:
|
|
hingeConstraint->enableMotor(p_value);
|
|
break;
|
|
case PhysicsServer3D::HINGE_JOINT_FLAG_MAX:
|
|
break; // Can't happen, but silences warning
|
|
}
|
|
}
|
|
|
|
bool HingeJointBullet::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
|
|
switch (p_flag) {
|
|
case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
|
|
return true;
|
|
case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR:
|
|
return hingeConstraint->getEnableAngularMotor();
|
|
default:
|
|
return false;
|
|
}
|
|
}
|