virtualx-engine/modules/bullet/pin_joint_bullet.cpp

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/*  pin_joint_bullet.cpp                                                 */
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#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;
	}
	// Compiler doesn't seem to notice that all code paths are fulfilled...
	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;
}