virtualx-engine/modules/bullet/slider_joint_bullet.cpp

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/*  slider_joint_bullet.cpp                                              */
/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
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#include "slider_joint_bullet.h"

#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "rigid_body_bullet.h"

#include <BulletDynamics/ConstraintSolver/btSliderConstraint.h>

/**
	@author AndreaCatania
*/

SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
		JointBullet() {
	Transform3D scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);

	btTransform btFrameA;
	G_TO_B(scaled_AFrame, btFrameA);

	if (rbB) {
		Transform3D scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);

		btTransform btFrameB;
		G_TO_B(scaled_BFrame, btFrameB);
		sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true));

	} else {
		sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), btFrameA, true));
	}
	setup(sliderConstraint);
}

const RigidBodyBullet *SliderJointBullet::getRigidBodyA() const {
	return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyA().getUserPointer());
}

const RigidBodyBullet *SliderJointBullet::getRigidBodyB() const {
	return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyB().getUserPointer());
}

const Transform3D SliderJointBullet::getCalculatedTransformA() const {
	btTransform btTransform = sliderConstraint->getCalculatedTransformA();
	Transform3D gTrans;
	B_TO_G(btTransform, gTrans);
	return gTrans;
}

const Transform3D SliderJointBullet::getCalculatedTransformB() const {
	btTransform btTransform = sliderConstraint->getCalculatedTransformB();
	Transform3D gTrans;
	B_TO_G(btTransform, gTrans);
	return gTrans;
}

const Transform3D SliderJointBullet::getFrameOffsetA() const {
	btTransform btTransform = sliderConstraint->getFrameOffsetA();
	Transform3D gTrans;
	B_TO_G(btTransform, gTrans);
	return gTrans;
}

const Transform3D SliderJointBullet::getFrameOffsetB() const {
	btTransform btTransform = sliderConstraint->getFrameOffsetB();
	Transform3D gTrans;
	B_TO_G(btTransform, gTrans);
	return gTrans;
}

Transform3D SliderJointBullet::getFrameOffsetA() {
	btTransform btTransform = sliderConstraint->getFrameOffsetA();
	Transform3D gTrans;
	B_TO_G(btTransform, gTrans);
	return gTrans;
}

Transform3D SliderJointBullet::getFrameOffsetB() {
	btTransform btTransform = sliderConstraint->getFrameOffsetB();
	Transform3D gTrans;
	B_TO_G(btTransform, gTrans);
	return gTrans;
}

real_t SliderJointBullet::getLowerLinLimit() const {
	return sliderConstraint->getLowerLinLimit();
}

void SliderJointBullet::setLowerLinLimit(real_t lowerLimit) {
	sliderConstraint->setLowerLinLimit(lowerLimit);
}

real_t SliderJointBullet::getUpperLinLimit() const {
	return sliderConstraint->getUpperLinLimit();
}

void SliderJointBullet::setUpperLinLimit(real_t upperLimit) {
	sliderConstraint->setUpperLinLimit(upperLimit);
}

real_t SliderJointBullet::getLowerAngLimit() const {
	return sliderConstraint->getLowerAngLimit();
}

void SliderJointBullet::setLowerAngLimit(real_t lowerLimit) {
	sliderConstraint->setLowerAngLimit(lowerLimit);
}

real_t SliderJointBullet::getUpperAngLimit() const {
	return sliderConstraint->getUpperAngLimit();
}

void SliderJointBullet::setUpperAngLimit(real_t upperLimit) {
	sliderConstraint->setUpperAngLimit(upperLimit);
}

real_t SliderJointBullet::getSoftnessDirLin() const {
	return sliderConstraint->getSoftnessDirLin();
}

real_t SliderJointBullet::getRestitutionDirLin() const {
	return sliderConstraint->getRestitutionDirLin();
}

real_t SliderJointBullet::getDampingDirLin() const {
	return sliderConstraint->getDampingDirLin();
}

real_t SliderJointBullet::getSoftnessDirAng() const {
	return sliderConstraint->getSoftnessDirAng();
}

real_t SliderJointBullet::getRestitutionDirAng() const {
	return sliderConstraint->getRestitutionDirAng();
}

real_t SliderJointBullet::getDampingDirAng() const {
	return sliderConstraint->getDampingDirAng();
}

real_t SliderJointBullet::getSoftnessLimLin() const {
	return sliderConstraint->getSoftnessLimLin();
}

real_t SliderJointBullet::getRestitutionLimLin() const {
	return sliderConstraint->getRestitutionLimLin();
}

real_t SliderJointBullet::getDampingLimLin() const {
	return sliderConstraint->getDampingLimLin();
}

real_t SliderJointBullet::getSoftnessLimAng() const {
	return sliderConstraint->getSoftnessLimAng();
}

real_t SliderJointBullet::getRestitutionLimAng() const {
	return sliderConstraint->getRestitutionLimAng();
}

real_t SliderJointBullet::getDampingLimAng() const {
	return sliderConstraint->getDampingLimAng();
}

real_t SliderJointBullet::getSoftnessOrthoLin() const {
	return sliderConstraint->getSoftnessOrthoLin();
}

real_t SliderJointBullet::getRestitutionOrthoLin() const {
	return sliderConstraint->getRestitutionOrthoLin();
}

real_t SliderJointBullet::getDampingOrthoLin() const {
	return sliderConstraint->getDampingOrthoLin();
}

real_t SliderJointBullet::getSoftnessOrthoAng() const {
	return sliderConstraint->getSoftnessOrthoAng();
}

real_t SliderJointBullet::getRestitutionOrthoAng() const {
	return sliderConstraint->getRestitutionOrthoAng();
}

real_t SliderJointBullet::getDampingOrthoAng() const {
	return sliderConstraint->getDampingOrthoAng();
}

void SliderJointBullet::setSoftnessDirLin(real_t softnessDirLin) {
	sliderConstraint->setSoftnessDirLin(softnessDirLin);
}

void SliderJointBullet::setRestitutionDirLin(real_t restitutionDirLin) {
	sliderConstraint->setRestitutionDirLin(restitutionDirLin);
}

void SliderJointBullet::setDampingDirLin(real_t dampingDirLin) {
	sliderConstraint->setDampingDirLin(dampingDirLin);
}

void SliderJointBullet::setSoftnessDirAng(real_t softnessDirAng) {
	sliderConstraint->setSoftnessDirAng(softnessDirAng);
}

void SliderJointBullet::setRestitutionDirAng(real_t restitutionDirAng) {
	sliderConstraint->setRestitutionDirAng(restitutionDirAng);
}

void SliderJointBullet::setDampingDirAng(real_t dampingDirAng) {
	sliderConstraint->setDampingDirAng(dampingDirAng);
}

void SliderJointBullet::setSoftnessLimLin(real_t softnessLimLin) {
	sliderConstraint->setSoftnessLimLin(softnessLimLin);
}

void SliderJointBullet::setRestitutionLimLin(real_t restitutionLimLin) {
	sliderConstraint->setRestitutionLimLin(restitutionLimLin);
}

void SliderJointBullet::setDampingLimLin(real_t dampingLimLin) {
	sliderConstraint->setDampingLimLin(dampingLimLin);
}

void SliderJointBullet::setSoftnessLimAng(real_t softnessLimAng) {
	sliderConstraint->setSoftnessLimAng(softnessLimAng);
}

void SliderJointBullet::setRestitutionLimAng(real_t restitutionLimAng) {
	sliderConstraint->setRestitutionLimAng(restitutionLimAng);
}

void SliderJointBullet::setDampingLimAng(real_t dampingLimAng) {
	sliderConstraint->setDampingLimAng(dampingLimAng);
}

void SliderJointBullet::setSoftnessOrthoLin(real_t softnessOrthoLin) {
	sliderConstraint->setSoftnessOrthoLin(softnessOrthoLin);
}

void SliderJointBullet::setRestitutionOrthoLin(real_t restitutionOrthoLin) {
	sliderConstraint->setRestitutionOrthoLin(restitutionOrthoLin);
}

void SliderJointBullet::setDampingOrthoLin(real_t dampingOrthoLin) {
	sliderConstraint->setDampingOrthoLin(dampingOrthoLin);
}

void SliderJointBullet::setSoftnessOrthoAng(real_t softnessOrthoAng) {
	sliderConstraint->setSoftnessOrthoAng(softnessOrthoAng);
}

void SliderJointBullet::setRestitutionOrthoAng(real_t restitutionOrthoAng) {
	sliderConstraint->setRestitutionOrthoAng(restitutionOrthoAng);
}

void SliderJointBullet::setDampingOrthoAng(real_t dampingOrthoAng) {
	sliderConstraint->setDampingOrthoAng(dampingOrthoAng);
}

void SliderJointBullet::setPoweredLinMotor(bool onOff) {
	sliderConstraint->setPoweredLinMotor(onOff);
}

bool SliderJointBullet::getPoweredLinMotor() {
	return sliderConstraint->getPoweredLinMotor();
}

void SliderJointBullet::setTargetLinMotorVelocity(real_t targetLinMotorVelocity) {
	sliderConstraint->setTargetLinMotorVelocity(targetLinMotorVelocity);
}

real_t SliderJointBullet::getTargetLinMotorVelocity() {
	return sliderConstraint->getTargetLinMotorVelocity();
}

void SliderJointBullet::setMaxLinMotorForce(real_t maxLinMotorForce) {
	sliderConstraint->setMaxLinMotorForce(maxLinMotorForce);
}

real_t SliderJointBullet::getMaxLinMotorForce() {
	return sliderConstraint->getMaxLinMotorForce();
}

void SliderJointBullet::setPoweredAngMotor(bool onOff) {
	sliderConstraint->setPoweredAngMotor(onOff);
}

bool SliderJointBullet::getPoweredAngMotor() {
	return sliderConstraint->getPoweredAngMotor();
}

void SliderJointBullet::setTargetAngMotorVelocity(real_t targetAngMotorVelocity) {
	sliderConstraint->setTargetAngMotorVelocity(targetAngMotorVelocity);
}

real_t SliderJointBullet::getTargetAngMotorVelocity() {
	return sliderConstraint->getTargetAngMotorVelocity();
}

void SliderJointBullet::setMaxAngMotorForce(real_t maxAngMotorForce) {
	sliderConstraint->setMaxAngMotorForce(maxAngMotorForce);
}

real_t SliderJointBullet::getMaxAngMotorForce() {
	return sliderConstraint->getMaxAngMotorForce();
}

real_t SliderJointBullet::getLinearPos() {
	return sliderConstraint->getLinearPos();
	;
}

void SliderJointBullet::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) {
	switch (p_param) {
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
			setUpperLinLimit(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER:
			setLowerLinLimit(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS:
			setSoftnessLimLin(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION:
			setRestitutionLimLin(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING:
			setDampingLimLin(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS:
			setSoftnessDirLin(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION:
			setRestitutionDirLin(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING:
			setDampingDirLin(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS:
			setSoftnessOrthoLin(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION:
			setRestitutionOrthoLin(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING:
			setDampingOrthoLin(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER:
			setUpperAngLimit(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER:
			setLowerAngLimit(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS:
			setSoftnessLimAng(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION:
			setRestitutionLimAng(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING:
			setDampingLimAng(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS:
			setSoftnessDirAng(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION:
			setRestitutionDirAng(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING:
			setDampingDirAng(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS:
			setSoftnessOrthoAng(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION:
			setRestitutionOrthoAng(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING:
			setDampingOrthoAng(p_value);
			break;
		case PhysicsServer3D::SLIDER_JOINT_MAX:
			break; // Can't happen, but silences warning
	}
}

real_t SliderJointBullet::get_param(PhysicsServer3D::SliderJointParam p_param) const {
	switch (p_param) {
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
			return getUpperLinLimit();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER:
			return getLowerLinLimit();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS:
			return getSoftnessLimLin();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION:
			return getRestitutionLimLin();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING:
			return getDampingLimLin();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS:
			return getSoftnessDirLin();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION:
			return getRestitutionDirLin();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING:
			return getDampingDirLin();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS:
			return getSoftnessOrthoLin();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION:
			return getRestitutionOrthoLin();
		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING:
			return getDampingOrthoLin();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER:
			return getUpperAngLimit();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER:
			return getLowerAngLimit();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS:
			return getSoftnessLimAng();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION:
			return getRestitutionLimAng();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING:
			return getDampingLimAng();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS:
			return getSoftnessDirAng();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION:
			return getRestitutionDirAng();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING:
			return getDampingDirAng();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS:
			return getSoftnessOrthoAng();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION:
			return getRestitutionOrthoAng();
		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING:
			return getDampingOrthoAng();
		default:
			return 0;
	}
}