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virtualx-engine/modules/bullet/generic_6dof_joint_bullet.cpp

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Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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/*************************************************************************/
/* generic_6dof_joint_bullet.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
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/* https://godotengine.org */
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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/*************************************************************************/
Update copyright statements to 2022 Happy new year to the wonderful Godot community!
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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/* */
/* 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 "generic_6dof_joint_bullet.h"
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-05 00:50:27 +01:00
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "rigid_body_bullet.h"
Improved 6DOF joint implementation, and removed useless function from cone joint
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#include <BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h>
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-05 00:50:27 +01:00
/**
@author AndreaCatania
*/
Improved 6DOF joint implementation, and removed useless function from cone joint
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Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
Style: Apply new clang-format 5.0 style to all files
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JointBullet() {
Fixed joint scale
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Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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btTransform btFrameA;
Fixed joint scale
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G_TO_B(scaled_AFrame, btFrameA);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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if (rbB) {
Fixed joint scale
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Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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btTransform btFrameB;
Fixed joint scale
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G_TO_B(scaled_BFrame, btFrameB);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
Improved 6DOF joint implementation, and removed useless function from cone joint
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sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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} else {
Improved 6DOF joint implementation, and removed useless function from cone joint
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sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), btFrameA));
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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}
setup(sixDOFConstraint);
}
Transform Generic6DOFJointBullet::getFrameOffsetA() const {
btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
Transform gTrs;
B_TO_G(btTrs, gTrs);
return gTrs;
}
Transform Generic6DOFJointBullet::getFrameOffsetB() const {
btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
Transform gTrs;
B_TO_G(btTrs, gTrs);
return gTrs;
}
Transform Generic6DOFJointBullet::getFrameOffsetA() {
btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
Transform gTrs;
B_TO_G(btTrs, gTrs);
return gTrs;
}
Transform Generic6DOFJointBullet::getFrameOffsetB() {
btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
Transform gTrs;
B_TO_G(btTrs, gTrs);
return gTrs;
}
void Generic6DOFJointBullet::set_linear_lower_limit(const Vector3 &linearLower) {
btVector3 btVec;
G_TO_B(linearLower, btVec);
sixDOFConstraint->setLinearLowerLimit(btVec);
}
void Generic6DOFJointBullet::set_linear_upper_limit(const Vector3 &linearUpper) {
btVector3 btVec;
G_TO_B(linearUpper, btVec);
sixDOFConstraint->setLinearUpperLimit(btVec);
}
void Generic6DOFJointBullet::set_angular_lower_limit(const Vector3 &angularLower) {
btVector3 btVec;
G_TO_B(angularLower, btVec);
sixDOFConstraint->setAngularLowerLimit(btVec);
}
void Generic6DOFJointBullet::set_angular_upper_limit(const Vector3 &angularUpper) {
btVector3 btVec;
G_TO_B(angularUpper, btVec);
sixDOFConstraint->setAngularUpperLimit(btVec);
}
void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value) {
ERR_FAIL_INDEX(p_axis, 3);
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
Changed how 6DOF limits works
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limits_lower[0][p_axis] = p_value;
Improved 6DOF joint implementation, and removed useless function from cone joint
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set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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break;
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
Changed how 6DOF limits works
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limits_upper[0][p_axis] = p_value;
Improved 6DOF joint implementation, and removed useless function from cone joint
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set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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break;
Implemented interface for bullet joint motors
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case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
break;
Added angular restitution Adding angular and linear springs Added getters
2018-11-09 12:58:57 +01:00
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
break;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
limits_lower[1][p_axis] = p_value;
Improved 6DOF joint implementation, and removed useless function from cone joint
2018-08-15 18:14:32 +02:00
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
limits_upper[1][p_axis] = p_value;
Improved 6DOF joint implementation, and removed useless function from cone joint
2018-08-15 18:14:32 +02:00
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
break;
Added angular restitution Adding angular and linear springs Added getters
2018-11-09 12:58:57 +01:00
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
break;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
Improved 6DOF joint implementation, and removed useless function from cone joint
2018-08-15 18:14:32 +02:00
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
break;
Added angular restitution Adding angular and linear springs Added getters
2018-11-09 12:58:57 +01:00
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
break;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
default:
Replace 'ERR_EXPLAIN' with 'ERR_FAIL_*_MSG' in rest of 'modules/'
2019-08-11 10:49:53 +02:00
WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
Fix build after c2a9cb34 `return` statements were missing, and those warnings do not need to be behind #ifdefs, they do not expose any deprecated API.
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break;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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}
}
real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param) const {
ERR_FAIL_INDEX_V(p_axis, 3, 0.);
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
return limits_lower[0][p_axis];
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
Changed how 6DOF limits works
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return limits_upper[0][p_axis];
Implemented interface for bullet joint motors
2018-03-16 13:07:52 +01:00
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:
return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
Added angular restitution Adding angular and linear springs Added getters
2018-11-09 12:58:57 +01:00
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
return limits_lower[1][p_axis];
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
return limits_upper[1][p_axis];
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
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:
Improved 6DOF joint implementation, and removed useless function from cone joint
2018-08-15 18:14:32 +02:00
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
Added angular restitution Adding angular and linear springs Added getters
2018-11-09 12:58:57 +01:00
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
default:
Replace 'ERR_EXPLAIN' with 'ERR_FAIL_*_MSG' in rest of 'modules/'
2019-08-11 10:49:53 +02:00
WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
Added deprecated to joints un/used parameters
2018-08-26 09:10:30 +02:00
return 0;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
}
}
void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) {
ERR_FAIL_INDEX(p_axis, 3);
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
flags[p_axis][p_flag] = p_value;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
switch (p_flag) {
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
if (flags[p_axis][p_flag]) {
sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
} else {
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
}
break;
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
if (flags[p_axis][p_flag]) {
sixDOFConstraint->setLimit(p_axis + 3, limits_lower[1][p_axis], limits_upper[1][p_axis]);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
} else {
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
}
break;
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
break;
Implemented interface for bullet joint motors
2018-03-16 13:07:52 +01:00
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
break;
Added angular restitution Adding angular and linear springs Added getters
2018-11-09 12:58:57 +01:00
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
break;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
default:
Replace 'ERR_EXPLAIN' with 'ERR_FAIL_*_MSG' in rest of 'modules/'
2019-08-11 10:49:53 +02:00
WARN_DEPRECATED_MSG("The flag " + itos(p_flag) + " is deprecated.");
Fix build after c2a9cb34 `return` statements were missing, and those warnings do not need to be behind #ifdefs, they do not expose any deprecated API.
2018-08-27 10:10:40 +02:00
break;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
}
}
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, false);
Changed how 6DOF limits works
2017-12-09 19:53:08 +01:00
return flags[p_axis][p_flag];
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00
}
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