From 5cfc98cace7d40bc36bb8ebd381aa10de7586891 Mon Sep 17 00:00:00 2001 From: AndreaCatania Date: Sat, 2 Dec 2017 18:10:36 +0100 Subject: [PATCH 1/5] Fixed bullet get_transform scale --- modules/bullet/collision_object_bullet.cpp | 11 +++++++++-- modules/bullet/collision_object_bullet.h | 4 +++- modules/bullet/rigid_body_bullet.cpp | 13 ++++++++----- 3 files changed, 20 insertions(+), 8 deletions(-) diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index da3a4b73cf3..88d4108f82d 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -76,11 +76,17 @@ bool equal(real_t first, real_t second) { void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) { if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) { - G_TO_B(p_new_scale, body_scale); + body_scale = p_new_scale; on_body_scale_changed(); } } +btVector3 CollisionObjectBullet::get_bt_body_scale() const { + btVector3 s; + G_TO_B(body_scale, s); + return s; +} + void CollisionObjectBullet::on_body_scale_changed() { } @@ -160,6 +166,7 @@ void CollisionObjectBullet::set_transform(const Transform &p_global_transform) { Transform CollisionObjectBullet::get_transform() const { Transform t; B_TO_G(get_transform__bullet(), t); + t.basis.scale(body_scale); return t; } @@ -302,7 +309,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() { } } - compoundShape->setLocalScaling(body_scale); + compoundShape->setLocalScaling(get_bt_body_scale()); compoundShape->recalculateLocalAabb(); } diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index 51e48909e40..7d4659b64e0 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -114,7 +114,7 @@ protected: bool m_isStatic; bool ray_pickable; btCollisionObject *bt_collision_object; - btVector3 body_scale; + Vector3 body_scale; SpaceBullet *space; VSet exceptions; @@ -146,6 +146,8 @@ public: _FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; } void set_body_scale(const Vector3 &p_new_scale); + const Vector3 &get_body_scale() const { return body_scale; } + btVector3 get_bt_body_scale() const; virtual void on_body_scale_changed(); void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject); diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index b134bd3a36c..b9621a05850 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -198,6 +198,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { const CollisionObjectBullet::ShapeWrapper *shape_wrapper; + btVector3 owner_body_scale(owner->get_bt_body_scale()); + for (int i = shapes_count - 1; 0 <= i; --i) { shape_wrapper = &shapes_wrappers[i]; if (!shape_wrapper->active) { @@ -210,28 +212,29 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { switch (shape_wrapper->shape->get_type()) { case PhysicsServer::SHAPE_SPHERE: { SphereShapeBullet *sphere = static_cast(shape_wrapper->shape); - kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * owner->body_scale[0] + safe_margin); + kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * owner_body_scale[0] + safe_margin); break; } case PhysicsServer::SHAPE_BOX: { BoxShapeBullet *box = static_cast(shape_wrapper->shape); - kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * owner->body_scale) + btVector3(safe_margin, safe_margin, safe_margin)); + kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * owner_body_scale) + btVector3(safe_margin, safe_margin, safe_margin)); break; } case PhysicsServer::SHAPE_CAPSULE: { CapsuleShapeBullet *capsule = static_cast(shape_wrapper->shape); - kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * owner->body_scale[0] + safe_margin, capsule->get_height() * owner->body_scale[1] + safe_margin); + + kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * owner_body_scale[0] + safe_margin, capsule->get_height() * owner_body_scale[1] + safe_margin); break; } case PhysicsServer::SHAPE_CONVEX_POLYGON: { ConvexPolygonShapeBullet *godot_convex = static_cast(shape_wrapper->shape); kin_shape_ref = ShapeBullet::create_shape_convex(godot_convex->vertices); - kin_shape_ref->setLocalScaling(owner->body_scale + btVector3(safe_margin, safe_margin, safe_margin)); + kin_shape_ref->setLocalScaling(owner_body_scale + btVector3(safe_margin, safe_margin, safe_margin)); break; } case PhysicsServer::SHAPE_RAY: { RayShapeBullet *godot_ray = static_cast(shape_wrapper->shape); - kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * owner->body_scale[1] + safe_margin); + kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * owner_body_scale[1] + safe_margin); break; } default: From 32408f3bfd60aa382a38e3f37fd56bda1dd428ed Mon Sep 17 00:00:00 2001 From: AndreaCatania Date: Sat, 9 Dec 2017 01:22:36 +0100 Subject: [PATCH 2/5] Fixed joint scale --- modules/bullet/cone_twist_joint_bullet.cpp | 14 ++++++++++++-- modules/bullet/generic_6dof_joint_bullet.cpp | 12 ++++++++++-- modules/bullet/hinge_joint_bullet.cpp | 20 ++++++++++++++------ modules/bullet/pin_joint_bullet.cpp | 4 ++-- modules/bullet/slider_joint_bullet.cpp | 13 +++++++++++-- 5 files changed, 49 insertions(+), 14 deletions(-) diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index 7ae5e796451..738835b910a 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -37,11 +37,21 @@ ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) : JointBullet() { + + Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale())); + scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); + btTransform btFrameA; - G_TO_B(rbAFrame, btFrameA); + G_TO_B(scaled_AFrame, btFrameA); + if (rbB) { + + Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale())); + scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); + btTransform btFrameB; - G_TO_B(rbBFrame, btFrameB); + G_TO_B(scaled_BFrame, btFrameB); + coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); } else { coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA)); diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 28928bd8616..2b17738c317 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -38,12 +38,20 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) : JointBullet() { + Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); + + scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); + btTransform btFrameA; - G_TO_B(frameInA, btFrameA); + G_TO_B(scaled_AFrame, btFrameA); if (rbB) { + Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); + + scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); + btTransform btFrameB; - G_TO_B(frameInB, btFrameB); + G_TO_B(scaled_BFrame, btFrameB); sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA)); } else { diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp index d3288807b35..ee0d6707d63 100644 --- a/modules/bullet/hinge_joint_bullet.cpp +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -37,12 +37,20 @@ 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(frameA, 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(frameB, btFrameB); + G_TO_B(scaled_BFrame, btFrameB); hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); } else { @@ -58,14 +66,14 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c btVector3 btPivotA; btVector3 btAxisA; - G_TO_B(pivotInA, btPivotA); - G_TO_B(axisInA, 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, btPivotB); - G_TO_B(axisInB, 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 { diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp index 8c74fcbc947..665e8259679 100644 --- a/modules/bullet/pin_joint_bullet.cpp +++ b/modules/bullet/pin_joint_bullet.cpp @@ -40,8 +40,8 @@ PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a btVector3 btPivotA; btVector3 btPivotB; - G_TO_B(p_pos_a, btPivotA); - G_TO_B(p_pos_b, 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, diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp index f1d60679ecb..cfcd0b57f64 100644 --- a/modules/bullet/slider_joint_bullet.cpp +++ b/modules/bullet/slider_joint_bullet.cpp @@ -37,11 +37,20 @@ SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) : JointBullet() { + + Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); + scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); + btTransform btFrameA; - G_TO_B(frameInA, btFrameA); + G_TO_B(scaled_AFrame, btFrameA); + if (rbB) { + + Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); + scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); + btTransform btFrameB; - G_TO_B(frameInB, btFrameB); + G_TO_B(scaled_BFrame, btFrameB); sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true)); } else { From 0ea1c3bd538a702cacd8b6dfa473fb2e07ba9837 Mon Sep 17 00:00:00 2001 From: AndreaCatania Date: Sat, 9 Dec 2017 15:01:00 +0100 Subject: [PATCH 3/5] Makes consistent 6DOF joint Gizmo --- editor/spatial_editor_gizmos.cpp | 33 ++++++++++++++++---------------- 1 file changed, 17 insertions(+), 16 deletions(-) diff --git a/editor/spatial_editor_gizmos.cpp b/editor/spatial_editor_gizmos.cpp index 3ffc61cb45c..954f8045775 100644 --- a/editor/spatial_editor_gizmos.cpp +++ b/editor/spatial_editor_gizmos.cpp @@ -3139,8 +3139,8 @@ void Generic6DOFJointSpatialGizmo::redraw() { case 0: ll = p3d->get_param_x(Generic6DOFJoint::PARAM_ANGULAR_LOWER_LIMIT); ul = p3d->get_param_x(Generic6DOFJoint::PARAM_ANGULAR_UPPER_LIMIT); - lll = -p3d->get_param_x(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT); - lul = -p3d->get_param_x(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT); + lll = p3d->get_param_x(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT); + lul = p3d->get_param_x(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT); enable_ang = p3d->get_flag_x(Generic6DOFJoint::FLAG_ENABLE_ANGULAR_LIMIT); enable_lin = p3d->get_flag_x(Generic6DOFJoint::FLAG_ENABLE_LINEAR_LIMIT); a1 = 0; @@ -3150,26 +3150,27 @@ void Generic6DOFJointSpatialGizmo::redraw() { case 1: ll = p3d->get_param_y(Generic6DOFJoint::PARAM_ANGULAR_LOWER_LIMIT); ul = p3d->get_param_y(Generic6DOFJoint::PARAM_ANGULAR_UPPER_LIMIT); - lll = -p3d->get_param_y(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT); - lul = -p3d->get_param_y(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT); + lll = p3d->get_param_y(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT); + lul = p3d->get_param_y(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT); enable_ang = p3d->get_flag_y(Generic6DOFJoint::FLAG_ENABLE_ANGULAR_LIMIT); enable_lin = p3d->get_flag_y(Generic6DOFJoint::FLAG_ENABLE_LINEAR_LIMIT); - a1 = 2; - a2 = 0; - a3 = 1; - break; - case 2: - ll = p3d->get_param_z(Generic6DOFJoint::PARAM_ANGULAR_LOWER_LIMIT); - ul = p3d->get_param_z(Generic6DOFJoint::PARAM_ANGULAR_UPPER_LIMIT); - lll = -p3d->get_param_z(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT); - lul = -p3d->get_param_z(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT); - enable_ang = p3d->get_flag_z(Generic6DOFJoint::FLAG_ENABLE_ANGULAR_LIMIT); - enable_lin = p3d->get_flag_z(Generic6DOFJoint::FLAG_ENABLE_LINEAR_LIMIT); a1 = 1; a2 = 2; a3 = 0; break; + case 2: + ll = p3d->get_param_z(Generic6DOFJoint::PARAM_ANGULAR_LOWER_LIMIT); + ul = p3d->get_param_z(Generic6DOFJoint::PARAM_ANGULAR_UPPER_LIMIT); + lll = p3d->get_param_z(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT); + lul = p3d->get_param_z(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT); + enable_ang = p3d->get_flag_z(Generic6DOFJoint::FLAG_ENABLE_ANGULAR_LIMIT); + enable_lin = p3d->get_flag_z(Generic6DOFJoint::FLAG_ENABLE_LINEAR_LIMIT); + + a1 = 2; + a2 = 0; + a3 = 1; + break; } #define ADD_VTX(x, y, z) \ @@ -3190,7 +3191,7 @@ void Generic6DOFJointSpatialGizmo::redraw() { what = v; \ } - if (enable_lin && lll >= lul) { + if (enable_lin && lll <= lul) { ADD_VTX(lul, 0, 0); ADD_VTX(lll, 0, 0); From 5e10f8052248858c56faf9f0fc5c25574cad9431 Mon Sep 17 00:00:00 2001 From: AndreaCatania Date: Sat, 9 Dec 2017 15:26:19 +0100 Subject: [PATCH 4/5] Makes consistent Slider joint Gizmo --- editor/spatial_editor_gizmos.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/editor/spatial_editor_gizmos.cpp b/editor/spatial_editor_gizmos.cpp index 954f8045775..c44e78a621d 100644 --- a/editor/spatial_editor_gizmos.cpp +++ b/editor/spatial_editor_gizmos.cpp @@ -2943,10 +2943,10 @@ void SliderJointSpatialGizmo::redraw() { float ll = p3d->get_param(SliderJoint::PARAM_ANGULAR_LIMIT_LOWER); float ul = p3d->get_param(SliderJoint::PARAM_ANGULAR_LIMIT_UPPER); - float lll = -p3d->get_param(SliderJoint::PARAM_LINEAR_LIMIT_LOWER); - float lul = -p3d->get_param(SliderJoint::PARAM_LINEAR_LIMIT_UPPER); + float lll = p3d->get_param(SliderJoint::PARAM_LINEAR_LIMIT_LOWER); + float lul = p3d->get_param(SliderJoint::PARAM_LINEAR_LIMIT_UPPER); - if (lll > lul) { + if (lll <= lul) { cursor_points.push_back(Vector3(lul, 0, 0)); cursor_points.push_back(Vector3(lll, 0, 0)); From b546cd50a36a809ba8beb8da1126d41c3b19294b Mon Sep 17 00:00:00 2001 From: AndreaCatania Date: Sat, 9 Dec 2017 19:53:08 +0100 Subject: [PATCH 5/5] Changed how 6DOF limits works --- modules/bullet/generic_6dof_joint_bullet.cpp | 61 +++++++++----------- modules/bullet/generic_6dof_joint_bullet.h | 5 ++ 2 files changed, 31 insertions(+), 35 deletions(-) diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 2b17738c317..da09d4e12fa 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -117,10 +117,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO ERR_FAIL_INDEX(p_axis, 3); switch (p_param) { case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: - sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis] = p_value; + 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 break; case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: - sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis] = p_value; + 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; @@ -132,10 +134,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value; break; case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: - sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit = p_value; + 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 break; case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: - sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit = p_value; + 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; @@ -167,9 +171,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6 ERR_FAIL_INDEX_V(p_axis, 3, 0.); switch (p_param) { case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: - return sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis]; + return limits_lower[0][p_axis]; case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: - return sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis]; + return limits_upper[0][p_axis]; case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness; case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: @@ -177,9 +181,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6 case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: return sixDOFConstraint->getTranslationalLimitMotor()->m_damping; case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: - return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit; + return limits_lower[1][p_axis]; case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: - return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit; + 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: @@ -202,48 +206,35 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6 void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) { ERR_FAIL_INDEX(p_axis, 3); + + flags[p_axis][p_flag] = p_value; + switch (p_flag) { case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: - if (p_value) { - if (!get_flag(p_axis, p_flag)) // avoid overwrite, if limited - sixDOFConstraint->setLimit(p_axis, 0, 0); // Limited + if (flags[p_axis][p_flag]) { + sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]); } else { - if (get_flag(p_axis, p_flag)) // avoid overwrite, if free - sixDOFConstraint->setLimit(p_axis, 0, -1); // Free + sixDOFConstraint->setLimit(p_axis, 0, -1); // Free } break; - case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: { - int angularAxis = 3 + p_axis; - if (p_value) { - if (!get_flag(p_axis, p_flag)) // avoid overwrite, if Limited - sixDOFConstraint->setLimit(angularAxis, 0, 0); // Limited + 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]); } else { - if (get_flag(p_axis, p_flag)) // avoid overwrite, if free - sixDOFConstraint->setLimit(angularAxis, 0, -1); // Free + sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free } break; - } case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: - //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = p_value; - sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = p_value; + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag]; break; default: WARN_PRINT("This flag is not supported by Bullet engine"); + return; } } bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const { ERR_FAIL_INDEX_V(p_axis, 3, false); - switch (p_flag) { - case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: - return sixDOFConstraint->getTranslationalLimitMotor()->isLimited(p_axis); - case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: - return sixDOFConstraint->getRotationalLimitMotor(p_axis)->isLimited(); - case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: - return //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] && - sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor; - default: - WARN_PRINT("This flag is not supported by Bullet engine"); - return false; - } + + return flags[p_axis][p_flag]; } diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h index 0d47b823deb..ba0ae088008 100644 --- a/modules/bullet/generic_6dof_joint_bullet.h +++ b/modules/bullet/generic_6dof_joint_bullet.h @@ -39,6 +39,11 @@ class RigidBodyBullet; class Generic6DOFJointBullet : public JointBullet { class btGeneric6DofConstraint *sixDOFConstraint; + // First is linear second is angular + Vector3 limits_lower[2]; + Vector3 limits_upper[2]; + bool flags[3][PhysicsServer::G6DOF_JOINT_FLAG_MAX]; + public: Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA);