/*************************************************************************/ /* slider_joint_bullet.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2021 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 "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 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(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(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 Transform SliderJointBullet::getCalculatedTransformA() const { btTransform btTransform = sliderConstraint->getCalculatedTransformA(); Transform gTrans; B_TO_G(btTransform, gTrans); return gTrans; } const Transform SliderJointBullet::getCalculatedTransformB() const { btTransform btTransform = sliderConstraint->getCalculatedTransformB(); Transform gTrans; B_TO_G(btTransform, gTrans); return gTrans; } const Transform SliderJointBullet::getFrameOffsetA() const { btTransform btTransform = sliderConstraint->getFrameOffsetA(); Transform gTrans; B_TO_G(btTransform, gTrans); return gTrans; } const Transform SliderJointBullet::getFrameOffsetB() const { btTransform btTransform = sliderConstraint->getFrameOffsetB(); Transform gTrans; B_TO_G(btTransform, gTrans); return gTrans; } Transform SliderJointBullet::getFrameOffsetA() { btTransform btTransform = sliderConstraint->getFrameOffsetA(); Transform gTrans; B_TO_G(btTransform, gTrans); return gTrans; } Transform SliderJointBullet::getFrameOffsetB() { btTransform btTransform = sliderConstraint->getFrameOffsetB(); Transform 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(PhysicsServer::SliderJointParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: setUpperLinLimit(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: setLowerLinLimit(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: setSoftnessLimLin(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: setRestitutionLimLin(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: setDampingLimLin(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: setSoftnessDirLin(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: setRestitutionDirLin(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: setDampingDirLin(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: setSoftnessOrthoLin(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: setRestitutionOrthoLin(p_value); break; case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: setDampingOrthoLin(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: setUpperAngLimit(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: setLowerAngLimit(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: setSoftnessLimAng(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: setRestitutionLimAng(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: setDampingLimAng(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: setSoftnessDirAng(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: setRestitutionDirAng(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: setDampingDirAng(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: setSoftnessOrthoAng(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: setRestitutionOrthoAng(p_value); break; case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: setDampingOrthoAng(p_value); break; case PhysicsServer::SLIDER_JOINT_MAX: break; // Can't happen, but silences warning } } real_t SliderJointBullet::get_param(PhysicsServer::SliderJointParam p_param) const { switch (p_param) { case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: return getUpperLinLimit(); case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: return getLowerLinLimit(); case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: return getSoftnessLimLin(); case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: return getRestitutionLimLin(); case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: return getDampingLimLin(); case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: return getSoftnessDirLin(); case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: return getRestitutionDirLin(); case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: return getDampingDirLin(); case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: return getSoftnessOrthoLin(); case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: return getRestitutionOrthoLin(); case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: return getDampingOrthoLin(); case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: return getUpperAngLimit(); case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: return getLowerAngLimit(); case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: return getSoftnessLimAng(); case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: return getRestitutionLimAng(); case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: return getDampingLimAng(); case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: return getSoftnessDirAng(); case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: return getRestitutionDirAng(); case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: return getDampingDirAng(); case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: return getSoftnessOrthoAng(); case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: return getRestitutionOrthoAng(); case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: return getDampingOrthoAng(); default: return 0; } }