adf14bfdde
A common source of errors is to call functions (such as round()) expecting them to work in place, but them actually being designed only to return the processed value. Not using the return value in this case in indicative of a bug, and can be flagged as a warning by using the [[nodiscard]] attribute.
105 lines
5.1 KiB
C++
105 lines
5.1 KiB
C++
/*************************************************************************/
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/* cone_twist_joint_bullet.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "cone_twist_joint_bullet.h"
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#include "bullet_types_converter.h"
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#include "bullet_utilities.h"
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#include "rigid_body_bullet.h"
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#include <BulletDynamics/ConstraintSolver/btConeTwistConstraint.h>
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/**
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@author AndreaCatania
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*/
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ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) :
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JointBullet() {
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Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale()));
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_ALLOW_DISCARD_ scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
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btTransform btFrameA;
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G_TO_B(scaled_AFrame, btFrameA);
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if (rbB) {
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Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale()));
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_ALLOW_DISCARD_ scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
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btTransform btFrameB;
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G_TO_B(scaled_BFrame, btFrameB);
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coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
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} else {
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coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA));
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}
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setup(coneConstraint);
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}
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void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN:
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coneConstraint->setLimit(5, p_value);
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coneConstraint->setLimit(4, p_value);
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break;
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case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN:
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coneConstraint->setLimit(3, p_value);
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break;
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case PhysicsServer::CONE_TWIST_JOINT_BIAS:
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coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), p_value, coneConstraint->getRelaxationFactor());
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break;
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case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS:
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coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), p_value, coneConstraint->getBiasFactor(), coneConstraint->getRelaxationFactor());
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break;
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case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
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coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
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break;
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default:
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WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
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break;
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}
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}
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real_t ConeTwistJointBullet::get_param(PhysicsServer::ConeTwistJointParam p_param) const {
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switch (p_param) {
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case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN:
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return coneConstraint->getSwingSpan1();
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case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN:
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return coneConstraint->getTwistSpan();
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case PhysicsServer::CONE_TWIST_JOINT_BIAS:
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return coneConstraint->getBiasFactor();
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case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS:
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return coneConstraint->getLimitSoftness();
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case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
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return coneConstraint->getRelaxationFactor();
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default:
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WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
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return 0;
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}
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}
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