virtualx-engine/modules/bullet/hinge_joint_bullet.cpp

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/*  hinge_joint_bullet.cpp                                               */
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/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur.                 */
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#include "hinge_joint_bullet.h"

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

#include <BulletDynamics/ConstraintSolver/btHingeConstraint.h>

/**
	@author AndreaCatania
*/

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(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(scaled_BFrame, btFrameB);

		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
	} else {

		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA));
	}

	setup(hingeConstraint);
}

HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) :
		JointBullet() {

	btVector3 btPivotA;
	btVector3 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 * 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 {

		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA));
	}

	setup(hingeConstraint);
}

real_t HingeJointBullet::get_hinge_angle() {
	return hingeConstraint->getHingeAngle();
}

void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t p_value) {
	switch (p_param) {
		case PhysicsServer::HINGE_JOINT_LIMIT_UPPER:
			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_LOWER:
			hingeConstraint->setLimit(p_value, hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_BIAS:
			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), p_value, hingeConstraint->getLimitRelaxationFactor());
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS:
			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), p_value, hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION:
			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), p_value);
			break;
		case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
			hingeConstraint->setMotorTargetVelocity(p_value);
			break;
		case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
			hingeConstraint->setMaxMotorImpulse(p_value);
			break;
		default:
			ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
			WARN_DEPRECATED
			break;
	}
}

real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const {
	switch (p_param) {
		case PhysicsServer::HINGE_JOINT_BIAS:
			return 0;
			break;
		case PhysicsServer::HINGE_JOINT_LIMIT_UPPER:
			return hingeConstraint->getUpperLimit();
		case PhysicsServer::HINGE_JOINT_LIMIT_LOWER:
			return hingeConstraint->getLowerLimit();
		case PhysicsServer::HINGE_JOINT_LIMIT_BIAS:
			return hingeConstraint->getLimitBiasFactor();
		case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS:
			return hingeConstraint->getLimitSoftness();
		case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION:
			return hingeConstraint->getLimitRelaxationFactor();
		case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
			return hingeConstraint->getMotorTargetVelocity();
		case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
			return hingeConstraint->getMaxMotorImpulse();
		default:
			ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
			WARN_DEPRECATED;
			return 0;
	}
}

void HingeJointBullet::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value) {
	switch (p_flag) {
		case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT:
			if (!p_value) {
				hingeConstraint->setLimit(-Math_PI, Math_PI);
			}
			break;
		case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR:
			hingeConstraint->enableMotor(p_value);
			break;
		case PhysicsServer::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
	}
}

bool HingeJointBullet::get_flag(PhysicsServer::HingeJointFlag p_flag) const {
	switch (p_flag) {
		case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT:
			return true;
		case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR:
			return hingeConstraint->getEnableAngularMotor();
		default:
			return false;
	}
}