fb4871c919
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.
241 lines
10 KiB
C++
241 lines
10 KiB
C++
/*************************************************************************/
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/* generic_6dof_joint_bullet.cpp */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 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 "generic_6dof_joint_bullet.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.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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Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA)
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: JointBullet() {
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btTransform btFrameA;
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G_TO_B(frameInA, btFrameA);
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if (rbB) {
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btTransform btFrameB;
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G_TO_B(frameInB, btFrameB);
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sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA));
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} else {
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sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), btFrameA, useLinearReferenceFrameA));
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}
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setup(sixDOFConstraint);
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}
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Transform Generic6DOFJointBullet::getFrameOffsetA() const {
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btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
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Transform gTrs;
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B_TO_G(btTrs, gTrs);
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return gTrs;
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}
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Transform Generic6DOFJointBullet::getFrameOffsetB() const {
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btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
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Transform gTrs;
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B_TO_G(btTrs, gTrs);
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return gTrs;
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}
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Transform Generic6DOFJointBullet::getFrameOffsetA() {
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btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
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Transform gTrs;
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B_TO_G(btTrs, gTrs);
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return gTrs;
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}
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Transform Generic6DOFJointBullet::getFrameOffsetB() {
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btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
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Transform gTrs;
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B_TO_G(btTrs, gTrs);
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return gTrs;
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}
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void Generic6DOFJointBullet::set_linear_lower_limit(const Vector3 &linearLower) {
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btVector3 btVec;
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G_TO_B(linearLower, btVec);
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sixDOFConstraint->setLinearLowerLimit(btVec);
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}
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void Generic6DOFJointBullet::set_linear_upper_limit(const Vector3 &linearUpper) {
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btVector3 btVec;
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G_TO_B(linearUpper, btVec);
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sixDOFConstraint->setLinearUpperLimit(btVec);
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}
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void Generic6DOFJointBullet::set_angular_lower_limit(const Vector3 &angularLower) {
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btVector3 btVec;
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G_TO_B(angularLower, btVec);
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sixDOFConstraint->setAngularLowerLimit(btVec);
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}
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void Generic6DOFJointBullet::set_angular_upper_limit(const Vector3 &angularUpper) {
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btVector3 btVec;
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G_TO_B(angularUpper, btVec);
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sixDOFConstraint->setAngularUpperLimit(btVec);
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}
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void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value) {
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ERR_FAIL_INDEX(p_axis, 3);
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switch (p_param) {
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case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
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sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis] = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
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sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis] = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
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sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
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sixDOFConstraint->getTranslationalLimitMotor()->m_restitution = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
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sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value;
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break;
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default:
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WARN_PRINT("This parameter is not supported");
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}
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}
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real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param) const {
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ERR_FAIL_INDEX_V(p_axis, 3, 0.);
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switch (p_param) {
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case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis];
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case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis];
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case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness;
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case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution;
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case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
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return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce;
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default:
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WARN_PRINT("This parameter is not supported");
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return 0.;
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}
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}
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void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) {
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ERR_FAIL_INDEX(p_axis, 3);
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switch (p_flag) {
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case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
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if (p_value) {
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if (!get_flag(p_axis, p_flag)) // avoid overwrite, if limited
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sixDOFConstraint->setLimit(p_axis, 0, 0); // Limited
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} else {
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if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
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sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
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}
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break;
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case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: {
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int angularAxis = 3 + p_axis;
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if (p_value) {
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if (!get_flag(p_axis, p_flag)) // avoid overwrite, if Limited
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sixDOFConstraint->setLimit(angularAxis, 0, 0); // Limited
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} else {
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if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
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sixDOFConstraint->setLimit(angularAxis, 0, -1); // Free
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}
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break;
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}
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case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
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//sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = p_value;
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = p_value;
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break;
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default:
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WARN_PRINT("This flag is not supported by Bullet engine");
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}
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}
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bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
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ERR_FAIL_INDEX_V(p_axis, 3, false);
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switch (p_flag) {
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case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
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return sixDOFConstraint->getTranslationalLimitMotor()->isLimited(p_axis);
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case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
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return sixDOFConstraint->getRotationalLimitMotor(p_axis)->isLimited();
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case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
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return //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] &&
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor;
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default:
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WARN_PRINT("This flag is not supported by Bullet engine");
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return false;
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}
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}
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