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Added angular restitution

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Adding angular and linear springs

Added getters
This commit is contained in:
Geoffrey Irons 2018-11-09 12:58:57 +01:00
parent ef54537b00
commit e149327be0
5 changed files with 155 additions and 1 deletions
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40
modules/bullet/generic_6dof_joint_bullet.cpp
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@ -135,6 +135,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
limits_lower[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
@ -143,6 +152,9 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
limits_upper[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
break;
@ -152,6 +164,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
break;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED
@ -170,6 +191,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
@ -182,6 +209,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED;
@ -215,6 +248,12 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
break;
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
break;
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
break;
default:
ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
WARN_DEPRECATED
@ -224,6 +263,5 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, false);
return flags[p_axis][p_flag];
}