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Changed how 6DOF limits works

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This commit is contained in:
AndreaCatania 2017-12-09 19:53:08 +01:00
parent 5e10f80522
commit b546cd50a3
2 changed files with 31 additions and 35 deletions
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61
modules/bullet/generic_6dof_joint_bullet.cpp
View File

@ -117,10 +117,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
ERR_FAIL_INDEX(p_axis, 3); ERR_FAIL_INDEX(p_axis, 3);
switch (p_param) { switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis] = p_value; limits_lower[0][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break; break;
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis] = p_value; limits_upper[0][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break; break;
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value; sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value;
@ -132,10 +134,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value; sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
break; break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit = p_value; limits_lower[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break; break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit = p_value; limits_upper[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break; break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value; sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value;
@ -167,9 +171,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
ERR_FAIL_INDEX_V(p_axis, 3, 0.); ERR_FAIL_INDEX_V(p_axis, 3, 0.);
switch (p_param) { switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis]; return limits_lower[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis]; return limits_upper[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness; return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
@ -177,9 +181,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_damping; return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit; return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit; return limits_upper[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness; return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING: case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
@ -202,48 +206,35 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) { void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) {
ERR_FAIL_INDEX(p_axis, 3); ERR_FAIL_INDEX(p_axis, 3);
flags[p_axis][p_flag] = p_value;
switch (p_flag) { switch (p_flag) {
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
if (p_value) { if (flags[p_axis][p_flag]) {
if (!get_flag(p_axis, p_flag)) // avoid overwrite, if limited sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]);
sixDOFConstraint->setLimit(p_axis, 0, 0); // Limited
} else { } else {
if (get_flag(p_axis, p_flag)) // avoid overwrite, if free sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
} }
break; break;
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: { case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
int angularAxis = 3 + p_axis; if (flags[p_axis][p_flag]) {
if (p_value) { sixDOFConstraint->setLimit(p_axis + 3, limits_lower[1][p_axis], limits_upper[1][p_axis]);
if (!get_flag(p_axis, p_flag)) // avoid overwrite, if Limited
sixDOFConstraint->setLimit(angularAxis, 0, 0); // Limited
} else { } else {
if (get_flag(p_axis, p_flag)) // avoid overwrite, if free sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free
sixDOFConstraint->setLimit(angularAxis, 0, -1); // Free
} }
break; break;
}
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
//sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = p_value; sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = p_value;
break; break;
default: default:
WARN_PRINT("This flag is not supported by Bullet engine"); WARN_PRINT("This flag is not supported by Bullet engine");
return;
} }
} }
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const { bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, false); ERR_FAIL_INDEX_V(p_axis, 3, false);
switch (p_flag) {
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: return flags[p_axis][p_flag];
return sixDOFConstraint->getTranslationalLimitMotor()->isLimited(p_axis);
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->isLimited();
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
return //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] &&
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor;
default:
WARN_PRINT("This flag is not supported by Bullet engine");
return false;
}
} }

5
modules/bullet/generic_6dof_joint_bullet.h
View File

@ -39,6 +39,11 @@ class RigidBodyBullet;
class Generic6DOFJointBullet : public JointBullet { class Generic6DOFJointBullet : public JointBullet {
class btGeneric6DofConstraint *sixDOFConstraint; class btGeneric6DofConstraint *sixDOFConstraint;
// First is linear second is angular
Vector3 limits_lower[2];
Vector3 limits_upper[2];
bool flags[3][PhysicsServer::G6DOF_JOINT_FLAG_MAX];
public: public:
Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA); Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA);