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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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Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
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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(frameInB.scaled(rbB->get_body_scale()));
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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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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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limits_lower[0][p_axis] = p_value;
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set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
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break;
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case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
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limits_upper[0][p_axis] = p_value;
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set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
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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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limits_lower[1][p_axis] = p_value;
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set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
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break;
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case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
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limits_upper[1][p_axis] = p_value;
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set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
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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 limits_lower[0][p_axis];
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case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
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return limits_upper[0][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 limits_lower[1][p_axis];
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case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
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return limits_upper[1][p_axis];
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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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flags[p_axis][p_flag] = p_value;
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switch (p_flag) {
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case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
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if (flags[p_axis][p_flag]) {
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sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]);
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} else {
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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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if (flags[p_axis][p_flag]) {
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sixDOFConstraint->setLimit(p_axis + 3, limits_lower[1][p_axis], limits_upper[1][p_axis]);
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} else {
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sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free
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}
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break;
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case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
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sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
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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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return;
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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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return flags[p_axis][p_flag];
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}
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