146 lines
4.6 KiB
C++
146 lines
4.6 KiB
C++
// Filename: bulletGenericConstraint.cxx
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// Created by: enn0x (02Mar10)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#include "bulletGenericConstraint.h"
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#include "bulletRigidBodyNode.h"
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TypeHandle BulletGenericConstraint::_type_handle;
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////////////////////////////////////////////////////////////////////
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// Function: BulletGenericConstraint::Constructor
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// Access: Published
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// Description:
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////////////////////////////////////////////////////////////////////
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BulletGenericConstraint::
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BulletGenericConstraint(const BulletRigidBodyNode *node_a,
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CPT(TransformState) frame_a,
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bool use_frame_a) {
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btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
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btTransform trans_a = TransformState_to_btTrans(frame_a);
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_constraint = new btGeneric6DofConstraint(*ptr_a, trans_a, use_frame_a);
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletGenericConstraint::Constructor
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// Access: Published
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// Description:
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////////////////////////////////////////////////////////////////////
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BulletGenericConstraint::
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BulletGenericConstraint(const BulletRigidBodyNode *node_a,
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const BulletRigidBodyNode *node_b,
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CPT(TransformState) frame_a,
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CPT(TransformState) frame_b,
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bool use_frame_a) {
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btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
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btTransform trans_a = TransformState_to_btTrans(frame_a);
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btRigidBody *ptr_b = btRigidBody::upcast(node_b->get_object());
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btTransform trans_b = TransformState_to_btTrans(frame_b);
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_constraint = new btGeneric6DofConstraint(*ptr_a, *ptr_b, trans_a, trans_b, use_frame_a);
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletGenericConstraint::ptr
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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btTypedConstraint *BulletGenericConstraint::
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ptr() const {
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return _constraint;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletGenericConstraint::get_axis
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// Access: Published
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// Description:
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////////////////////////////////////////////////////////////////////
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LVector3f BulletGenericConstraint::
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get_axis(int axis) const {
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nassertr(axis >= 0, LVector3f::zero());
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nassertr(axis <= 3, LVector3f::zero());
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_constraint->buildJacobian();
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return btVector3_to_LVector3f(_constraint->getAxis(axis));
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletGenericConstraint::get_pivot
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// Access: Published
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// Description:
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////////////////////////////////////////////////////////////////////
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float BulletGenericConstraint::
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get_pivot(int axis) const {
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nassertr(axis >= 0, 0.0f);
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nassertr(axis <= 3, 0.0f);
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_constraint->buildJacobian();
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return _constraint->getRelativePivotPosition(axis);
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletGenericConstraint::get_angle
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// Access: Published
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// Description:
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////////////////////////////////////////////////////////////////////
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float BulletGenericConstraint::
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get_angle(int axis) const {
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nassertr(axis >= 0, 0.0f);
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nassertr(axis <= 3, 0.0f);
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_constraint->buildJacobian();
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return _constraint->getAngle(axis);
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletGenericConstraint::set_linear_limit
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// Access: Published
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletGenericConstraint::
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set_linear_limit(int axis, float low, float high) {
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nassertv(axis >= 0);
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nassertv(axis <= 3);
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_constraint->buildJacobian();
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_constraint->setLimit(axis, low, high);
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletGenericConstraint::set_angular_limit
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// Access: Published
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletGenericConstraint::
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set_angular_limit(int axis, float low, float high) {
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nassertv(axis >= 0);
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nassertv(axis <= 3);
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low = deg_2_rad(low);
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high = deg_2_rad(high);
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_constraint->buildJacobian();
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_constraint->setLimit(axis + 3, low, high);
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}
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