godot/modules/godot_physics_3d/joints/godot_generic_6dof_joint_3d.cpp

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/*  godot_generic_6dof_joint_3d.cpp                                       */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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/*
Adapted to Godot from the Bullet library.
*/

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

/*
2007-09-09
GodotGeneric6DOFJoint3D Refactored by Francisco Le?n
email: [email protected]
http://gimpact.sf.net
*/

#include "godot_generic_6dof_joint_3d.h"

#define GENERIC_D6_DISABLE_WARMSTARTING …

//////////////////////////// GodotG6DOFRotationalLimitMotor3D ////////////////////////////////////

int GodotG6DOFRotationalLimitMotor3D::testLimitValue(real_t test_value) { … }

real_t GodotG6DOFRotationalLimitMotor3D::solveAngularLimits(
		real_t timeStep, Vector3 &axis, real_t jacDiagABInv,
		GodotBody3D *body0, GodotBody3D *body1, bool p_body0_dynamic, bool p_body1_dynamic) { … }

//////////////////////////// GodotG6DOFTranslationalLimitMotor3D ////////////////////////////////////

real_t GodotG6DOFTranslationalLimitMotor3D::solveLinearAxis(
		real_t timeStep,
		real_t jacDiagABInv,
		GodotBody3D *body1, const Vector3 &pointInA,
		GodotBody3D *body2, const Vector3 &pointInB,
		bool p_body1_dynamic, bool p_body2_dynamic,
		int limit_index,
		const Vector3 &axis_normal_on_a,
		const Vector3 &anchorPos) { … }

//////////////////////////// GodotGeneric6DOFJoint3D ////////////////////////////////////

GodotGeneric6DOFJoint3D::GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) : … { … }

void GodotGeneric6DOFJoint3D::calculateAngleInfo() { … }

void GodotGeneric6DOFJoint3D::calculateTransforms() { … }

void GodotGeneric6DOFJoint3D::buildLinearJacobian(
		GodotJacobianEntry3D &jacLinear, const Vector3 &normalWorld,
		const Vector3 &pivotAInW, const Vector3 &pivotBInW) { … }

void GodotGeneric6DOFJoint3D::buildAngularJacobian(
		GodotJacobianEntry3D &jacAngular, const Vector3 &jointAxisW) { … }

bool GodotGeneric6DOFJoint3D::testAngularLimitMotor(int axis_index) { … }

bool GodotGeneric6DOFJoint3D::setup(real_t p_timestep) { … }

void GodotGeneric6DOFJoint3D::solve(real_t p_timestep) { … }

void GodotGeneric6DOFJoint3D::updateRHS(real_t timeStep) { … }

Vector3 GodotGeneric6DOFJoint3D::getAxis(int axis_index) const { … }

real_t GodotGeneric6DOFJoint3D::getAngle(int axis_index) const { … }

void GodotGeneric6DOFJoint3D::calcAnchorPos() { … }

void GodotGeneric6DOFJoint3D::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) { … }

real_t GodotGeneric6DOFJoint3D::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const { … }

void GodotGeneric6DOFJoint3D::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) { … }

bool GodotGeneric6DOFJoint3D::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const { … }