diff options
Diffstat (limited to 'intern/rigidbody')
| -rw-r--r-- | intern/rigidbody/RBI_api.h | 9 | ||||
| -rw-r--r-- | intern/rigidbody/rb_bullet_api.cpp | 55 |
2 files changed, 58 insertions, 6 deletions
diff --git a/intern/rigidbody/RBI_api.h b/intern/rigidbody/RBI_api.h index 556ca959e64..eec94bcea50 100644 --- a/intern/rigidbody/RBI_api.h +++ b/intern/rigidbody/RBI_api.h @@ -268,6 +268,7 @@ rbConstraint *RB_constraint_new_slider(float pivot[3], float orn[4], rbRigidBody rbConstraint *RB_constraint_new_piston(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_6dof(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); +rbConstraint *RB_constraint_new_6dof_spring2(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_motor(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); /* ............ */ @@ -299,12 +300,18 @@ void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float l void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, float upper); /* 6dof spring specific */ -void RB_constraint_set_limits_6dof_spring(rbConstraint *con, int axis, float lower, float upper); void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness); void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping); void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable); void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con); +/* 6dof spring 2 specific */ +void RB_constraint_set_limits_6dof_spring2(rbConstraint *con, int axis, float lower, float upper); +void RB_constraint_set_stiffness_6dof_spring2(rbConstraint *con, int axis, float stiffness); +void RB_constraint_set_damping_6dof_spring2(rbConstraint *con, int axis, float damping); +void RB_constraint_set_spring_6dof_spring2(rbConstraint *con, int axis, int enable); +void RB_constraint_set_equilibrium_6dof_spring2(rbConstraint *con); + /* motors */ void RB_constraint_set_enable_motor(rbConstraint *con, int enable_lin, int enable_ang); void RB_constraint_set_max_impulse_motor(rbConstraint *con, float max_impulse_lin, float max_impulse_ang); diff --git a/intern/rigidbody/rb_bullet_api.cpp b/intern/rigidbody/rb_bullet_api.cpp index a9fbcb28529..6a50c5c93ee 100644 --- a/intern/rigidbody/rb_bullet_api.cpp +++ b/intern/rigidbody/rb_bullet_api.cpp @@ -954,11 +954,25 @@ rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigi make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn); - btTypedConstraint *con = new btGeneric6DofSpring2Constraint(*body1, *body2, transform1, transform2); + btTypedConstraint *con = new btGeneric6DofSpringConstraint(*body1, *body2, transform1, transform2, true); return (rbConstraint *)con; } +rbConstraint *RB_constraint_new_6dof_spring2(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2) +{ + btRigidBody *body1 = rb1->body; + btRigidBody *body2 = rb2->body; + btTransform transform1; + btTransform transform2; + + make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn); + + btTypedConstraint *con = new btGeneric6DofSpring2Constraint(*body1, *body2, transform1, transform2); + + return (rbConstraint *)con; +} + rbConstraint *RB_constraint_new_motor(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2) { btRigidBody *body1 = rb1->body; @@ -1034,7 +1048,7 @@ void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, flo constraint->setLimit(axis, lower, upper); } -void RB_constraint_set_limits_6dof_spring(rbConstraint *con, int axis, float lower, float upper) +void RB_constraint_set_limits_6dof_spring2(rbConstraint *con, int axis, float lower, float upper) { btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con); @@ -1043,27 +1057,58 @@ void RB_constraint_set_limits_6dof_spring(rbConstraint *con, int axis, float low void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness) { - btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con); + btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con); constraint->setStiffness(axis, stiffness); } void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping) { - btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con); + btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con); + + // invert damping range so that 0 = no damping + damping = (damping > 1.0f) ? 0.0f : 1.0f - damping; constraint->setDamping(axis, damping); } void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable) { - btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con); + btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con); constraint->enableSpring(axis, enable); } void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con) { + btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con); + + constraint->setEquilibriumPoint(); +} + +void RB_constraint_set_stiffness_6dof_spring2(rbConstraint *con, int axis, float stiffness) +{ + btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con); + + constraint->setStiffness(axis, stiffness); +} + +void RB_constraint_set_damping_6dof_spring2(rbConstraint *con, int axis, float damping) +{ + btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con); + + constraint->setDamping(axis, damping); +} + +void RB_constraint_set_spring_6dof_spring2(rbConstraint *con, int axis, int enable) +{ + btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con); + + constraint->enableSpring(axis, enable); +} + +void RB_constraint_set_equilibrium_6dof_spring2(rbConstraint *con) +{ btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con); constraint->setEquilibriumPoint(); |