QList<btRigidBody*> ObjectConstraintSlider::getRigidBodies() {
QList<btRigidBody*> result;
result += getRigidBody();
QUuid otherEntityID;
withReadLock([&]{
otherEntityID = _otherID;
});
if (!otherEntityID.isNull()) {
result += getOtherRigidBody(otherEntityID);
}
return result;
}
btTypedConstraint* ObjectConstraintBallSocket::getConstraint() {
btPoint2PointConstraint* constraint { nullptr };
QUuid otherEntityID;
glm::vec3 pivotInA;
glm::vec3 pivotInB;
withReadLock([&]{
constraint = static_cast<btPoint2PointConstraint*>(_constraint);
pivotInA = _pivotInA;
otherEntityID = _otherID;
pivotInB = _pivotInB;
});
if (constraint) {
return constraint;
}
static QString repeatedBallSocketNoRigidBody = LogHandler::getInstance().addRepeatedMessageRegex(
"ObjectConstraintBallSocket::getConstraint -- no rigidBody.*");
btRigidBody* rigidBodyA = getRigidBody();
if (!rigidBodyA) {
qCDebug(physics) << "ObjectConstraintBallSocket::getConstraint -- no rigidBodyA";
return nullptr;
}
if (!otherEntityID.isNull()) {
// This constraint is between two entities... find the other rigid body.
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
if (!rigidBodyB) {
qCDebug(physics) << "ObjectConstraintBallSocket::getConstraint -- no rigidBodyB";
return nullptr;
}
constraint = new btPoint2PointConstraint(*rigidBodyA, *rigidBodyB, glmToBullet(pivotInA), glmToBullet(pivotInB));
} else {
// This constraint is between an entity and the world-frame.
constraint = new btPoint2PointConstraint(*rigidBodyA, glmToBullet(pivotInA));
}
withWriteLock([&]{
_constraint = constraint;
});
// if we don't wake up rigidBodyA, we may not send the dynamicData property over the network
forceBodyNonStatic();
activateBody();
updateBallSocket();
return constraint;
}
btTypedConstraint* ObjectConstraintSlider::getConstraint() {
btSliderConstraint* constraint { nullptr };
QUuid otherEntityID;
glm::vec3 pointInA;
glm::vec3 axisInA;
glm::vec3 pointInB;
glm::vec3 axisInB;
withReadLock([&]{
constraint = static_cast<btSliderConstraint*>(_constraint);
pointInA = _pointInA;
axisInA = _axisInA;
otherEntityID = _otherID;
pointInB = _pointInB;
axisInB = _axisInB;
});
if (constraint) {
return constraint;
}
static int repeatMessageID = LogHandler::getInstance().newRepeatedMessageID();
btRigidBody* rigidBodyA = getRigidBody();
if (!rigidBodyA) {
HIFI_FCDEBUG_ID(physics(), repeatMessageID, "ObjectConstraintSlider::getConstraint -- no rigidBodyA");
return nullptr;
}
if (glm::length(axisInA) < FLT_EPSILON) {
qCWarning(physics) << "slider axis cannot be a zero vector";
axisInA = DEFAULT_SLIDER_AXIS;
} else {
axisInA = glm::normalize(axisInA);
}
if (!otherEntityID.isNull()) {
// This slider is between two entities... find the other rigid body.
if (glm::length(axisInB) < FLT_EPSILON) {
qCWarning(physics) << "slider axis cannot be a zero vector";
axisInB = DEFAULT_SLIDER_AXIS;
} else {
axisInB = glm::normalize(axisInB);
}
glm::quat rotA = glm::rotation(DEFAULT_SLIDER_AXIS, axisInA);
glm::quat rotB = glm::rotation(DEFAULT_SLIDER_AXIS, axisInB);
btTransform frameInA(glmToBullet(rotA), glmToBullet(pointInA));
btTransform frameInB(glmToBullet(rotB), glmToBullet(pointInB));
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
if (!rigidBodyB) {
HIFI_FCDEBUG_ID(physics(), repeatMessageID, "ObjectConstraintSlider::getConstraint -- no rigidBodyB");
return nullptr;
}
constraint = new btSliderConstraint(*rigidBodyA, *rigidBodyB, frameInA, frameInB, true);
} else {
// This slider is between an entity and the world-frame.
glm::quat rot = glm::rotation(DEFAULT_SLIDER_AXIS, axisInA);
btTransform frameInA(glmToBullet(rot), glmToBullet(pointInA));
constraint = new btSliderConstraint(*rigidBodyA, frameInA, true);
}
withWriteLock([&]{
_constraint = constraint;
});
// if we don't wake up rigidBodyA, we may not send the dynamicData property over the network
forceBodyNonStatic();
activateBody();
updateSlider();
return constraint;
}
