///return the local value of parameter
btScalar btHingeConstraint::getParam(int num, int axis) const
{
btScalar retVal = 0;
if((axis == -1) || (axis == 5))
{
switch(num)
{
case BT_CONSTRAINT_STOP_ERP :
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_STOP);
retVal = m_stopERP;
break;
case BT_CONSTRAINT_STOP_CFM :
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_STOP);
retVal = m_stopCFM;
break;
case BT_CONSTRAINT_CFM :
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_NORM);
retVal = m_normalCFM;
break;
default :
btAssertConstrParams(0);
}
}
else
{
btAssertConstrParams(0);
}
return retVal;
}
///return the local value of parameter
btScalar btPoint2PointConstraint::getParam(int num, int axis) const
{
btScalar retVal(SIMD_INFINITY);
if(axis != -1)
{
btAssertConstrParams(0);
}
else
{
switch(num)
{
case BT_CONSTRAINT_ERP :
case BT_CONSTRAINT_STOP_ERP :
btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
retVal = m_erp;
break;
case BT_CONSTRAINT_CFM :
case BT_CONSTRAINT_STOP_CFM :
btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
retVal = m_cfm;
break;
default:
btAssertConstrParams(0);
}
}
return retVal;
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
void btHingeConstraint::setParam(int num, btScalar value, int axis)
{
if((axis == -1) || (axis == 5))
{
switch(num)
{
case BT_CONSTRAINT_STOP_ERP :
m_stopERP = value;
m_flags |= BT_HINGE_FLAGS_ERP_STOP;
break;
case BT_CONSTRAINT_STOP_CFM :
m_stopCFM = value;
m_flags |= BT_HINGE_FLAGS_CFM_STOP;
break;
case BT_CONSTRAINT_CFM :
m_normalCFM = value;
m_flags |= BT_HINGE_FLAGS_CFM_NORM;
break;
default :
btAssertConstrParams(0);
}
}
else
{
btAssertConstrParams(0);
}
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
{
if(axis != -1)
{
btAssertConstrParams(0);
}
else
{
switch(num)
{
case BT_CONSTRAINT_ERP :
case BT_CONSTRAINT_STOP_ERP :
m_erp = value;
m_flags |= BT_P2P_FLAGS_ERP;
break;
case BT_CONSTRAINT_CFM :
case BT_CONSTRAINT_STOP_CFM :
m_cfm = value;
m_flags |= BT_P2P_FLAGS_CFM;
break;
default:
btAssertConstrParams(0);
}
}
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
void btConeTwistConstraint::setParam(int num, btScalar value, int axis)
{
switch(num)
{
case BT_CONSTRAINT_ERP :
case BT_CONSTRAINT_STOP_ERP :
if((axis >= 0) && (axis < 3))
{
m_linERP = value;
m_flags |= BT_CONETWIST_FLAGS_LIN_ERP;
}
else
{
m_biasFactor = value;
}
break;
case BT_CONSTRAINT_CFM :
case BT_CONSTRAINT_STOP_CFM :
if((axis >= 0) && (axis < 3))
{
m_linCFM = value;
m_flags |= BT_CONETWIST_FLAGS_LIN_CFM;
}
else
{
m_angCFM = value;
m_flags |= BT_CONETWIST_FLAGS_ANG_CFM;
}
break;
default:
btAssertConstrParams(0);
break;
}
}
///return the local value of parameter
btScalar btConeTwistConstraint::getParam(int num, int axis) const
{
btScalar retVal = 0;
switch(num)
{
case BT_CONSTRAINT_ERP :
case BT_CONSTRAINT_STOP_ERP :
if((axis >= 0) && (axis < 3))
{
btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_ERP);
retVal = m_linERP;
}
else if((axis >= 3) && (axis < 6))
{
retVal = m_biasFactor;
}
else
{
btAssertConstrParams(0);
}
break;
case BT_CONSTRAINT_CFM :
case BT_CONSTRAINT_STOP_CFM :
if((axis >= 0) && (axis < 3))
{
btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_CFM);
retVal = m_linCFM;
}
else if((axis >= 3) && (axis < 6))
{
btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_ANG_CFM);
retVal = m_angCFM;
}
else
{
btAssertConstrParams(0);
}
break;
default :
btAssertConstrParams(0);
}
return retVal;
}
///return the local value of parameter
btScalar btSliderConstraint::getParam(int num, int axis) const
{
btScalar retVal(SIMD_INFINITY);
switch(num)
{
case BT_CONSTRAINT_STOP_ERP :
if(axis < 1)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN);
retVal = m_softnessLimLin;
}
else if(axis < 3)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN);
retVal = m_softnessOrthoLin;
}
else if(axis == 3)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG);
retVal = m_softnessLimAng;
}
else if(axis < 6)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG);
retVal = m_softnessOrthoAng;
}
else
{
btAssertConstrParams(0);
}
break;
case BT_CONSTRAINT_CFM :
if(axis < 1)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN);
retVal = m_cfmDirLin;
}
else if(axis == 3)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG);
retVal = m_cfmDirAng;
}
else
{
btAssertConstrParams(0);
}
break;
case BT_CONSTRAINT_STOP_CFM :
if(axis < 1)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN);
retVal = m_cfmLimLin;
}
else if(axis < 3)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN);
retVal = m_cfmOrthoLin;
}
else if(axis == 3)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG);
retVal = m_cfmLimAng;
}
else if(axis < 6)
{
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG);
retVal = m_cfmOrthoAng;
}
else
{
btAssertConstrParams(0);
}
break;
}
return retVal;
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
void btSliderConstraint::setParam(int num, btScalar value, int axis)
{
switch(num)
{
case BT_CONSTRAINT_STOP_ERP :
if(axis < 1)
{
m_softnessLimLin = value;
m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN;
}
else if(axis < 3)
{
m_softnessOrthoLin = value;
m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN;
}
else if(axis == 3)
{
m_softnessLimAng = value;
m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG;
}
else if(axis < 6)
{
m_softnessOrthoAng = value;
m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG;
}
else
{
btAssertConstrParams(0);
}
break;
case BT_CONSTRAINT_CFM :
if(axis < 1)
{
m_cfmDirLin = value;
m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN;
}
else if(axis == 3)
{
m_cfmDirAng = value;
m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG;
}
else
{
btAssertConstrParams(0);
}
break;
case BT_CONSTRAINT_STOP_CFM :
if(axis < 1)
{
m_cfmLimLin = value;
m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN;
}
else if(axis < 3)
{
m_cfmOrthoLin = value;
m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN;
}
else if(axis == 3)
{
m_cfmLimAng = value;
m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG;
}
else if(axis < 6)
{
m_cfmOrthoAng = value;
m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG;
}
else
{
btAssertConstrParams(0);
}
break;
}
}
