From 00f2d43ec14dbf87232285772efca2efc71952d2 Mon Sep 17 00:00:00 2001
From: enn0x <ralf.pfrogner@gmx.net>
Date: Sat, 20 Aug 2011 21:22:03 +0000
Subject: [PATCH] More detailed limits for generic constraints.

---
 panda/src/bullet/bulletGenericConstraint.cxx | 94 +++++++++++++-------
 panda/src/bullet/bulletGenericConstraint.h   | 10 ++-
 2 files changed, 68 insertions(+), 36 deletions(-)

diff --git a/panda/src/bullet/bulletGenericConstraint.cxx b/panda/src/bullet/bulletGenericConstraint.cxx
index 01c6a4b5c9..46ca2fa72d 100644
--- a/panda/src/bullet/bulletGenericConstraint.cxx
+++ b/panda/src/bullet/bulletGenericConstraint.cxx
@@ -66,50 +66,80 @@ ptr() const {
 }
 
 ////////////////////////////////////////////////////////////////////
-//     Function: BulletGenericConstraint::set_lower_linear_limit
+//     Function: BulletGenericConstraint::get_axis
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+LVector3f BulletGenericConstraint::
+get_axis(int axis) const {
+
+  nassertr(axis >= 0, LVector3f::zero());
+  nassertr(axis <= 3, LVector3f::zero());
+
+  _constraint->buildJacobian();
+  return btVector3_to_LVector3f(_constraint->getAxis(axis));
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletGenericConstraint::get_pivot
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+float BulletGenericConstraint::
+get_pivot(int axis) const {
+
+  nassertr(axis >= 0, 0.0f);
+  nassertr(axis <= 3, 0.0f);
+
+  _constraint->buildJacobian();
+  return _constraint->getRelativePivotPosition(axis);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletGenericConstraint::get_angle
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+float BulletGenericConstraint::
+get_angle(int axis) const {
+
+  nassertr(axis >= 0, 0.0f);
+  nassertr(axis <= 3, 0.0f);
+
+  _constraint->buildJacobian();
+  return _constraint->getAngle(axis);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletGenericConstraint::set_linear_limit
 //       Access: Published
 //  Description:
 ////////////////////////////////////////////////////////////////////
 void BulletGenericConstraint::
-set_lower_linear_limit(const LPoint3f &limit) {
+set_linear_limit(int axis, float low, float high) {
 
-  nassertv(!limit.is_nan());
-  _constraint->setLinearLowerLimit(LVecBase3f_to_btVector3(limit));
+  nassertv(axis >= 0);
+  nassertv(axis <= 3);
+
+  _constraint->buildJacobian();
+  _constraint->setLimit(axis, low, high);
 }
 
 ////////////////////////////////////////////////////////////////////
-//     Function: BulletGenericConstraint::set_upper_linear_limit
+//     Function: BulletGenericConstraint::set_angular_limit
 //       Access: Published
 //  Description:
 ////////////////////////////////////////////////////////////////////
 void BulletGenericConstraint::
-set_upper_linear_limit(const LPoint3f &limit) {
+set_angular_limit(int axis, float low, float high) {
 
-  nassertv(!limit.is_nan());
-  _constraint->setLinearUpperLimit(LVecBase3f_to_btVector3(limit));
-}
-
-////////////////////////////////////////////////////////////////////
-//     Function: BulletGenericConstraint::set_lower_angular_limit
-//       Access: Published
-//  Description:
-////////////////////////////////////////////////////////////////////
-void BulletGenericConstraint::
-set_lower_angular_limit(const LVector3f &limit) {
-
-  nassertv(!limit.is_nan());
-  _constraint->setAngularLowerLimit(LVecBase3f_to_btVector3(limit));
-}
-
-////////////////////////////////////////////////////////////////////
-//     Function: BulletGenericConstraint::set_upper_angular_limit
-//       Access: Published
-//  Description:
-////////////////////////////////////////////////////////////////////
-void BulletGenericConstraint::
-set_upper_angular_limit(const LVector3f &limit) {
-
-  nassertv(!limit.is_nan());
-  _constraint->setAngularUpperLimit(LVecBase3f_to_btVector3(limit));
+  nassertv(axis >= 0);
+  nassertv(axis <= 3);
+
+  low  = deg_2_rad(low);
+  high = deg_2_rad(high);
+
+  _constraint->buildJacobian();
+  _constraint->setLimit(axis + 3, low, high);
 }
 
diff --git a/panda/src/bullet/bulletGenericConstraint.h b/panda/src/bullet/bulletGenericConstraint.h
index 6d72f42cca..3483791191 100644
--- a/panda/src/bullet/bulletGenericConstraint.h
+++ b/panda/src/bullet/bulletGenericConstraint.h
@@ -44,10 +44,12 @@ PUBLISHED:
                           bool use_frame_a);
   INLINE ~BulletGenericConstraint();
 
-  void set_lower_linear_limit(const LPoint3f &limit);
-  void set_upper_linear_limit(const LPoint3f &limit);
-  void set_lower_angular_limit(const LVector3f &limit);
-  void set_upper_angular_limit(const LVector3f &limit);
+  void set_linear_limit(int axis, float low, float high);
+  void set_angular_limit(int axis, float low, float high);
+
+  LVector3f get_axis(int axis) const;
+  float get_pivot(int axis) const;
+  float get_angle(int axis) const;
 
 public:
   virtual btTypedConstraint *ptr() const;