From 4f1aea9b48c70742830e9d24d3b2082d3bbad42c Mon Sep 17 00:00:00 2001
From: Silverlan <silverlann@gmail.com>
Date: Sun, 22 Jan 2023 15:57:59 +0100
Subject: [PATCH] feat: implement cone twist constraint limits

---
 src/collision_object.cpp | 6 +++---
 src/constraint.cpp       | 9 +++++++--
 src/environment.cpp      | 2 +-
 3 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/src/collision_object.cpp b/src/collision_object.cpp
index 4c96018..5f34dba 100644
--- a/src/collision_object.cpp
+++ b/src/collision_object.cpp
@@ -739,7 +739,7 @@ void pragma::physics::BtSoftBody::AppendAnchor(uint32_t nodeId,pragma::physics::
 	assert(nodeId < GetInternalObject().m_nodes.size());
 	if(nodeId >= GetInternalObject().m_nodes.size())
 	{
-		Con::cwar<<"WARNING: Attempted to add soft-body anchor for invalid node "<<nodeId<<"! Skipping..."<<Con::endl;
+		Con::cwar<<"Attempted to add soft-body anchor for invalid node "<<nodeId<<"! Skipping..."<<Con::endl;
 		return;
 	}
 	GetInternalObject().appendAnchor(nodeId,&dynamic_cast<BtRigidBody&>(body).GetInternalObject(),uvec::create_bt(localPivot) *BtEnvironment::WORLD_SCALE,bDisableCollision,influence);
@@ -749,7 +749,7 @@ void pragma::physics::BtSoftBody::AppendAnchor(uint32_t nodeId,pragma::physics::
 	assert(nodeId < GetInternalObject().m_nodes.size());
 	if(nodeId >= GetInternalObject().m_nodes.size())
 	{
-		Con::cwar<<"WARNING: Attempted to add soft-body anchor for invalid node "<<nodeId<<"! Skipping..."<<Con::endl;
+		Con::cwar<<"Attempted to add soft-body anchor for invalid node "<<nodeId<<"! Skipping..."<<Con::endl;
 		return;
 	}
 	GetInternalObject().appendAnchor(nodeId,&dynamic_cast<BtRigidBody&>(body).GetInternalObject(),bDisableCollision,influence);
@@ -1007,7 +1007,7 @@ void pragma::physics::BtSoftBody::SetSubMesh(const ModelSubMesh &subMesh,const s
 			continue;
 		if(localIdx >= m_localVertexIndicesToMeshVertexIndices.size())
 		{
-			Con::cwar<<"WARNING: Invalid soft-body node index "<<localIdx<<"! Skipping..."<<Con::endl;
+			Con::cwar<<"Invalid soft-body node index "<<localIdx<<"! Skipping..."<<Con::endl;
 			continue;
 		}
 		m_localVertexIndicesToMeshVertexIndices.at(localIdx) = i;
diff --git a/src/constraint.cpp b/src/constraint.cpp
index c4067b1..d5d8d74 100644
--- a/src/constraint.cpp
+++ b/src/constraint.cpp
@@ -229,11 +229,16 @@ void pragma::physics::BtConeTwistConstraint::SetLimit(const Vector3 &lowerLimits
 }
 void pragma::physics::BtConeTwistConstraint::SetLimit(float swingSpan1,float swingSpan2,float twistSpan)
 {
-	// TODO
+	GetInternalObject().setLimit(
+		swingSpan1,swingSpan2,twistSpan
+		// ,softness,biasFactor,relaxationFactor
+	);
 }
 void pragma::physics::BtConeTwistConstraint::GetLimit(float &outSwingSpan1,float &outSwingSpan2,float &outTwistSpan)
 {
-	// TODO
+	outSwingSpan1 = GetInternalObject().getSwingSpan1();
+	outSwingSpan2 = GetInternalObject().getSwingSpan2();
+	outTwistSpan = GetInternalObject().getTwistSpan();
 }
 /*void pragma::physics::BtConeTwistConstraint::SetLimit(AxisType type,pragma::Axis axis,double lo,double hi)
 {
diff --git a/src/environment.cpp b/src/environment.cpp
index 1ed4490..15c3669 100644
--- a/src/environment.cpp
+++ b/src/environment.cpp
@@ -660,7 +660,7 @@ struct Vector3d
 static std::unique_ptr<btSoftBody> createSoftBody(const PhysSoftBodyInfo &sbInfo,btSoftRigidDynamicsWorld *world,btSoftBodyWorldInfo *info,float mass,std::vector<Vector3d> &verts,std::vector<int32_t> indices) {
 	if(mass == 0.f)
 	{
-		Con::cwar<<"WARNING: Attempted to create soft-body object with mass of 0! Using mass of 1 instead..."<<Con::endl;
+		Con::cwar<<"Attempted to create soft-body object with mass of 0! Using mass of 1 instead..."<<Con::endl;
 		mass = 1.f;
 	}
 	auto cloth = std::unique_ptr<btSoftBody>{btSoftBodyHelpers::CreateFromTriMesh(*info,reinterpret_cast<btScalar*>(verts.data()),indices.data(),indices.size() /3,true)};