text: /*************************************************************************/
  /*  pin_joint_bullet.cpp                                                 */
  /*************************************************************************/
  /*                       This file is part of:                           */
  /*                           GODOT ENGINE                                */
  /*                      https://godotengine.org                          */
  /*************************************************************************/
  /* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur.                 */
  /* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md)    */
  /*                                                                       */
  /* Permission is hereby granted, free of charge, to any person obtaining */
  /* a copy of this software and associated documentation files (the       */
  /* "Software"), to deal in the Software without restriction, including   */
  /* without limitation the rights to use, copy, modify, merge, publish,   */
  /* distribute, sublicense, and/or sell copies of the Software, and to    */
  /* permit persons to whom the Software is furnished to do so, subject to */
  /* the following conditions:                                             */
  /*                                                                       */
  /* The above copyright notice and this permission notice shall be        */
  /* included in all copies or substantial portions of the Software.       */
  /*                                                                       */
  /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
  /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
  /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
  /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
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  /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
  /*************************************************************************/
  
  #include "pin_joint_bullet.h"
  
  #include "bullet_types_converter.h"
  #include "rigid_body_bullet.h"
  
  #include <BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h>
  
  /**
  	@author AndreaCatania
  */
  
  PinJointCustom::PinJointCustom(RigidBodyCustom *p_body_a, const Vector3 &p_pos_a, RigidBodyCustom *p_body_b, const Vector3 &p_pos_b) :
  		JointCustom() {
  	if (p_body_b) {
  
  		btVector3 btPivotA;
  		btVector3 btPivotB;
  		G_TO_B_CUSTOM(p_pos_a * p_body_a->get_body_scale(), btPivotA);
  		G_TO_B_CUSTOM(p_pos_b * p_body_b->get_body_scale(), btPivotB);
  		p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(),
  				*p_body_b->get_bt_rigid_body(),
  				btPivotA,
  				btPivotB));
  	} else {
  		btVector3 btPivotA;
  		G_TO_B_CUSTOM(p_pos_a, btPivotA);
  		p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), btPivotA));
  	}
  
  	setup(p2pConstraint);
  }
  
  PinJointCustom::~PinJointCustom() {}
  
  void PinJointCustom::set_param(PhysicsServer::PinJointParam p_param, real_t p_value) {
  	switch (p_param) {
  		case PhysicsServer::PIN_JOINT_BIAS:
  			p2pConstraint->m_setting.m_tau = p_value;
  			break;
  		case PhysicsServer::PIN_JOINT_DAMPING:
  			p2pConstraint->m_setting.m_damping = p_value;
  			break;
  		case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
  			p2pConstraint->m_setting.m_impulseClamp = p_value;
  			break;
  	}
  }
  
  real_t PinJointCustom::get_param(PhysicsServer::PinJointParam p_param) const {
  	switch (p_param) {
  		case PhysicsServer::PIN_JOINT_BIAS:
  			return p2pConstraint->m_setting.m_tau;
  		case PhysicsServer::PIN_JOINT_DAMPING:
  			return p2pConstraint->m_setting.m_damping;
  		case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
  			return p2pConstraint->m_setting.m_impulseClamp;
  		default:
  			ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
  			WARN_DEPRECATED
  			return 0;
  	}
  }
  
  void PinJointCustom::setPivotInA(const Vector3 &p_pos) {
  	btVector3 btVec;
  	G_TO_B_CUSTOM(p_pos, btVec);
  	p2pConstraint->setPivotA(btVec);
  }
  
  void PinJointCustom::setPivotInB(const Vector3 &p_pos) {
  	btVector3 btVec;
  	G_TO_B_CUSTOM(p_pos, btVec);
  	p2pConstraint->setPivotB(btVec);
  }
  
  Vector3 PinJointCustom::getPivotInA() {
  	btVector3 vec = p2pConstraint->getPivotInA();
  	Vector3 gVec;
  	B_TO_G_CUSTOM(vec, gVec);
  	return gVec;
  }
  
  Vector3 PinJointCustom::getPivotInB() {
  	btVector3 vec = p2pConstraint->getPivotInB();
  	Vector3 gVec;
  	B_TO_G_CUSTOM(vec, gVec);
  	return gVec;
  }
  