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added basic serialization for several constraints including btPoint2PointConstraint, btHingeConstraint, btSliderConstraint, btConeTwistConstraint, btGeneric6DofConstraint

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(no motor support or advanced settings yet)
added btStaticPlaneShape serialization
Added toggle in cmake for BenchmarksDemo to enable/disable graphics rendering
This commit is contained in:
erwin.coumans
2010-01-27 02:13:56 +00:00
parent 7003823bed
commit 00f58e5a91
38 changed files with 1873 additions and 342 deletions
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22
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -102,7 +102,9 @@ void ConstraintDemo::initPhysics()
setupEmptyDynamicsWorld();
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
@@ -138,8 +140,14 @@ void ConstraintDemo::initPhysics()
(body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
body0->getCenterOfMassTransform().getBasis() * axisInA;
//#define P2P
#ifdef P2P
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
m_dynamicsWorld->addConstraint(p2p);
p2p->setDbgDrawSize(btScalar(5.f));
#else
btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
@@ -148,10 +156,12 @@ void ConstraintDemo::initPhysics()
float targetVelocity = 1.f;
float maxMotorImpulse = 1.0f;
hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
m_dynamicsWorld->addConstraint(hinge);//p2p);
// m_dynamicsWorld->addConstraint(p2p);
m_dynamicsWorld->addConstraint(hinge);
hinge->setDbgDrawSize(btScalar(5.f));
#endif //P2P
}
#endif
@@ -600,8 +610,8 @@ void ConstraintDemo::clientMoveAndDisplay()
}
{
static bool once = false;
if (m_dynamicsWorld->getDebugDrawer())
static bool once = true;
if ( m_dynamicsWorld->getDebugDrawer() && once)
{
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
once=false;