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add support to btHingeConstraint to set/get ERP, example use:

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hinge->setParam(BT_CONSTRAINT_ERP,0.5);
btScalar erp = hinge->getParam(BT_CONSTRAINT_ERP);
Also, preliminary support for status bar messages in demo framework.
This commit is contained in:
erwin coumans
2014-10-17 13:05:53 -07:00
parent c0b4871f6c
commit 1baf2e5cc6
4 changed files with 77 additions and 10 deletions
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31
Demos3/AllBullet2Demos/main.cpp
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@@ -356,6 +356,11 @@ void selectDemo(int demoIndex)
sCurrentDemo = (*allDemos[demoIndex].m_createFunc)(app);
if (sCurrentDemo)
{
if (gui)
{
bool isLeft = true;
gui->setStatusBarMessage("Status: OK", false);
}
sCurrentDemo->initPhysics();
}
}
@@ -382,6 +387,28 @@ void MyComboBoxCallback(int comboId, const char* item)
}
void MyStatusBarPrintf(const char* msg)
{
printf("b3Printf: %s\n", msg);
if (gui)
{
bool isLeft = true;
gui->setStatusBarMessage(msg,isLeft);
}
}
void MyStatusBarWarning(const char* msg)
{
printf("Warning: %s\n", msg);
if (gui)
{
bool isLeft = false;
gui->setStatusBarMessage(msg,isLeft);
}
}
struct MyMenuItemHander :public Gwen::Event::Handler
{
int m_buttonId;
@@ -530,6 +557,10 @@ int main(int argc, char* argv[])
app->m_renderer->setCameraPitch(0);
app->m_renderer->setCameraTargetPosition(0,0,0);
b3SetCustomWarningMessageFunc(MyStatusBarWarning);
b3SetCustomPrintfFunc(MyStatusBarPrintf);
/*
SimpleOpenGL3App* app = new SimpleOpenGL3App("AllBullet2Demos",width,height);
s_instancingRenderer->setCameraDistance(13);

5
Demos3/bullet2/ConstraintDemo/ConstraintPhysicsSetup.cpp
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@@ -19,9 +19,12 @@ void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
}
#include "Bullet3Common/b3Logging.h"
void ConstraintPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
b3Printf(__FILE__);
gfxBridge.setUpAxis(1);
createEmptyDynamicsWorld();
@@ -51,6 +54,8 @@ slider.m_maxVal=720;
btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA );
spDoorHinge->setParam(BT_CONSTRAINT_ERP,0.5);
btScalar erp = spDoorHinge->getParam(BT_CONSTRAINT_ERP);
// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
// test problem values

47
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
View File

@@ -45,7 +45,11 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_useReferenceFrameA(useReferenceFrameA),
m_flags(0)
m_flags(0),
m_normalCFM(0),
m_normalERP(0),
m_stopCFM(0),
m_stopERP(0)
{
m_rbAFrame.getOrigin() = pivotInA;
@@ -101,7 +105,11 @@ m_angularOnly(false), m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_useReferenceFrameA(useReferenceFrameA),
m_flags(0)
m_flags(0),
m_normalCFM(0),
m_normalERP(0),
m_stopCFM(0),
m_stopERP(0)
{
// since no frame is given, assume this to be zero angle and just pick rb transform axis
@@ -151,7 +159,11 @@ m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_useReferenceFrameA(useReferenceFrameA),
m_flags(0)
m_flags(0),
m_normalCFM(0),
m_normalERP(0),
m_stopCFM(0),
m_stopERP(0)
{
#ifndef _BT_USE_CENTER_LIMIT_
//start with free
@@ -177,7 +189,11 @@ m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_useReferenceFrameA(useReferenceFrameA),
m_flags(0)
m_flags(0),
m_normalCFM(0),
m_normalERP(0),
m_stopCFM(0),
m_stopERP(0)
{
///not providing rigidbody B means implicitly using worldspace for body B
@@ -331,6 +347,7 @@ void btHingeAccumulatedAngleConstraint::getInfo1(btConstraintInfo1* info)
m_accumulatedAngle = btShortestAngleUpdate(m_accumulatedAngle,curHingeAngle);
btHingeConstraint::getInfo1(info);
}
@@ -464,7 +481,9 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
// linear RHS
btScalar k = info->fps * info->erp;
btScalar normalErp = (m_flags & BT_HINGE_FLAGS_ERP_NORM) ? m_normalERP : info->erp;
btScalar k = info->fps * normalErp;
if (!m_angularOnly)
{
for(i = 0; i < 3; i++)
@@ -561,7 +580,7 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
powered = 0;
}
info->m_constraintError[srow] = btScalar(0.0f);
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
if(powered)
{
if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
@@ -851,7 +870,8 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
btScalar k = info->fps * info->erp;
btScalar normalErp = (m_flags & BT_HINGE_FLAGS_ERP_NORM)? m_normalERP : info->erp;
btScalar k = info->fps * normalErp;
if (!m_angularOnly)
{
@@ -909,7 +929,8 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
// angular_velocity = (erp*fps) * (ax1 x ax2)
// ax1 x ax2 is in the plane space of ax1, so we project the angular
// velocity to p and q to find the right hand side.
k = info->fps * info->erp;
k = info->fps * normalErp;//??
btVector3 u = ax1A.cross(ax1B);
info->m_constraintError[s3] = k * u.dot(p);
info->m_constraintError[s4] = k * u.dot(q);
@@ -954,7 +975,7 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
powered = 0;
}
info->m_constraintError[srow] = btScalar(0.0f);
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
if(powered)
{
if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
@@ -1055,6 +1076,10 @@ void btHingeConstraint::setParam(int num, btScalar value, int axis)
m_normalCFM = value;
m_flags |= BT_HINGE_FLAGS_CFM_NORM;
break;
case BT_CONSTRAINT_ERP:
m_normalERP = value;
m_flags |= BT_HINGE_FLAGS_ERP_NORM;
break;
default :
btAssertConstrParams(0);
}
@@ -1085,6 +1110,10 @@ btScalar btHingeConstraint::getParam(int num, int axis) const
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_NORM);
retVal = m_normalCFM;
break;
case BT_CONSTRAINT_ERP:
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_NORM);
retVal = m_normalERP;
break;
default :
btAssertConstrParams(0);
}

4
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
View File

@@ -41,7 +41,8 @@ enum btHingeFlags
{
BT_HINGE_FLAGS_CFM_STOP = 1,
BT_HINGE_FLAGS_ERP_STOP = 2,
BT_HINGE_FLAGS_CFM_NORM = 4
BT_HINGE_FLAGS_CFM_NORM = 4,
BT_HINGE_FLAGS_ERP_NORM = 8
};
@@ -94,6 +95,7 @@ public:
int m_flags;
btScalar m_normalCFM;
btScalar m_normalERP;
btScalar m_stopCFM;
btScalar m_stopERP;