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Merge pull request #271 from erwincoumans/master

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btHingeConstraint to set/get ERP, refactor gfx backends (work-in-progress)
This commit is contained in:
erwincoumans
2014-10-17 13:48:02 -07:00
parent 70c307e08e 5f61473229
commit 1d78b1aef9
55 changed files with 1440 additions and 348 deletions
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47
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -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;