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Some constraint parameters were changed

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This commit is contained in:
rponom
2009-02-06 00:05:59 +00:00
parent d1b9dd4c83
commit 328116d015
1 changed files with 17 additions and 5 deletions
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22
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -229,7 +229,7 @@ void ConstraintDemo::initPhysics()
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false); // btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.)); pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.)); pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.)); pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.)); // pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.)); // pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.)); // pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
@@ -243,8 +243,16 @@ void ConstraintDemo::initPhysics()
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.)); // pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI)); // pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI)); // pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f)); pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f)); pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5)); // pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5)); // pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.)); // pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
@@ -261,13 +269,15 @@ void ConstraintDemo::initPhysics()
tr.setIdentity(); tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0); tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape); btRigidBody* pBodyA = localCreateRigidBody( 1.0, tr, shape);
// btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION); pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity(); tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(0.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-10.), btScalar(0.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0); tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape); btRigidBody* pBodyB = localCreateRigidBody(0.0, tr, shape);
// btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
btTransform frameInA, frameInB; btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity(); frameInA = btTransform::getIdentity();
@@ -278,7 +288,8 @@ void ConstraintDemo::initPhysics()
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(4.), btScalar(0.))); frameInB.setOrigin(btVector3(btScalar(0.), btScalar(4.), btScalar(0.)));
btConeTwistConstraint* pCT = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB); btConeTwistConstraint* pCT = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
pCT->setLimit(btScalar(M_PI_4)*0.5f, btScalar(M_PI_4), btScalar(M_PI * 0.9)); // pCT->setLimit(btScalar(M_PI_4), btScalar(M_PI_4), btScalar(M_PI) * 0.8f);
pCT->setLimit(btScalar(M_PI_4), btScalar(M_PI_4), btScalar(M_PI) * 0.8f, 1.0f); // soft limit == hard limit
m_dynamicsWorld->addConstraint(pCT, true); m_dynamicsWorld->addConstraint(pCT, true);
pCT->setDbgDrawSize(btScalar(5.f)); pCT->setDbgDrawSize(btScalar(5.f));
} }
@@ -294,7 +305,8 @@ void ConstraintDemo::initPhysics()
btVector3 btAxisA( 0.0f, 0.0f, 1.0f ); btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA ); btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
pHinge->enableAngularMotor(true, -1.0, 0.165); // pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge->enableAngularMotor(true, -1.0, 1.65); // use for the new SIMD solver
m_dynamicsWorld->addConstraint(pHinge); m_dynamicsWorld->addConstraint(pHinge);
pHinge->setDbgDrawSize(btScalar(5.f)); pHinge->setDbgDrawSize(btScalar(5.f));
} }