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- CcdPhysicsDemo also uses Generic6DofConstraint (testing with mouse picking).

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- HingeConstraint back to old method by default (comparison)
- FCollada by default in ColladaDemo
This commit is contained in:
ejcoumans
2006-06-14 02:51:47 +00:00
parent 0ce46e150d
commit 3c6993e45e
3 changed files with 40 additions and 33 deletions
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7
BulletDynamics/ConstraintSolver/HingeConstraint.cpp
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@@ -94,7 +94,7 @@ void HingeConstraint::BuildJacobian()
void HingeConstraint::SolveConstraint(SimdScalar timeStep) void HingeConstraint::SolveConstraint(SimdScalar timeStep)
{ {
#define NEW_IMPLEMENTATION //#define NEW_IMPLEMENTATION
#ifdef NEW_IMPLEMENTATION #ifdef NEW_IMPLEMENTATION
SimdScalar tau = 0.3f; SimdScalar tau = 0.3f;
@@ -164,8 +164,9 @@ void HingeConstraint::SolveConstraint(SimdScalar timeStep)
SimdScalar jacDiagABInv0 = 1.f / m_jacAng[0].getDiagonal(); SimdScalar jacDiagABInv0 = 1.f / m_jacAng[0].getDiagonal();
SimdScalar rel_vel0 = m_jacAng[0].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, SimdScalar rel_vel0 = m_jacAng[0].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
m_rbB.getLinearVelocity(),angvelB); m_rbB.getLinearVelocity(),angvelB);
float tau1 = tau;//0.f;
SimdScalar impulse0 = (tau * axisB.dot(jointAxis1) / timeStep - damping * rel_vel0) * jacDiagABInv0; SimdScalar impulse0 = (tau1 * axisB.dot(jointAxis1) / timeStep - damping * rel_vel0) * jacDiagABInv0;
SimdVector3 angular_impulse0 = jointAxis0 * impulse0; SimdVector3 angular_impulse0 = jointAxis0 * impulse0;
m_rbA.applyTorqueImpulse( angular_impulse0); m_rbA.applyTorqueImpulse( angular_impulse0);
@@ -181,7 +182,7 @@ void HingeConstraint::SolveConstraint(SimdScalar timeStep)
SimdScalar rel_vel1 = m_jacAng[1].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, SimdScalar rel_vel1 = m_jacAng[1].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
m_rbB.getLinearVelocity(),angvelB);; m_rbB.getLinearVelocity(),angvelB);;
SimdScalar impulse1 = -(tau * axisB.dot(jointAxis0) / timeStep + damping * rel_vel1) * jacDiagABInv1; SimdScalar impulse1 = -(tau1 * axisB.dot(jointAxis0) / timeStep + damping * rel_vel1) * jacDiagABInv1;
SimdVector3 angular_impulse1 = jointAxis1 * impulse1; SimdVector3 angular_impulse1 = jointAxis1 * impulse1;
m_rbA.applyTorqueImpulse( angular_impulse1); m_rbA.applyTorqueImpulse( angular_impulse1);

45
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -71,7 +71,7 @@ extern int glutScreenHeight;
#ifdef _DEBUG #ifdef _DEBUG
const int numObjects = 120;//22; const int numObjects = 22;
#else #else
const int numObjects = 120; const int numObjects = 120;
#endif #endif
@@ -285,45 +285,34 @@ int main(int argc,char** argv)
} }
//create a constraint clientResetScene();
if (createConstraint)
{ {
//physObjects[i]->SetAngularVelocity(0,0,-2,true); //physObjects[i]->SetAngularVelocity(0,0,-2,true);
int constraintId; int constraintId;
float pivotX=CUBE_HALF_EXTENTS, float pivotX=CUBE_HALF_EXTENTS,
pivotY=-CUBE_HALF_EXTENTS, pivotY=CUBE_HALF_EXTENTS,
pivotZ=CUBE_HALF_EXTENTS; pivotZ=CUBE_HALF_EXTENTS;
float axisX=0,axisY=1,axisZ=0;
float axisX=1,axisY=0,axisZ=0;
constraintId =physicsEnvironmentPtr->createConstraint(
HingeConstraint* hinge = 0; physObjects[1],
//0,
SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS); physObjects[2],
SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS); ////PHY_POINT2POINT_CONSTRAINT,
SimdVector3 axisInA(0,1,0); PHY_GENERIC_6DOF_CONSTRAINT,//can leave any of the 6 degree of freedom 'free' or 'locked'
SimdVector3 axisInB(0,-1,0); //PHY_LINEHINGE_CONSTRAINT,
pivotX,pivotY,pivotZ,
RigidBody* rb0 = physObjects[1]->GetRigidBody(); axisX,axisY,axisZ
RigidBody* rb1 = physObjects[2]->GetRigidBody(); );
hinge = new HingeConstraint(
*rb0,
*rb1,pivotInA,pivotInB,axisInA,axisInB);
physicsEnvironmentPtr->m_constraints.push_back(hinge);
hinge->SetUserConstraintId(100);
hinge->SetUserConstraintType(PHY_LINEHINGE_CONSTRAINT);
} }
clientResetScene();
setCameraDistance(26.f); setCameraDistance(26.f);

19
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -47,7 +47,7 @@ extern int gForwardAxis;
#include "GLDebugDrawer.h" #include "GLDebugDrawer.h"
//either FCollada or COLLADA_DOM //either FCollada or COLLADA_DOM
//#define USE_FCOLLADA 1 #define USE_FCOLLADA 1
#ifdef USE_FCOLLADA #ifdef USE_FCOLLADA
//Collada Physics test //Collada Physics test
@@ -1088,6 +1088,23 @@ int main(int argc,char** argv)
if (geom->getConvex_mesh()) if (geom->getConvex_mesh())
{ {
{
const domConvex_meshRef convexRef = geom->getConvex_mesh();
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
if ( otherElemRef != NULL )
{
domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
printf( "otherLinked\n");
} else
{
printf("convexMesh polyCount = %i\n",convexRef->getPolygons_array().getCount());
printf("convexMesh triCount = %i\n",convexRef->getTriangles_array().getCount());
}
}
ConvexHullShape* convexHullShape = new ConvexHullShape(0,0); ConvexHullShape* convexHullShape = new ConvexHullShape(0,0);
//it is quite a trick to get to the vertices, using Collada. //it is quite a trick to get to the vertices, using Collada.