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add TestHingeTorque example using btRigidBody and btHingeConstraint, setup is similar to TestJointTorque using btMultiBody and a revolute joint.

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2015-06-15 23:12:29 -07:00
parent 02fbcd2a05
commit 41aa58560b
6 changed files with 203 additions and 14 deletions
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38
examples/MultiBody/TestJointTorqueSetup.cpp
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@@ -8,7 +8,7 @@
struct TestJointTorqueSetup : public CommonMultiBodyBase
{
btMultiBody* m_multiBody;
bool m_once;
public:
TestJointTorqueSetup(struct GUIHelperInterface* helper);
@@ -31,7 +31,8 @@ public:
};
TestJointTorqueSetup::TestJointTorqueSetup(struct GUIHelperInterface* helper)
:CommonMultiBodyBase(helper)
:CommonMultiBodyBase(helper),
m_once(true)
{
}
@@ -88,10 +89,10 @@ void TestJointTorqueSetup::initPhysics()
}
{
bool floating = false;
bool damping = true;
bool gyro = true;
int numLinks = 5;
bool floating = true;
bool damping = false;
bool gyro = false;
int numLinks = 1;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = false;
@@ -173,7 +174,7 @@ void TestJointTorqueSetup::initPhysics()
//gravity[upAxis] = -9.81;
m_dynamicsWorld->setGravity(gravity);
//////////////////////////////////////////////
if(numLinks > 0)
if(0)//numLinks > 0)
{
btScalar q0 = 45.f * SIMD_PI/ 180.f;
if(!spherical)
@@ -275,8 +276,27 @@ void TestJointTorqueSetup::initPhysics()
void TestJointTorqueSetup::stepSimulation(float deltaTime)
{
m_multiBody->addJointTorque(0, 10.0);
m_dynamicsWorld->stepSimulation(deltaTime);
if (m_once)
{
m_once=false;
m_multiBody->addJointTorque(0, 10.0);
btScalar torque = m_multiBody->getJointTorque(0);
b3Printf("t = %f,%f,%f\n",torque,torque,torque);//[0],torque[1],torque[2]);
}
m_dynamicsWorld->stepSimulation(1./60,0);
b3Printf("base angvel = %f,%f,%f",m_multiBody->getBaseOmega()[0],
m_multiBody->getBaseOmega()[1],
m_multiBody->getBaseOmega()[2]
);
btScalar jointVel =m_multiBody->getJointVel(0);
b3Printf("child angvel = %f",jointVel);
}