Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Added btMultiBodyPoint2Point, it can be used between btMultiBody vs btMultiBody or btMultiBody vs btRigidBody

Browse Source 
Allow picking of btMultiBody, using a btMultiBodyPoint2Point constraint, with limited strength to avoid adding too much energy to the system (= blowup)
Add btMultiBodyJointMotor, it can be used in combination with joint limit (just add the joint limit after the motor, to avoid jitter)
This commit is contained in:
erwin.coumans@gmail.com
2013-10-05 01:46:32 +00:00
parent 2fb686b937
commit 488dd44835
18 changed files with 1418 additions and 475 deletions
Download Patch File Download Diff File Expand all files Collapse all files

154
Demos/OpenGL/DemoApplication.cpp
View File

@@ -773,82 +773,14 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
if (rayCallback.hasHit())
{
btVector3 pickPos = rayCallback.m_hitPointWorld;
pickObject(pickPos, rayCallback.m_collisionObject);
gOldPickingPos = rayTo;
gHitPos = pickPos;
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
//other exclusions?
if (!(body->isStaticObject() || body->isKinematicObject()))
{
pickedBody = body;
pickedBody->setActivationState(DISABLE_DEACTIVATION);
btVector3 pickPos = rayCallback.m_hitPointWorld;
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
if ((m_modifierKeys& BT_ACTIVE_SHIFT)==0)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(localPivot);
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body, tr,false);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
m_dynamicsWorld->addConstraint(dof6,true);
m_pickConstraint = dof6;
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,0);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,1);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,2);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,3);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,4);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,5);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,0);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,1);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,2);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,3);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,4);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,5);
} else
{
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p,true);
m_pickConstraint = p2p;
p2p->m_setting.m_impulseClamp = mousePickClamping;
//very weak constraint for picking
p2p->m_setting.m_tau = 0.001f;
/*
p2p->setParam(BT_CONSTRAINT_CFM,0.8,0);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,1);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,2);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,0);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,1);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,2);
*/
}
//save mouse position for dragging
gOldPickingPos = rayTo;
gHitPos = pickPos;
gOldPickingDist = (pickPos-rayFrom).length();
}
}
gOldPickingDist = (pickPos-rayFrom).length();
}
}
@@ -867,6 +799,78 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
}
void DemoApplication::pickObject(const btVector3& pickPos, const btCollisionObject* hitObj)
{
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(hitObj);
if (body)
{
//other exclusions?
if (!(body->isStaticObject() || body->isKinematicObject()))
{
pickedBody = body;
pickedBody->setActivationState(DISABLE_DEACTIVATION);
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
if ((m_modifierKeys& BT_ACTIVE_SHIFT)==0)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(localPivot);
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body, tr,false);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
m_dynamicsWorld->addConstraint(dof6,true);
m_pickConstraint = dof6;
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,0);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,1);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,2);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,3);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,4);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,5);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,0);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,1);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,2);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,3);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,4);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,5);
} else
{
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p,true);
m_pickConstraint = p2p;
p2p->m_setting.m_impulseClamp = mousePickClamping;
//very weak constraint for picking
p2p->m_setting.m_tau = 0.001f;
/*
p2p->setParam(BT_CONSTRAINT_CFM,0.8,0);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,1);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,2);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,0);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,1);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,2);
*/
}
//save mouse position for dragging
}
}
}
void DemoApplication::removePickingConstraint()
{
if (m_pickConstraint && m_dynamicsWorld)