Constraint demo has been changed - debug visualization turned on by default
This commit is contained in:
rponom
@@ -34,6 +34,7 @@ const int numObjects = 3;
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#define M_PI 3.1415926f
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#define M_PI_2 ((M_PI)*0.5f)
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#define M_PI_4 ((M_PI)*0.25f)
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btTransform sliderTransform;
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btVector3 lowerSliderLimit = btVector3(-10,0,0);
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@@ -79,6 +80,16 @@ void ConstraintDemo::initPhysics()
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m_constraintSolver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-56,0));
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btRigidBody* groundBody = localCreateRigidBody(0, groundTransform, groundShape);
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btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
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m_collisionShapes.push_back(shape);
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btTransform trans;
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@@ -86,6 +97,7 @@ void ConstraintDemo::initPhysics()
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trans.setOrigin(btVector3(0,20,0));
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float mass = 1.f;
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#if 1
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//point to point constraint (ball socket)
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{
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btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
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@@ -93,6 +105,7 @@ void ConstraintDemo::initPhysics()
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mass = 1.f;
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btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
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// btRigidBody* body1 = localCreateRigidBody( 0.0,trans,0);
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//body1->setActivationState(DISABLE_DEACTIVATION);
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//body1->setDamping(0.3,0.3);
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@@ -116,10 +129,12 @@ void ConstraintDemo::initPhysics()
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hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
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m_dynamicsWorld->addConstraint(hinge);//p2p);
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// m_dynamicsWorld->addConstraint(p2p);
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}
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#endif
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#if 1
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//create a slider, using the generic D6 constraint
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{
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mass = 1.f;
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@@ -141,36 +156,143 @@ void ConstraintDemo::initPhysics()
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frameInA = btTransform::getIdentity();
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frameInB = btTransform::getIdentity();
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bool useLinearReferenceFrameA = false;//use fixed frame B for linear limits
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btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*d6body0,*fixedBody1,frameInA,frameInB,useLinearReferenceFrameA);
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// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
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bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
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btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
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slider->setLinearLowerLimit(lowerSliderLimit);
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slider->setLinearUpperLimit(hiSliderLimit);
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//range should be small, otherwise singularities will 'explode' the constraint
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slider->setAngularLowerLimit(btVector3(20,0,0));
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slider->setAngularUpperLimit(btVector3(0,0,0));
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slider->setAngularLowerLimit(btVector3(-1.5,0,0));
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slider->setAngularUpperLimit(btVector3(1.5,0,0));
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// slider->setAngularLowerLimit(btVector3(0,0,0));
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// slider->setAngularUpperLimit(btVector3(0,0,0));
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slider->getTranslationalLimitMotor()->m_enableMotor[0] = true;
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slider->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
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slider->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
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m_dynamicsWorld->addConstraint(slider);
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}
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#endif
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#if 1
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{ // create a door using hinge constraint attached to the world
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btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
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m_collisionShapes.push_back(pDoorShape);
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btTransform doorTrans;
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doorTrans.setIdentity();
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doorTrans.setOrigin(btVector3(-5.0f, 0.0f, 0.0f));
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doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
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btRigidBody* pDoorBody = localCreateRigidBody( 1.0, doorTrans, pDoorShape);
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pDoorBody->setActivationState(DISABLE_DEACTIVATION);
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const btVector3 btPivotA( 2.1f, 0.0f, 0.0f ); // right next to the door slightly outside
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const btVector3 btPivotA( 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
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btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
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spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
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spDoorHinge->setLimit( 0.0f, M_PI_2 );
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m_dynamicsWorld->addConstraint(spDoorHinge);
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}
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//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
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//btRigidBody* pDropBody = localCreateRigidBody( 10.0, doorTrans, shape);
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}
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#endif
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#if 1
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{ // create a generic 6DOF constraint
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
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tr.getBasis().setEulerZYX(0,0,0);
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// btRigidBody* pBodyA = localCreateRigidBody( mass, tr, shape);
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btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
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// btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, 0);
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pBodyA->setActivationState(DISABLE_DEACTIVATION);
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tr.setIdentity();
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tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
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tr.getBasis().setEulerZYX(0,0,0);
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btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
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pBodyB->setActivationState(DISABLE_DEACTIVATION);
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
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frameInB = btTransform::getIdentity();
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frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
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btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
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// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
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pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
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pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
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// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
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// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
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// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
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// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
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// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
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// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
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// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
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// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
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// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
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// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
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// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
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pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
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pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
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// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
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// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
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// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
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// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
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m_dynamicsWorld->addConstraint(pGen6DOF, true);
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}
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#endif
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#if 1
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{ // create a ConeTwist constraint
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
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tr.getBasis().setEulerZYX(0,0,0);
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btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
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pBodyA->setActivationState(DISABLE_DEACTIVATION);
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tr.setIdentity();
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tr.setOrigin(btVector3(btScalar(-10.), btScalar(0.), btScalar(0.)));
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tr.getBasis().setEulerZYX(0,0,0);
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btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInA.getBasis().setEulerZYX(0, 0, M_PI_2);
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frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-1.), btScalar(0.)));
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frameInB = btTransform::getIdentity();
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frameInB.getBasis().setEulerZYX(0,0, M_PI_2);
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frameInB.setOrigin(btVector3(btScalar(0.), btScalar(4.), btScalar(0.)));
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btConeTwistConstraint* pCT = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
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pCT->setLimit(btScalar(M_PI_4)*0.5f, btScalar(M_PI_4), btScalar(M_PI * 0.9));
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m_dynamicsWorld->addConstraint(pCT, true);
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}
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#endif
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#if 1
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{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
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btRigidBody* pBody = localCreateRigidBody( 1.0, tr, shape);
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pBody->setActivationState(DISABLE_DEACTIVATION);
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const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
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btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
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btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
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pHinge->enableAngularMotor(true, -1.0, 0.165);
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m_dynamicsWorld->addConstraint(pHinge);
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}
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#endif
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}
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ConstraintDemo::~ConstraintDemo()
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@@ -266,7 +388,7 @@ void ConstraintDemo::clientMoveAndDisplay()
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}
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renderme();
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drawLimit();
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// drawLimit();
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glFlush();
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glutSwapBuffers();
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@@ -282,7 +404,7 @@ void ConstraintDemo::displayCallback(void) {
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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drawLimit();
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// drawLimit();
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renderme();
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