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Added some helper methods for constraints and btMatrix3x3,

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Thanks to  francois, See Issue 466

Prevent crash in SoftBodyDemo, when picking constraints and demo-mode switches to next demo.
This commit is contained in:
erwin.coumans
2011-02-27 03:28:53 +00:00
parent e5b5126876
commit 4e8596eef5
14 changed files with 217 additions and 35 deletions
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2
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -1122,4 +1122,6 @@ void btConeTwistConstraint::setFrames(const btTransform & frameA, const btTransf
//calculateTransforms();
}

25
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
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@@ -144,15 +144,6 @@ public:
void updateRHS(btScalar timeStep);
const btTransform & getFrameOffsetA() const
{
return m_rbAFrame;
}
const btTransform & getFrameOffsetB() const
{
return m_rbBFrame;
}
const btRigidBody& getRigidBodyA() const
{
@@ -254,8 +245,6 @@ public:
}
bool isPastSwingLimit() { return m_solveSwingLimit; }
void setFrames(const btTransform & frameA, const btTransform & frameB);
void setDamping(btScalar damping) { m_damping = damping; }
void enableMotor(bool b) { m_bMotorEnabled = b; }
@@ -279,6 +268,20 @@ public:
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
virtual void setParam(int num, btScalar value, int axis = -1);
virtual void setFrames(const btTransform& frameA, const btTransform& frameB);
const btTransform& getFrameOffsetA() const
{
return m_rbAFrame;
}
const btTransform& getFrameOffsetB() const
{
return m_rbBFrame;
}
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;

23
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -713,7 +713,7 @@ void btGeneric6DofConstraint::updateRHS(btScalar timeStep)
}
void btGeneric6DofConstraint::setFrames(const btTransform & frameA, const btTransform & frameB)
void btGeneric6DofConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
{
m_frameInA = frameA;
m_frameInB = frameB;
@@ -1047,3 +1047,24 @@ btScalar btGeneric6DofConstraint::getParam(int num, int axis) const
}
return retVal;
}
void btGeneric6DofConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
{
btVector3 zAxis = axis1.normalized();
btVector3 yAxis = axis2.normalized();
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
btTransform frameInW;
frameInW.setIdentity();
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
xAxis[1], yAxis[1], zAxis[1],
xAxis[2], yAxis[2], zAxis[2]);
// now get constraint frame in local coordinate systems
m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
calculateTransforms();
}

11
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -452,10 +452,10 @@ public:
linearLower = m_linearLimits.m_lowerLimit;
}
void setLinearUpperLimit(const btVector3& linearUpper)
{
m_linearLimits.m_upperLimit = linearUpper;
}
void setLinearUpperLimit(const btVector3& linearUpper)
{
m_linearLimits.m_upperLimit = linearUpper;
}
void getLinearUpperLimit(btVector3& linearUpper)
{
@@ -548,6 +548,9 @@ public:
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
void setAxis( const btVector3& axis1, const btVector3& axis2);
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)

19
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
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@@ -149,5 +149,24 @@ void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
}
void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
{
btVector3 zAxis = axis1.normalized();
btVector3 yAxis = axis2.normalized();
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
btTransform frameInW;
frameInW.setIdentity();
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
xAxis[1], yAxis[1], zAxis[1],
xAxis[2], yAxis[2], zAxis[2]);
// now get constraint frame in local coordinate systems
m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
calculateTransforms();
}

3
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
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@@ -48,6 +48,9 @@ public:
void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
void setEquilibriumPoint(int index, btScalar val);
virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
virtual void getInfo2 (btConstraintInfo2* info);
virtual int calculateSerializeBufferSize() const;

11
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -143,17 +143,17 @@ public:
return m_rbB;
}
btTransform & getFrameOffsetA()
btTransform& getFrameOffsetA()
{
return m_rbAFrame;
}
btTransform & getFrameOffsetB()
btTransform& getFrameOffsetB()
{
return m_rbBFrame;
}
void setFrames(const btTransform & frameA, const btTransform & frameB);
void setFrames(const btTransform& frameA, const btTransform& frameB);
void setAngularOnly(bool angularOnly)
{
@@ -205,10 +205,13 @@ public:
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis();
}
btScalar getLowerLimit() const

9
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
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@@ -255,6 +255,15 @@ public:
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
void setFrames(const btTransform& frameA, const btTransform& frameB)
{
m_frameInA=frameA;
m_frameInB=frameB;
calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
buildJacobian();
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
virtual void setParam(int num, btScalar value, int axis = -1);

24
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
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@@ -61,3 +61,27 @@ btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB,
setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
}
void btUniversalConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
{
m_axis1 = axis1;
m_axis2 = axis2;
btVector3 zAxis = axis1.normalized();
btVector3 yAxis = axis2.normalized();
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
btTransform frameInW;
frameInW.setIdentity();
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
xAxis[1], yAxis[1], zAxis[1],
xAxis[2], yAxis[2], zAxis[2]);
frameInW.setOrigin(m_anchor);
// now get constraint frame in local coordinate systems
m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
calculateTransforms();
}

2
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
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@@ -52,6 +52,8 @@ public:
// limits
void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
void setAxis( const btVector3& axis1, const btVector3& axis2);
};