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added angular limits to the Generic D6 constraint. Works for small angles. Will add a check for different combinations, and use different extraction of ordering of rotation from the diff quaternion.

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Improved vehicle interpolation of wheels, and added Z-up axis option for the Demo
made 'getWorldTransform' const method in btMotionState
added future 'deactivationCallback'(not used yet)
This commit is contained in:
ejcoumans
2006-11-10 04:00:16 +00:00
parent 442ce2ec09
commit 56e135874b
9 changed files with 254 additions and 88 deletions
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36
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@@ -47,8 +47,10 @@ int main(int argc,char** argv)
}
btTransform sliderTransform;
btVector3 lowerSliderLimit = btVector3(-20,0,0);
btVector3 hiSliderLimit = btVector3(10,0,0);
btVector3 lowerSliderLimit = btVector3(0,0,0);
btVector3 hiSliderLimit = btVector3(0,0,0);
btRigidBody* d6body0 =0;
void drawLimit()
{
@@ -59,9 +61,18 @@ void drawLimit()
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
if (d6body0)
{
from = d6body0->getWorldTransform().getOrigin();
to = from + d6body0->getWorldTransform().getBasis() * btVector3(0,0,10);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
}
glEnd();
}
void ConstraintDemo::initPhysics()
{
//ConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
@@ -108,26 +119,31 @@ void ConstraintDemo::initPhysics()
{
mass = 1.f;
btVector3 sliderWorldPos(0,10,0);
btVector3 sliderAxis(0,0,1);
btScalar angle=SIMD_RADS_PER_DEG * 10.f;
btVector3 sliderAxis(1,0,0);
btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f;
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
trans.setIdentity();
trans.setOrigin(sliderWorldPos);
trans.setBasis(sliderOrientation);
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
body0->setActivationState(DISABLE_DEACTIVATION);
d6body0 = localCreateRigidBody( mass,trans,shape);
d6body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = localCreateRigidBody(0,trans,0);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*body0,*fixedBody1,frameInA,frameInB);
btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*d6body0,*fixedBody1,frameInA,frameInB);
slider->setLinearLowerLimit(lowerSliderLimit);
slider->setLinearUpperLimit(hiSliderLimit);
slider->setAngularLowerLimit(btVector3(1e30,0,0));
slider->setAngularUpperLimit(btVector3(-1e30,0,0));
// slider->setAngularLowerLimit(btVector3(-3.1415*0.5f,0,0));
// slider->setAngularUpperLimit(btVector3(3.1415*0.5f,0,0));
//range should be small, otherwise singularities will 'explode' the constraint
slider->setAngularLowerLimit(btVector3(0,-3.1415*0.25f,-3.1415*0.25f));
slider->setAngularUpperLimit(btVector3(0,3.1415*0.25f,3.1415*0.25f));
m_dynamicsWorld->addConstraint(slider);

18
Demos/VehicleDemo/VehicleDemo.cpp
View File

@@ -301,7 +301,7 @@ void VehicleDemo::renderme()
for (i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i);
m_vehicle->updateWheelTransform(i,true);
//draw wheels (cylinders)
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,&wheelShape,wheelColor,getDebugMode());
@@ -323,11 +323,14 @@ void VehicleDemo::clientMoveAndDisplay()
if (m_dynamicsWorld)
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
int maxSimSubSteps = m_idle ? 1 : 2;
if (m_idle)
dt = 1.0/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
#define VERBOSE_FEEDBACK
#ifdef VERBOSE_FEEDBACK
if (!numSimSteps)
printf("Interpolated transforms\n");
else
@@ -341,6 +344,7 @@ void VehicleDemo::clientMoveAndDisplay()
printf("Simulated (%i) steps\n",numSimSteps);
}
}
#endif //VERBOSE_FEEDBACK
}
@@ -384,16 +388,20 @@ void VehicleDemo::clientMoveAndDisplay()
void VehicleDemo::displayCallback(void)
{
clientMoveAndDisplay();
return;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_dynamicsWorld->updateAabbs();
//m_dynamicsWorld->updateAabbs();
//draw contactpoints
//m_physicsEnvironmentPtr->CallbackTriggers();
renderme();
//renderme();
glFlush();
@@ -416,7 +424,7 @@ void VehicleDemo::clientResetScene()
for (int i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i);
m_vehicle->updateWheelTransform(i,true);
}
}