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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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18
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -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);
}
}