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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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94
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -120,40 +120,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
//debug vehicle wheels
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
for (unsigned int i=0;i<this->m_vehicles.size();i++)
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
btVector3 wheelColor(0,255,255);
if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,255);
} else
{
wheelColor.setValue(255,0,255);
}
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicles[i]->updateWheelTransform(v);
btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
//debug wheels (cylinders)
m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
}
{
//todo: iterate over awake simulation islands!
for (unsigned int i=0;i<m_collisionObjects.size();i++)
@@ -196,6 +163,40 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
}
}
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
for (unsigned int i=0;i<this->m_vehicles.size();i++)
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
btVector3 wheelColor(0,255,255);
if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,255);
} else
{
wheelColor.setValue(255,0,255);
}
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicles[i]->updateWheelTransform(v,true);
btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
//debug wheels (cylinders)
m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
}
}
@@ -218,8 +219,15 @@ int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, flo
//variable timestep
fixedTimeStep = timeStep;
m_localTime = timeStep;
numSimulationSubSteps = 1;
maxSubSteps = 1;
if (btFuzzyZero(timeStep))
{
numSimulationSubSteps = 0;
maxSubSteps = 0;
} else
{
numSimulationSubSteps = 1;
maxSubSteps = 1;
}
}
//process some debugging flags
@@ -227,7 +235,7 @@ int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, flo
{
gDisableDeactivation = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
}
if (!btFuzzyZero(timeStep) && numSimulationSubSteps)
if (numSimulationSubSteps)
{
saveKinematicState(fixedTimeStep);
@@ -238,6 +246,7 @@ int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, flo
for (int i=0;i<clampedSimulationSteps;i++)
{
internalSingleStepSimulation(fixedTimeStep);
synchronizeMotionStates();
}
}
@@ -266,20 +275,23 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
///solve non-contact constraints
solveNoncontactConstraints(infoGlobal);
///solve contact constraints
solveContactConstraints(infoGlobal);
///update vehicle simulation
updateVehicles(timeStep);
///CallbackTriggers();
///integrate transforms
integrateTransforms(timeStep);
///update vehicle simulation
updateVehicles(timeStep);
updateActivationState( timeStep );