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Various nail constraint improvements

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TODO: errors while scene loading / saving
This commit is contained in:
rponom
2009-12-25 00:22:20 +00:00
parent 63bb1bab94
commit 5dd43ab3a2
23 changed files with 603 additions and 314 deletions
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83
Extras/MayaPlugin/constraint/bt_nail_constraint.h
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@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//bt_nail_constraint.h
@@ -58,10 +62,15 @@ public:
}
virtual void get_world_pivot(vec3f &p) const {
// btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get());
// p[0] = p2pc->getPivotInB().x();
// p[1] = p2pc->getPivotInB().y();
// p[2] = p2pc->getPivotInB().z();
btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get());
p[0] = p2pc->getPivotInB().x();
p[1] = p2pc->getPivotInB().y();
p[2] = p2pc->getPivotInB().z();
btVector3 pivotAinW = p2pc->getRigidBodyA().getCenterOfMassTransform()* p2pc->getPivotInA();
p[0] = pivotAinW.x();
p[1] = pivotAinW.y();
p[2] = pivotAinW.z();
}
virtual void set_world(vec3f const &p) {
@@ -69,23 +78,47 @@ public:
btVector3 world(p[0], p[1], p[2]);
btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world);
p2pc->setPivotA(pivotA);
p2pc->setPivotB(world);
p2pc->buildJacobian();
btVector3 pivotB = p2pc->getRigidBodyB().getWorldTransform().inverse() (world);
p2pc->setPivotB(pivotB);
// p2pc->buildJacobian();
}
virtual void get_world(vec3f &p) const {
btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get());
p[0] = p2pc->getPivotInB().x();
p[1] = p2pc->getPivotInB().y();
p[2] = p2pc->getPivotInB().z();
btVector3 pivotAinW = p2pc->getRigidBodyA().getCenterOfMassTransform()* p2pc->getPivotInA();
// p[0] = p2pc->getPivotInB().x();
// p[1] = p2pc->getPivotInB().y();
// p[2] = p2pc->getPivotInB().z();
p[0] = pivotAinW.x();
p[1] = pivotAinW.y();
p[2] = pivotAinW.z();
}
virtual void update_constraint()
virtual void update_constraint(rigid_body_impl_t* rb)
{
btRigidBody* bt_body = static_cast<bt_rigid_body_t*>(rb)->body();
btPoint2PointConstraint* p2pc = static_cast<btPoint2PointConstraint*>(m_constraint.get());
btVector3 world = p2pc->getPivotInB();
btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world);
p2pc->setPivotA(pivotA);
btVector3 world, pivot;
if(bt_body == &p2pc->getRigidBodyA())
{
world = p2pc->getRigidBodyB().getWorldTransform() * p2pc->getPivotInB();
pivot = p2pc->getRigidBodyA().getWorldTransform().inverse() * world;
p2pc->setPivotA(pivot);
}
else if(bt_body == &p2pc->getRigidBodyB())
{
world = p2pc->getRigidBodyA().getWorldTransform() * p2pc->getPivotInA();
pivot = p2pc->getRigidBodyB().getWorldTransform().inverse() * world;
p2pc->setPivotB(pivot);
}
else
{
world.setValue(0.f, 0.f, 0.f);
}
// btVector3 world = p2pc->getPivotInB();
// btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world);
// p2pc->setPivotA(pivotA);
}
protected:
friend class bt_solver_t;
@@ -93,12 +126,34 @@ protected:
bt_nail_constraint_t(rigid_body_impl_t* rb, vec3f const& pivot):
nail_constraint_impl_t()
{
btVector3 pivotW(pivot[0], pivot[1], pivot[2]);
btRigidBody& bt_body = *static_cast<bt_rigid_body_t*>(rb)->body();
btVector3 pivotA = bt_body.getCenterOfMassPosition();
m_constraint.reset(new btPoint2PointConstraint(bt_body, -pivotA));
const btTransform& tr = bt_body.getCenterOfMassTransform();
btTransform iTr = tr.inverse();
btVector3 nPivot = iTr * pivotW;
m_constraint.reset(new btPoint2PointConstraint(bt_body, nPivot));
// btVector3 pivotA = bt_body.getCenterOfMassPosition();
// m_constraint.reset(new btPoint2PointConstraint(bt_body, -pivotA));
rb->add_constraint(this);
}
bt_nail_constraint_t(rigid_body_impl_t* rbA, rigid_body_impl_t* rbB, vec3f const& pivot):
nail_constraint_impl_t()
{
btVector3 pivotW(pivot[0], pivot[1], pivot[2]);
btRigidBody& bt_bodyA = *static_cast<bt_rigid_body_t*>(rbA)->body();
const btTransform& trA = bt_bodyA.getCenterOfMassTransform();
btTransform iTrA = trA.inverse();
btVector3 nPivotA = iTrA * pivotW;
btRigidBody& bt_bodyB = *static_cast<bt_rigid_body_t*>(rbB)->body();
const btTransform& trB = bt_bodyB.getCenterOfMassTransform();
btTransform iTrB = trB.inverse();
btVector3 nPivotB = iTrB * pivotW;
m_constraint.reset(new btPoint2PointConstraint(bt_bodyA, bt_bodyB, nPivotA, nPivotB));
rbA->add_constraint(this);
rbB->add_constraint(this);
}
private:
};