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Merge pull request #398 from MakoEnergy/master

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Constraint Accessibility.
This commit is contained in:
erwincoumans
2015-10-27 12:01:11 -07:00
parent 87cedbd40f b94533d059
commit 5ded2d3ee4
6 changed files with 143 additions and 17 deletions
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66
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
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@@ -170,6 +170,11 @@ public:
{
m_angularOnly = angularOnly;
}
bool getAngularOnly() const
{
return m_angularOnly;
}
void setLimit(int limitIndex,btScalar limitValue)
{
@@ -196,6 +201,33 @@ public:
};
}
btScalar getLimit(int limitIndex) const
{
switch (limitIndex)
{
case 3:
{
return m_twistSpan;
break;
}
case 4:
{
return m_swingSpan2;
break;
}
case 5:
{
return m_swingSpan1;
break;
}
default:
{
btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint");
return 0.0;
}
};
}
// setLimit(), a few notes:
// _softness:
// 0->1, recommend ~0.8->1.
@@ -218,8 +250,8 @@ public:
m_relaxationFactor = _relaxationFactor;
}
const btTransform& getAFrame() { return m_rbAFrame; };
const btTransform& getBFrame() { return m_rbBFrame; };
const btTransform& getAFrame() const { return m_rbAFrame; };
const btTransform& getBFrame() const { return m_rbBFrame; };
inline int getSolveTwistLimit()
{
@@ -239,27 +271,43 @@ public:
void calcAngleInfo();
void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
inline btScalar getSwingSpan1()
inline btScalar getSwingSpan1() const
{
return m_swingSpan1;
}
inline btScalar getSwingSpan2()
inline btScalar getSwingSpan2() const
{
return m_swingSpan2;
}
inline btScalar getTwistSpan()
inline btScalar getTwistSpan() const
{
return m_twistSpan;
}
inline btScalar getTwistAngle()
inline btScalar getLimitSoftness() const
{
return m_limitSoftness;
}
inline btScalar getBiasFactor() const
{
return m_biasFactor;
}
inline btScalar getRelaxationFactor() const
{
return m_relaxationFactor;
}
inline btScalar getTwistAngle() const
{
return m_twistAngle;
}
bool isPastSwingLimit() { return m_solveSwingLimit; }
btScalar getDamping() const { return m_damping; }
void setDamping(btScalar damping) { m_damping = damping; }
void enableMotor(bool b) { m_bMotorEnabled = b; }
bool isMotorEnabled() const { return m_bMotorEnabled; }
btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; }
bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; }
void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
@@ -271,6 +319,7 @@ public:
// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
// note: don't forget to enableMotor()
void setMotorTarget(const btQuaternion &q);
const btQuaternion& getMotorTarget() const { return m_qTarget; }
// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
void setMotorTargetInConstraintSpace(const btQuaternion &q);
@@ -297,6 +346,11 @@ public:
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)

27
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
View File

@@ -111,14 +111,14 @@ public:
//! Is limited
bool isLimited()
bool isLimited() const
{
if(m_loLimit > m_hiLimit) return false;
return true;
}
//! Need apply correction
bool needApplyTorques()
bool needApplyTorques() const
{
if(m_currentLimit == 0 && m_enableMotor == false) return false;
return true;
@@ -207,11 +207,11 @@ public:
- limited means upper > lower
- limitIndex: first 3 are linear, next 3 are angular
*/
inline bool isLimited(int limitIndex)
inline bool isLimited(int limitIndex) const
{
return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
}
inline bool needApplyForce(int limitIndex)
inline bool needApplyForce(int limitIndex) const
{
if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
return true;
@@ -457,7 +457,7 @@ public:
m_linearLimits.m_lowerLimit = linearLower;
}
void getLinearLowerLimit(btVector3& linearLower)
void getLinearLowerLimit(btVector3& linearLower) const
{
linearLower = m_linearLimits.m_lowerLimit;
}
@@ -467,7 +467,7 @@ public:
m_linearLimits.m_upperLimit = linearUpper;
}
void getLinearUpperLimit(btVector3& linearUpper)
void getLinearUpperLimit(btVector3& linearUpper) const
{
linearUpper = m_linearLimits.m_upperLimit;
}
@@ -478,7 +478,7 @@ public:
m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
}
void getAngularLowerLimit(btVector3& angularLower)
void getAngularLowerLimit(btVector3& angularLower) const
{
for(int i = 0; i < 3; i++)
angularLower[i] = m_angularLimits[i].m_loLimit;
@@ -490,7 +490,7 @@ public:
m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
}
void getAngularUpperLimit(btVector3& angularUpper)
void getAngularUpperLimit(btVector3& angularUpper) const
{
for(int i = 0; i < 3; i++)
angularUpper[i] = m_angularLimits[i].m_hiLimit;
@@ -532,7 +532,7 @@ public:
- limited means upper > lower
- limitIndex: first 3 are linear, next 3 are angular
*/
bool isLimited(int limitIndex)
bool isLimited(int limitIndex) const
{
if(limitIndex<3)
{
@@ -549,8 +549,11 @@ public:
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
// access for UseFrameOffset
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
bool getUseFrameOffset() const { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
bool getUseLinearReferenceFrameA() const { return m_useLinearReferenceFrameA; }
void setUseLinearReferenceFrameA(bool linearReferenceFrameA) { m_useLinearReferenceFrameA = linearReferenceFrameA; }
///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.
@@ -560,6 +563,10 @@ public:
void setAxis( const btVector3& axis1, const btVector3& axis2);
virtual int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;

20
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
View File

@@ -63,6 +63,26 @@ public:
void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
void setEquilibriumPoint(int index, btScalar val);
bool isSpringEnabled(int index) const
{
return m_springEnabled[index];
}
btScalar getStiffness(int index) const
{
return m_springStiffness[index];
}
btScalar getDamping(int index) const
{
return m_springDamping[index];
}
btScalar getEquilibriumPoint(int index) const
{
return m_equilibriumPoint[index];
}
virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
virtual void getInfo2 (btConstraintInfo2* info);

37
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -177,6 +177,7 @@ public:
// maintain a given angular target.
void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; }
void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; }
void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
void setMotorTarget(btScalar targetAngle, btScalar dt);
@@ -193,6 +194,33 @@ public:
m_relaxationFactor = _relaxationFactor;
#endif
}
btScalar getLimitSoftness() const
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.getSoftness();
#else
return m_limitSoftness;
#endif
}
btScalar getLimitBiasFactor() const
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.getBiasFactor();
#else
return m_biasFactor;
#endif
}
btScalar getLimitRelaxationFactor() const
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.getRelaxationFactor();
#else
return m_relaxationFactor;
#endif
}
void setAxis(btVector3& axisInA)
{
@@ -297,13 +325,20 @@ public:
// access for UseFrameOffset
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
// access for UseReferenceFrameA
bool getUseReferenceFrameA() const { return m_useReferenceFrameA; }
void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; }
///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);
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
virtual int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;

5
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
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@@ -116,6 +116,11 @@ public:
virtual void setParam(int num, btScalar value, int axis = -1);
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
virtual int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;

5
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
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@@ -280,6 +280,11 @@ public:
virtual void setParam(int num, btScalar value, int axis = -1);
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
virtual int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;