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Added linear and angular motors for the slider constraint

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This commit is contained in:
rponom
2008-05-23 22:52:51 +00:00
parent a1578accac
commit 6141a55f09
9 changed files with 839 additions and 131 deletions
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73
Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
View File

@@ -16,6 +16,9 @@ subject to the following restrictions:
/*
Added by Roman Ponomarev (rponom@gmail.com)
April 04, 2008
Added support for ODE sover
April 24, 2008
*/
//-----------------------------------------------------------------------------
@@ -35,12 +38,19 @@ April 04, 2008
//-----------------------------------------------------------------------------
#define SLIDER_DEMO_USE_ODE_SOLVER 0
#define SLIDER_DEMO_USE_6DOF 0
#define CUBE_HALF_EXTENTS 1.f
//-----------------------------------------------------------------------------
// A couple of sliders
static btSliderConstraint *spSlider1, *spSlider2;
#if SLIDER_DEMO_USE_6DOF
static btGeneric6DofConstraint *spSlider1, *spSlider2;
#else
static btSliderConstraint *spSlider1, *spSlider2;
#endif
//-----------------------------------------------------------------------------
@@ -87,6 +97,13 @@ static void draw_axes(const btRigidBody& rb, const btTransform& frame)
//-----------------------------------------------------------------------------
#if SLIDER_DEMO_USE_6DOF
static void drawSlider(btGeneric6DofConstraint* pSlider)
{
draw_axes(pSlider->getRigidBodyA(), pSlider->getFrameOffsetA());
draw_axes(pSlider->getRigidBodyB(), pSlider->getFrameOffsetB());
} // drawSlider()
#else
static void drawSlider(btSliderConstraint* pSlider)
{
draw_axes(pSlider->getRigidBodyA(), pSlider->getFrameOffsetA());
@@ -111,6 +128,7 @@ static void drawSlider(btSliderConstraint* pSlider)
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
} // drawSlider()
#endif
//-----------------------------------------------------------------------------
@@ -124,7 +142,13 @@ void SliderConstraintDemo::initPhysics()
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
#if SLIDER_DEMO_USE_ODE_SOLVER
m_constraintSolver = new btOdeQuickstepConstraintSolver();
#else
m_constraintSolver = new btSequentialImpulseConstraintSolver();
#endif
btDiscreteDynamicsWorld* wp = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
// wp->getSolverInfo().m_numIterations = 20; // default is 10
m_dynamicsWorld = wp;
@@ -162,11 +186,25 @@ void SliderConstraintDemo::initPhysics()
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
#if SLIDER_DEMO_USE_6DOF
spSlider1 = new btGeneric6DofConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
btVector3 lowerSliderLimit = btVector3(-20,0,0);
btVector3 hiSliderLimit = btVector3(-10,0,0);
// btVector3 lowerSliderLimit = btVector3(-20,-5,-5);
// btVector3 hiSliderLimit = btVector3(-10,5,5);
spSlider1->setLinearLowerLimit(lowerSliderLimit);
spSlider1->setLinearUpperLimit(hiSliderLimit);
spSlider1->setAngularLowerLimit(btVector3(0,0,0));
spSlider1->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
spSlider1->setLowerLinLimit(-15.0F);
spSlider1->setUpperLinLimit(-5.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
#endif
m_dynamicsWorld->addConstraint(spSlider1, true);
@@ -183,17 +221,44 @@ void SliderConstraintDemo::initPhysics()
pRbB2->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A2 and B2 and add it to world
#if SLIDER_DEMO_USE_6DOF
spSlider2 = new btGeneric6DofConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLinearLowerLimit(lowerSliderLimit);
spSlider2->setLinearUpperLimit(hiSliderLimit);
spSlider2->setAngularLowerLimit(btVector3(0,0,0));
spSlider2->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLowerLinLimit(-15.0F);
spSlider2->setLowerLinLimit(-25.0F);
spSlider2->setUpperLinLimit(-5.0F);
spSlider2->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider2->setUpperAngLimit( SIMD_PI / 3.0F);
spSlider2->setLowerAngLimit(SIMD_PI / 2.0F);
spSlider2->setUpperAngLimit(-SIMD_PI / 2.0F);
// add motors
spSlider2->setPoweredLinMotor(true);
spSlider2->setMaxLinMotorForce(0.1);
spSlider2->setTargetLinMotorVelocity(5.0);
spSlider2->setPoweredAngMotor(true);
// spSlider2->setMaxAngMotorForce(0.01);
spSlider2->setMaxAngMotorForce(10.0);
spSlider2->setTargetAngMotorVelocity(1.0);
// change default damping and restitution
spSlider2->setDampingDirLin(0.005F);
spSlider2->setRestitutionLimLin(1.1F);
// various ODE tests
// spSlider2->setDampingLimLin(0.1F); // linear bounce factor for ODE == 1.0 - DampingLimLin;
// spSlider2->setDampingLimAng(0.1F); // angular bounce factor for ODE == 1.0 - DampingLimAng;
// spSlider2->setSoftnessOrthoAng(0.1);
// spSlider2->setSoftnessOrthoLin(0.1);
// spSlider2->setSoftnessLimLin(0.1);
// spSlider2->setSoftnessLimAng(0.1);
#endif
m_dynamicsWorld->addConstraint(spSlider2, true);
} // SliderConstraintDemo::initPhysics()
//-----------------------------------------------------------------------------

142
Demos/SliderConstraintDemo/SliderConstraintDemo.h
View File

@@ -1,71 +1,71 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//-----------------------------------------------------------------------------
#ifndef SLIDER_CONSTRAINT_DEMO_H
#define SLIDER_CONSTRAINT_DEMO_H
//-----------------------------------------------------------------------------
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
#include "DemoApplication.h"
//-----------------------------------------------------------------------------
/// SliderConstraintDemo shows how to create a slider constraint
class SliderConstraintDemo : public DemoApplication
{
//keep track of variables to delete memory at the end
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
class btBroadphaseInterface* m_overlappingPairCache;
class btCollisionDispatcher* m_dispatcher;
class btConstraintSolver* m_constraintSolver;
class btDefaultCollisionConfiguration* m_collisionConfiguration;
public:
virtual ~SliderConstraintDemo();
void initPhysics();
void initModel();
void drawSliders();
void drawSliderConstraint(btSliderConstraint* constraint);
virtual void clientMoveAndDisplay();
virtual void displayCallback();
static DemoApplication* Create()
{
SliderConstraintDemo* demo = new SliderConstraintDemo();
demo->myinit();
demo->initPhysics();
return demo;
}
};
#endif //SLIDER_CONSTRAINT_DEMO_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//-----------------------------------------------------------------------------
#ifndef SLIDER_CONSTRAINT_DEMO_H
#define SLIDER_CONSTRAINT_DEMO_H
//-----------------------------------------------------------------------------
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
#include "DemoApplication.h"
//-----------------------------------------------------------------------------
/// SliderConstraintDemo shows how to create a slider constraint
class SliderConstraintDemo : public DemoApplication
{
//keep track of variables to delete memory at the end
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
class btBroadphaseInterface* m_overlappingPairCache;
class btCollisionDispatcher* m_dispatcher;
class btConstraintSolver* m_constraintSolver;
class btDefaultCollisionConfiguration* m_collisionConfiguration;
public:
virtual ~SliderConstraintDemo();
void initPhysics();
void initModel();
void drawSliders();
void drawSliderConstraint(btSliderConstraint* constraint);
virtual void clientMoveAndDisplay();
virtual void displayCallback();
static DemoApplication* Create()
{
SliderConstraintDemo* demo = new SliderConstraintDemo();
demo->myinit();
demo->initPhysics();
return demo;
}
};
#endif //SLIDER_CONSTRAINT_DEMO_H