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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
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@@ -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()
//-----------------------------------------------------------------------------