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updated constraint demo, jamfile

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This commit is contained in:
ejcoumans
2006-11-18 03:33:09 +00:00
parent 3adf09f7e3
commit 62104ba082
2 changed files with 7 additions and 8 deletions
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13
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -47,8 +47,8 @@ int main(int argc,char** argv)
}
btTransform sliderTransform;
btVector3 lowerSliderLimit = btVector3(0,0,0);
btVector3 hiSliderLimit = btVector3(0,0,0);
btVector3 lowerSliderLimit = btVector3(-10,0,0);
btVector3 hiSliderLimit = btVector3(10,0,0);
btRigidBody* d6body0 =0;
@@ -108,8 +108,9 @@ void ConstraintDemo::initPhysics()
body0->getCenterOfMassTransform().getBasis() * axisInA;
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
m_dynamicsWorld->addConstraint(p2p);
m_dynamicsWorld->addConstraint(hinge);//p2p);
}
@@ -138,12 +139,10 @@ void ConstraintDemo::initPhysics()
btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*d6body0,*fixedBody1,frameInA,frameInB);
slider->setLinearLowerLimit(lowerSliderLimit);
slider->setLinearUpperLimit(hiSliderLimit);
// slider->setAngularLowerLimit(btVector3(-3.1415*0.5f,0,0));
// slider->setAngularUpperLimit(btVector3(3.1415*0.5f,0,0));
//range should be small, otherwise singularities will 'explode' the constraint
slider->setAngularLowerLimit(btVector3(0,-3.1415*0.25f,-3.1415*0.25f));
slider->setAngularUpperLimit(btVector3(0,3.1415*0.25f,3.1415*0.25f));
slider->setAngularLowerLimit(btVector3(10,0,0));
slider->setAngularUpperLimit(btVector3(0,0,0));
m_dynamicsWorld->addConstraint(slider);