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Sample of 6DOF constraint with motor attached to the world added to AppConstraintDemo

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rponom
2010-11-03 21:34:26 +00:00
parent 45311c7d42
commit 635bbb5324
1 changed files with 25 additions and 0 deletions
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25
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -493,6 +493,31 @@ void ConstraintDemo::initPhysics()
} }
#endif #endif
#if ENABLE_ALL_DEMOS
{ // 6DOF connected to the world, with motor
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.)));
btRigidBody* pBody = localCreateRigidBody( 1.0, tr, shape);
pBody->setActivationState(DISABLE_DEACTIVATION);
btTransform frameB;
frameB.setIdentity();
btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint( *pBody, frameB, false );
m_dynamicsWorld->addConstraint(pGen6Dof);
pGen6Dof->setDbgDrawSize(btScalar(5.f));
pGen6Dof->setAngularLowerLimit(btVector3(0,0,0));
pGen6Dof->setAngularUpperLimit(btVector3(0,0,0));
pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0));
pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0));
pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
}
#endif
#ifdef TEST_SERIALIZATION #ifdef TEST_SERIALIZATION
int maxSerializeBufferSize = 1024*1024*5; int maxSerializeBufferSize = 1024*1024*5;