Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

process contact and non-contact constraints inside the same iteration loop

Browse Source 
added first draft for hingeConstraint motor
This commit is contained in:
ejcoumans
2006-12-12 03:15:11 +00:00
parent a4541d2470
commit 6dff5a218e
15 changed files with 267 additions and 203 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@@ -84,6 +84,8 @@ void ConstraintDemo::initPhysics()
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
//ConstraintSolver* solver = new OdeConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
@@ -92,16 +94,16 @@ void ConstraintDemo::initPhysics()
trans.setIdentity();
trans.setOrigin(btVector3(0,20,0));
float mass = 0.f;
float mass = 1.f;
//point to point constraint (ball socket)
{
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
btRigidBody* body1 = localCreateRigidBody( mass,trans,shape);
body1->setActivationState(DISABLE_DEACTIVATION);
body1->setDamping(0.3,0.3);
btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
//body1->setActivationState(DISABLE_DEACTIVATION);
//body1->setDamping(0.3,0.3);
btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
btVector3 axisInA(0,0,1);
@@ -112,7 +114,15 @@ 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);
//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
float targetVelocity = 1.f;
float maxMotorImpulse = 1.0f;
hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
m_dynamicsWorld->addConstraint(hinge);//p2p);