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

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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
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15
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -29,14 +29,18 @@ class btRigidBody;
class btHingeConstraint : public btTypedConstraint
{
btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
btJacobianEntry m_jacAng[2]; //2 orthogonal angular constraints
btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
btVector3 m_pivotInA;
btVector3 m_pivotInB;
btVector3 m_axisInA;
btVector3 m_axisInB;
bool m_angularOnly;
bool m_angularOnly;
float m_motorTargetVelocity;
float m_maxMotorImpulse;
bool m_enableAngularMotor;
public:
@@ -66,7 +70,12 @@ public:
m_angularOnly = angularOnly;
}
void enableAngularMotor(bool enableMotor,float targetVelocity,float maxMotorImpulse)
{
m_enableAngularMotor = enableMotor;
m_motorTargetVelocity = targetVelocity;
m_maxMotorImpulse = maxMotorImpulse;
}
};