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add MultiDofDemo (Featherstone 3DOF spherical joint)

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minor prettify of BasicDemo,RagdollDemo.
require 'multiDof' argument in btMultiBody.h (not default=false)
This commit is contained in:
Erwin Coumans
2014-01-10 16:34:39 -08:00
parent a8e60b4ee5
commit 7e4b1c1c8a
9 changed files with 481 additions and 28 deletions
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4
Demos3/AllBullet2Demos/BulletDemoEntries.h
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@@ -5,6 +5,8 @@
#include "BulletDemoInterface.h"
#include "../bullet2/BasicDemo/BasicDemo.h"
#include "../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h"
#include "../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.h"
#include "../bullet2/RagdollDemo/RagdollDemo.h"
#include <stdio.h>
@@ -23,7 +25,7 @@ static BulletDemoEntry allDemos[]=
{"BasicDemo",BasicDemo::MyCreateFunc},
{"Ragdoll",RagDollDemo::MyCreateFunc},
{"MultiBody1",FeatherstoneDemo1::MyCreateFunc},
{"MultiBody2",FeatherstoneDemo2::MyCreateFunc},
{"MultiDofDemo",MultiDofDemo::MyCreateFunc},
};

2
Demos3/AllBullet2Demos/premake4.lua
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@@ -24,6 +24,8 @@
"../bullet2/BasicDemo/Bullet2RigidBodyDemo.h",
"../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp",
"../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h",
"../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp",
"../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.h",
"../bullet2/BasicDemo/BasicDemo.cpp",
"../bullet2/BasicDemo/BasicDemo.h",
"../bullet2/RagdollDemo/RagdollDemo.cpp",

27
Demos3/bullet2/BasicDemo/BasicDemo.cpp
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@@ -2,11 +2,13 @@
#include "OpenGLWindow/SimpleOpenGL3App.h"
#include "btBulletDynamicsCommon.h"
#include "Bullet3Common/b3Vector3.h"
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
#define ARRAY_SIZE_X 1
#define ARRAY_SIZE_Y 1
#define ARRAY_SIZE_Z 1
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
static const float scaling=0.35f;
BasicDemo::BasicDemo(SimpleOpenGL3App* app)
:Bullet2RigidBodyDemo(app)
@@ -46,7 +48,14 @@ void BasicDemo::createGround(int cubeShapeId)
}
void BasicDemo::initPhysics()
{
Bullet2RigidBodyDemo::initPhysics();
// Bullet2RigidBodyDemo::initPhysics();
m_config = new btDefaultCollisionConfiguration;
m_dispatcher = new btCollisionDispatcher(m_config);
m_bp = new btDbvtBroadphase();
m_solver = new btNNCGConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
int curColor=0;
//create ground
int cubeShapeId = m_glApp->registerCubeShape();
@@ -58,7 +67,7 @@ void BasicDemo::initPhysics()
{
float halfExtents[]={0.1,1,1,1};
float halfExtents[]={scaling,scaling,scaling,1};
b3Vector4 colors[4] =
{
b3MakeVector4(1,0,0,1),
@@ -75,7 +84,7 @@ void BasicDemo::initPhysics()
btVector3 localInertia;
btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
colShape ->calculateLocalInertia(mass,localInertia);
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
@@ -87,9 +96,9 @@ void BasicDemo::initPhysics()
curColor++;
curColor&=3;
startTransform.setOrigin(btVector3(
btScalar(2.0*i),
btScalar(2+2.0*k),
btScalar(2.0*j)));
btScalar(2.0*scaling*i),
btScalar(2.*scaling+2.0*scaling*k),
btScalar(2.0*scaling*j)));
m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);

30
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
View File

@@ -54,19 +54,19 @@ m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0)
{
m_config = 0;
m_collisionConfiguration = 0;
m_dispatcher = 0;
m_bp = 0;
m_broadphase = 0;
m_solver = 0;
m_dynamicsWorld = 0;
}
void Bullet2MultiBodyDemo::initPhysics()
{
m_config = new btDefaultCollisionConfiguration;
m_dispatcher = new btCollisionDispatcher(m_config);
m_bp = new btDbvtBroadphase();
m_collisionConfiguration = new btDefaultCollisionConfiguration;
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
m_solver = new btMultiBodyConstraintSolver();
m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
}
void Bullet2MultiBodyDemo::exitPhysics()
@@ -75,19 +75,19 @@ void Bullet2MultiBodyDemo::exitPhysics()
m_dynamicsWorld=0;
delete m_solver;
m_solver=0;
delete m_bp;
m_bp=0;
delete m_broadphase;
m_broadphase=0;
delete m_dispatcher;
m_dispatcher=0;
delete m_config;
m_config=0;
delete m_collisionConfiguration;
m_collisionConfiguration=0;
}
Bullet2MultiBodyDemo::~Bullet2MultiBodyDemo()
{
btAssert(m_config == 0);
btAssert(m_collisionConfiguration == 0);
btAssert(m_dispatcher == 0);
btAssert(m_bp == 0);
btAssert(m_broadphase == 0);
btAssert(m_solver == 0);
btAssert(m_dynamicsWorld == 0);
}
@@ -333,7 +333,8 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
btVector3 inertia = btVector3 (91,344,253)*scaling*scaling;
btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep);
bool isMultiDof = false;
btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep, isMultiDof);
// bod->setHasSelfCollision(false);
//btQuaternion orn(btVector3(0,0,1),-0.25*SIMD_HALF_PI);//0,0,0,1);
@@ -770,7 +771,8 @@ public:
bool isFixedBase = true;
bool canSleep = true;
btMultiBody * bod = new btMultiBody(n_links, mass, localInertia, isFixedBase, canSleep);
bool isMultiDof = false;
btMultiBody * bod = new btMultiBody(n_links, mass, localInertia, isFixedBase, canSleep, isMultiDof);
btTransform tr;
tr = offset*transform;

6
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h
View File

@@ -6,6 +6,7 @@
#include "../../AllBullet2Demos/BulletDemoInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
struct btMultiBodySettings
{
@@ -44,10 +45,11 @@ protected:
class btMultiBodyDynamicsWorld* m_dynamicsWorld;
class btCollisionDispatcher* m_dispatcher;
class btBroadphaseInterface* m_bp;
class btCollisionConfiguration* m_config;
class btBroadphaseInterface* m_broadphase;
class btCollisionConfiguration* m_collisionConfiguration;
class btMultiBodyConstraintSolver* m_solver;
btAlignedObjectArray<class btCollisionShape*> m_collisionShapes;
//btAlignedObjectArray<btMultiBodyLinkCollider*> m_linkColliders;
public:

402
Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp Normal file
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@@ -0,0 +1,402 @@
#include "MultiDofDemo.h"
#include "OpenGLWindow/SimpleOpenGL3App.h"
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
static bool g_firstInit = true;
static float scaling = 0.4f;
static float friction = 1.;
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
#define START_POS_X -5
//#define START_POS_Y 12
#define START_POS_Y 2
#define START_POS_Z -3
MultiDofDemo::MultiDofDemo(SimpleOpenGL3App* app)
:FeatherstoneDemo1(app)
{
}
MultiDofDemo::~MultiDofDemo()
{
}
void MultiDofDemo::stepSimulation(float deltaTime)
{
//use a smaller internal timestep, there are stability issues
float internalTimeStep = 1./240.f;
m_dynamicsWorld->stepSimulation(deltaTime,10,internalTimeStep);
// CProfileManager::dumpAll();
}
void MultiDofDemo::initPhysics()
{
if(g_firstInit)
{
this->m_glApp->m_instancingRenderer->setCameraDistance(btScalar(10.*scaling));
this->m_glApp->m_instancingRenderer->setCameraPitch(50);
g_firstInit = false;
}
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
//Use the btMultiBodyConstraintSolver for Featherstone btMultiBody support
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver;
m_solver = sol;
//use btMultiBodyDynamicsWorld for Featherstone btMultiBody support
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher,m_broadphase,sol,m_collisionConfiguration);
m_dynamicsWorld = world;
// m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
btVector3 groundHalfExtents(50,50,50);
btCollisionShape* groundShape = new btBoxShape(groundHalfExtents);
//groundShape->initializePolyhedralFeatures();
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,00));
/////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////
bool floating = false;
bool damping = true;
bool gyro = true;
int numLinks = 5;
bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool multibodyOnly = false;
bool canSleep = true;
bool selfCollide = false;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, floating);
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide);
mbC->setUseGyroTerm(gyro);
//
if(!damping)
{
mbC->setLinearDamping(0.f);
mbC->setAngularDamping(0.f);
}else
{ mbC->setLinearDamping(0.1f);
mbC->setAngularDamping(0.9f);
}
//
m_dynamicsWorld->setGravity(btVector3(0, -9.81 ,0));
//////////////////////////////////////////////
if(numLinks > 0)
{
btScalar q0 = 45.f * SIMD_PI/ 180.f;
if(!spherical)
if(mbC->isMultiDof())
mbC->setJointPosMultiDof(0, &q0);
else
mbC->setJointPos(0, q0);
else
{
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
quat0.normalize();
mbC->setJointPosMultiDof(0, quat0);
}
}
///
addColliders_testMultiDof(mbC, world, baseHalfExtents, linkHalfExtents);
int cubeShapeId = m_glApp->registerCubeShape();
/////////////////////////////////////////////////////////////////
btScalar groundHeight = -51.55;
if (!multibodyOnly)
{
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,groundHeight,0));
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body,1,1+2);//,1,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),btVector4(0,1,0,1),groundHalfExtents);
body->setUserIndex(index);
}
/////////////////////////////////////////////////////////////////
if(!multibodyOnly)
{
btVector3 halfExtents(.5,.5,.5);
btBoxShape* colShape = new btBoxShape(halfExtents);
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(btVector3(
btScalar(0.0),
-0.95,
btScalar(0.0)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),btVector4(1,1,0,1),halfExtents);
body->setUserIndex(index);
}
m_glApp->m_instancingRenderer->writeTransforms();
/////////////////////////////////////////////////////////////////
}
btMultiBody* MultiDofDemo::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld *pWorld, int numLinks, const btVector3 &basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical, bool floating)
{
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = 1.f;
if(baseMass)
{
btCollisionShape *pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
delete pTempBox;
}
bool canSleep = false;
bool isMultiDof = true;
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep, isMultiDof);
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
pMultiBody->setBasePos(basePosition);
pMultiBody->setWorldToBaseRot(baseOriQuat);
btVector3 vel(0, 0, 0);
// pMultiBody->setBaseVel(vel);
//init the links
btVector3 hingeJointAxis(1, 0, 0);
float linkMass = 1.f;
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
btCollisionShape *pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
delete pTempBox;
//y-axis assumed up
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
//////
btScalar q0 = 0.f * SIMD_PI/ 180.f;
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
quat0.normalize();
/////
for(int i = 0; i < numLinks; ++i)
{
if(!spherical)
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
else
//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
}
pMultiBody->finalizeMultiDof();
///
pWorld->addMultiBody(pMultiBody);
///
return pMultiBody;
}
void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents)
{
int cubeShapeId = m_glApp->registerCubeShape();
btAlignedObjectArray<btQuaternion> world_to_local;
world_to_local.resize(pMultiBody->getNumLinks() + 1);
btAlignedObjectArray<btVector3> local_origin;
local_origin.resize(pMultiBody->getNumLinks() + 1);
world_to_local[0] = pMultiBody->getWorldToBaseRot();
local_origin[0] = pMultiBody->getBasePos();
{
float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
if (1)
{
btCollisionShape* box = new btBoxShape(baseHalfExtents);
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
col->setCollisionShape(box);
btTransform tr;
tr.setIdentity();
tr.setOrigin(local_origin[0]);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
pWorld->addCollisionObject(col, 2,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),baseHalfExtents);
col->setUserIndex(index);
col->setFriction(friction);
pMultiBody->setBaseCollider(col);
}
}
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
{
const int parent = pMultiBody->getParent(i);
world_to_local[i+1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent+1];
local_origin[i+1] = local_origin[parent+1] + (quatRotate(world_to_local[i+1].inverse() , pMultiBody->getRVector(i)));
}
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
{
btVector3 posr = local_origin[i+1];
float pos[4]={posr.x(),posr.y(),posr.z(),1};
float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
btCollisionShape* box = new btBoxShape(linkHalfExtents);
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
col->setCollisionShape(box);
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
col->setFriction(friction);
pWorld->addCollisionObject(col,2,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),linkHalfExtents);
col->setUserIndex(index);
pMultiBody->getLink(i).m_collider=col;
}
}
void MultiDofDemo::addBoxes_testMultiDof()
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btBoxShape* colShape = new btBoxShape(btVector3(1,1,1));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(btVector3(
btScalar(3.0*i + start_x),
btScalar(3.0*k + start_y),
btScalar(3.0*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
}
}
}
}

34
Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.h Normal file
View File

@@ -0,0 +1,34 @@
#ifndef MULTI_DOF_DEMO_H
#define MULTI_DOF_DEMO_H
#include "BulletMultiBodyDemos.h"
class MultiDofDemo : public FeatherstoneDemo1
{
public:
MultiDofDemo(SimpleOpenGL3App* app);
virtual ~MultiDofDemo();
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
{
return new MultiDofDemo(app);
}
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical = false, bool floating = false);
void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
void addBoxes_testMultiDof();
};
#endif //MULTI_DOF_DEMO_H

2
Demos3/bullet2/RagdollDemo/RagdollDemo.cpp
View File

@@ -363,7 +363,7 @@ void RagDollDemo::initPhysics()
createGround(cubeShapeId);
btVector3 offset(0,10,0);
btVector3 offset(0,3,0);
RagDoll* doll = new RagDoll(this->m_dynamicsWorld,offset,m_glApp);

2
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -50,7 +50,7 @@ public:
const btVector3 &inertia, // inertia of base, in base frame; assumed diagonal
bool fixedBase, // whether the base is fixed (true) or can move (false)
bool canSleep,
bool multiDof = false
bool multiDof
);
~btMultiBody();