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First step in btMultiBody joint force/torque feedback. There is still some work to be done for 'mobilizer limit/motor'.

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See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
This commit is contained in:
erwincoumans
2015-06-19 09:18:27 -07:00
parent 41aa58560b
commit 89edc40d61
16 changed files with 689 additions and 768 deletions
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40
examples/Constraints/TestHingeTorque.cpp
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@@ -4,12 +4,15 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
short collisionFilterGroup = short(btBroadphaseProxy::CharacterFilter);
short collisionFilterMask = short(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::StaticFilter|btBroadphaseProxy::CharacterFilter));
struct TestHingeTorque : public CommonRigidBodyBase
{
bool m_once;
btAlignedObjectArray<btJointFeedback*> m_jointFeedback;
TestHingeTorque(struct GUIHelperInterface* helper);
virtual ~ TestHingeTorque();
virtual void initPhysics();
@@ -37,6 +40,11 @@ m_once(true)
}
TestHingeTorque::~ TestHingeTorque()
{
for (int i=0;i<m_jointFeedback.size();i++)
{
delete m_jointFeedback[i];
}
}
@@ -70,6 +78,22 @@ void TestHingeTorque::stepSimulation(float deltaTime)
child->getAngularVelocity()[2]);
for (int i=0;i<m_jointFeedback.size();i++)
{
b3Printf("Applied force A:(%f,%f,%f), torque A:(%f,%f,%f)\nForce B:(%f,%f,%f), torque B:(%f,%f,%f)\n",
m_jointFeedback[i]->m_appliedForceBodyA.x(),
m_jointFeedback[i]->m_appliedForceBodyA.y(),
m_jointFeedback[i]->m_appliedForceBodyA.z(),
m_jointFeedback[i]->m_appliedTorqueBodyA.x(),
m_jointFeedback[i]->m_appliedTorqueBodyA.y(),
m_jointFeedback[i]->m_appliedTorqueBodyA.z(),
m_jointFeedback[i]->m_appliedForceBodyB.x(),
m_jointFeedback[i]->m_appliedForceBodyB.y(),
m_jointFeedback[i]->m_appliedForceBodyB.z(),
m_jointFeedback[i]->m_appliedTorqueBodyB.x(),
m_jointFeedback[i]->m_appliedTorqueBodyB.y(),
m_jointFeedback[i]->m_appliedTorqueBodyB.z());
}
//CommonRigidBodyBase::stepSimulation(deltaTime);
}
@@ -77,10 +101,10 @@ void TestHingeTorque::stepSimulation(float deltaTime)
void TestHingeTorque::initPhysics()
{
m_guiHelper->setUpAxis(2);
m_guiHelper->setUpAxis(1);
createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(btVector3(0,0,0));
// m_dynamicsWorld->setGravity(btVector3(0,0,0));
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
int mode = btIDebugDraw::DBG_DrawWireframe
@@ -107,13 +131,13 @@ void TestHingeTorque::initPhysics()
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = 1.f;
float baseMass = 0.f;
float linkMass = 1.f;
btRigidBody* base = createRigidBody(baseMass,baseWorldTrans,baseBox);
m_dynamicsWorld->removeRigidBody(base);
base->setDamping(0,0);
m_dynamicsWorld->addRigidBody(base,0,0);
m_dynamicsWorld->addRigidBody(base,collisionFilterGroup,collisionFilterMask);
btBoxShape* linkBox = new btBoxShape(linkHalfExtents);
btRigidBody* prevBody = base;
@@ -126,7 +150,7 @@ void TestHingeTorque::initPhysics()
btRigidBody* linkBody = createRigidBody(linkMass,linkTrans,linkBox);
m_dynamicsWorld->removeRigidBody(linkBody);
m_dynamicsWorld->addRigidBody(linkBody,0,0);
m_dynamicsWorld->addRigidBody(linkBody,collisionFilterGroup,collisionFilterMask);
linkBody->setDamping(0,0);
//create a hinge constraint
btVector3 pivotInA(0,-linkHalfExtents[1],0);
@@ -137,6 +161,10 @@ void TestHingeTorque::initPhysics()
btHingeConstraint* hinge = new btHingeConstraint(*prevBody,*linkBody,
pivotInA,pivotInB,
axisInA,axisInB,useReferenceA);
btJointFeedback* fb = new btJointFeedback();
m_jointFeedback.push_back(fb);
hinge->setJointFeedback(fb);
m_dynamicsWorld->addConstraint(hinge,true);
prevBody = linkBody;