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ForkLiftDemo changed to reflect recent changes in btHingeConstraint

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This commit is contained in:
rponom
2008-09-11 20:34:40 +00:00
parent b0d6ba845e
commit 8ffbb21d48
1 changed files with 15 additions and 8 deletions
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23
Demos/ForkLiftDemo/ForkLiftDemo.cpp
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@@ -34,7 +34,7 @@ subject to the following restrictions:
#define M_PI_4 0.785398163397448309616
#endif
#define LIFT_EPS 0.0000001f
//#define LIFT_EPS 0.0000001f
//
// By default, Bullet Vehicle uses Y as up axis.
// You can override the up axis, for example Z-axis up. Enable this define to see how to:
@@ -379,7 +379,8 @@ const float TRIANGLE_SIZE=20.f;
localB.getBasis().setEulerZYX(0, M_PI_2, 0);
localB.setOrigin(btVector3(0.0, -1.5, -0.05));
m_liftHinge = new btHingeConstraint(*m_carChassis,*m_liftBody, localA, localB);
m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
m_liftHinge->setLimit(0.0f, 0.0f);
m_dynamicsWorld->addConstraint(m_liftHinge, true);
btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f));
@@ -417,8 +418,10 @@ const float TRIANGLE_SIZE=20.f;
m_forkSlider = new btSliderConstraint(*m_liftBody, *m_forkBody, localA, localB, true);
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(0.1f);
m_forkSlider->setLowerAngLimit(-LIFT_EPS);
m_forkSlider->setUpperAngLimit(LIFT_EPS);
// m_forkSlider->setLowerAngLimit(-LIFT_EPS);
// m_forkSlider->setUpperAngLimit(LIFT_EPS);
m_forkSlider->setLowerAngLimit(0.0f);
m_forkSlider->setUpperAngLimit(0.0f);
m_dynamicsWorld->addConstraint(m_forkSlider, true);
@@ -692,7 +695,8 @@ void ForkLiftDemo::clientResetScene()
m_forkBody->setLinearVelocity(btVector3(0,0,0));
m_forkBody->setAngularVelocity(btVector3(0,0,0));
m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
m_liftHinge->setLimit(0.0f, 0.0f);
m_liftHinge->enableAngularMotor(false, 0, 0);
@@ -905,15 +909,18 @@ void ForkLiftDemo::lockLiftHinge(void)
m_liftHinge->enableAngularMotor(false, 0, 0);
if(hingeAngle < lowLim)
{
m_liftHinge->setLimit(lowLim, lowLim + LIFT_EPS);
// m_liftHinge->setLimit(lowLim, lowLim + LIFT_EPS);
m_liftHinge->setLimit(lowLim, lowLim);
}
else if(hingeAngle > hiLim)
{
m_liftHinge->setLimit(hiLim - LIFT_EPS, hiLim);
// m_liftHinge->setLimit(hiLim - LIFT_EPS, hiLim);
m_liftHinge->setLimit(hiLim, hiLim);
}
else
{
m_liftHinge->setLimit(hingeAngle - LIFT_EPS, hingeAngle + LIFT_EPS);
// m_liftHinge->setLimit(hingeAngle - LIFT_EPS, hingeAngle + LIFT_EPS);
m_liftHinge->setLimit(hingeAngle, hingeAngle);
}
return;
} // ForkLiftDemo::lockLiftHinge()