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Some fixes to work with constraint angle limits close to -PI or PI

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This commit is contained in:
rponom
2009-06-12 01:23:47 +00:00
parent 699ba8f5b2
commit 99f6ff7cf3
11 changed files with 121 additions and 27 deletions
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12
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -169,10 +169,12 @@ void ConstraintDemo::initPhysics()
slider->setLinearUpperLimit(hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
slider->setAngularLowerLimit(btVector3(-1.5,0,0));
slider->setAngularUpperLimit(btVector3(1.5,0,0));
// slider->setAngularLowerLimit(btVector3(-1.5,0,0));
// slider->setAngularUpperLimit(btVector3(1.5,0,0));
// slider->setAngularLowerLimit(btVector3(0,0,0));
// slider->setAngularUpperLimit(btVector3(0,0,0));
slider->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
slider->setAngularUpperLimit(btVector3(1.5,0,0));
slider->getTranslationalLimitMotor()->m_enableMotor[0] = true;
slider->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
@@ -198,7 +200,11 @@ void ConstraintDemo::initPhysics()
spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
spDoorHinge->setLimit( 0.0f, M_PI_2 );
// spDoorHinge->setLimit( 0.0f, M_PI_2 );
// test problem values
// spDoorHinge->setLimit( -M_PI, M_PI*0.8f);
spDoorHinge->setLimit( -M_PI*0.8f, M_PI);
// spDoorHinge->setLimit( 0.0f, 0.0f );
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));

16
Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
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@@ -213,11 +213,13 @@ void SliderConstraintDemo::initPhysics()
// spSlider1->setUpperLinLimit(15.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
#endif
m_dynamicsWorld->addConstraint(spSlider1, true);
spSlider1->setDbgDrawSize(btScalar(5.f));
// add kinematic rigid body A2
worldPos.setValue(0,2,0);
@@ -251,8 +253,13 @@ void SliderConstraintDemo::initPhysics()
// spSlider2->setLowerAngLimit(SIMD_PI / 2.0F);
// spSlider2->setUpperAngLimit(-SIMD_PI / 2.0F);
spSlider2->setLowerAngLimit(-SIMD_PI / 2.0F);
spSlider2->setUpperAngLimit(SIMD_PI / 2.0F);
// spSlider2->setLowerAngLimit(-SIMD_PI / 2.0F);
// spSlider2->setUpperAngLimit(SIMD_PI / 2.0F);
spSlider2->setLowerAngLimit(-SIMD_PI);
spSlider2->setUpperAngLimit(SIMD_PI *0.8F);
// spSlider2->setLowerAngLimit(-0.01F);
// spSlider2->setUpperAngLimit(0.01F);
@@ -285,6 +292,7 @@ void SliderConstraintDemo::initPhysics()
// spSlider2->setSoftnessLimAng(0.1);
#endif
m_dynamicsWorld->addConstraint(spSlider2, true);
spSlider2->setDbgDrawSize(btScalar(5.f));
#if 1
@@ -306,6 +314,8 @@ void SliderConstraintDemo::initPhysics()
btVector3 pivB(-2.5, 0., 0.);
spP2PConst = new btPoint2PointConstraint(*pRbA3, *pRbB3, pivA, pivB);
m_dynamicsWorld->addConstraint(spP2PConst, true);
spP2PConst->setDbgDrawSize(btScalar(5.f));
}
#endif
@@ -335,6 +345,8 @@ void SliderConstraintDemo::initPhysics()
spHingeConst->enableAngularMotor(true, 10.0, 0.19);
m_dynamicsWorld->addConstraint(spHingeConst, true);
spHingeConst->setDbgDrawSize(btScalar(5.f));
#endif
} // SliderConstraintDemo::initPhysics()

1
Demos/SliderConstraintDemo/main.cpp
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@@ -17,6 +17,7 @@ int main(int argc,char** argv)
sliderConstraintDemo->initPhysics();
sliderConstraintDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
sliderConstraintDemo->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
return glutmain(argc, argv,640,480,"Slider Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/", sliderConstraintDemo);