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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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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()