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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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46
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -79,8 +79,8 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
//start with free
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_lowerLimit = btScalar(1.0f);
m_upperLimit = btScalar(-1.0f);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -119,8 +119,8 @@ m_useReferenceFrameA(useReferenceFrameA)
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
//start with free
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_lowerLimit = btScalar(1.0f);
m_upperLimit = btScalar(-1.0f);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -139,8 +139,8 @@ m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useReferenceFrameA(useReferenceFrameA)
{
//start with free
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_lowerLimit = btScalar(1.0f);
m_upperLimit = btScalar(-1.0f);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -162,8 +162,8 @@ m_useReferenceFrameA(useReferenceFrameA)
m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin());
//start with free
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_lowerLimit = btScalar(1.0f);
m_upperLimit = btScalar(-1.0f);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -648,7 +648,7 @@ btScalar btHingeConstraint::getHingeAngle()
}
#if 0
void btHingeConstraint::testLimit()
{
// Compute limit information
@@ -673,8 +673,36 @@ void btHingeConstraint::testLimit()
}
return;
}
#else
void btHingeConstraint::testLimit()
{
// Compute limit information
m_hingeAngle = getHingeAngle();
m_correction = btScalar(0.);
m_limitSign = btScalar(0.);
m_solveLimit = false;
if (m_lowerLimit <= m_upperLimit)
{
m_hingeAngle = btAdjustAngleToLimits(m_hingeAngle, m_lowerLimit, m_upperLimit);
if (m_hingeAngle <= m_lowerLimit)
{
m_correction = (m_lowerLimit - m_hingeAngle);
m_limitSign = 1.0f;
m_solveLimit = true;
}
else if (m_hingeAngle >= m_upperLimit)
{
m_correction = m_upperLimit - m_hingeAngle;
m_limitSign = -1.0f;
m_solveLimit = true;
}
}
return;
}
#endif
static btVector3 vHinge(0, 0, btScalar(1));
void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)