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pass the settings to create a FeatherstoneMultiBody as a struct, instead of all individual parameters

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erwin.coumans
2013-10-22 22:36:43 +00:00
parent 0024c87316
commit 9b44762519
2 changed files with 59 additions and 20 deletions
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56
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
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@@ -193,14 +193,32 @@ void FeatherstoneMultiBodyDemo::initPhysics()
}
}
btMultiBody* mbA = createFeatherstoneMultiBody(world, 2, btVector3 (60,29.5,-2)*scaling, false, true,true,true);
int numLinks = 10;
btMultiBody* mbB = createFeatherstoneMultiBody(world, numLinks, btVector3 (0,29.5,-numLinks*4.f), true,false,true,true);
btMultiBody* mbC = createFeatherstoneMultiBody(world, numLinks, btVector3 (-20*scaling,29.5*scaling,-numLinks*4.f*scaling), false,false,true,true);
btMultiBody* mbPrim= createFeatherstoneMultiBody(world, numLinks, btVector3 (-20,29.5,-numLinks*4.f), false,true,true,true);
btMultiBodySettings settings;
settings.m_numLinks = 2;
settings.m_basePosition = btVector3 (60,29.5,-2)*scaling;
settings.m_isFixedBase = false;
settings.m_usePrismatic = true;
settings.m_canSleep = true;
settings.m_createConstraints = true;
//btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic, bool canSleep, bool createConstraints);
btMultiBody* mbA = createFeatherstoneMultiBody(world, settings);
settings.m_numLinks = 10;
settings.m_basePosition = btVector3 (0,29.5,-settings.m_numLinks*4.f);
settings.m_isFixedBase = true;
settings.m_usePrismatic = false;
btMultiBody* mbB = createFeatherstoneMultiBody(world, settings);
settings.m_basePosition = btVector3 (-20*scaling,29.5*scaling,-settings.m_numLinks*4.f*scaling);
settings.m_isFixedBase = false;
btMultiBody* mbC = createFeatherstoneMultiBody(world, settings);
settings.m_basePosition = btVector3 (-20,9.5,-settings.m_numLinks*4.f);
settings.m_isFixedBase = true;
settings.m_usePrismatic = true;
btMultiBody* mbPrim= createFeatherstoneMultiBody(world, settings);
//btMultiBody* mbB = createFeatherstoneMultiBody(world, 15, btVector3 (0,29.5,-2), false,true,true);
#if 0
@@ -255,20 +273,20 @@ void FeatherstoneMultiBodyDemo::initPhysics()
}
btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic, bool canSleep, bool createConstraints)
btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, const btMultiBodySettings& settings)
{
int n_links = numLinks;
int n_links = settings.m_numLinks;
float mass = 13.5*scaling;
btVector3 inertia = btVector3 (91,344,253)*scaling*scaling;
btMultiBody * bod = new btMultiBody(n_links, mass, inertia, isFixedBase, canSleep);
btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep);
// bod->setHasSelfCollision(false);
//btQuaternion orn(btVector3(0,0,1),-0.25*SIMD_HALF_PI);//0,0,0,1);
btQuaternion orn(0,0,0,1);
bod->setBasePos(basePosition);
bod->setBasePos(settings.m_basePosition);
bod->setWorldToBaseRot(orn);
btVector3 vel(0,0,0);
bod->setBaseVel(vel);
@@ -298,17 +316,17 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
const int child_link_num = link_num_counter++;
bool disableParentCollision = false;
if (usePrismatic)// && i==(n_links-1))
if (settings.m_usePrismatic)// && i==(n_links-1))
{
bod->setupPrismatic(child_link_num, mass, inertia, this_link_num,
parent_to_child, joint_axis_child_prismatic, quatRotate(parent_to_child , pos),disableParentCollision);
parent_to_child, joint_axis_child_prismatic, quatRotate(parent_to_child , pos),settings.m_disableParentCollision);
} else
{
bod->setupRevolute(child_link_num, mass, inertia, this_link_num,parent_to_child, joint_axis_child_hinge,
joint_axis_position,quatRotate(parent_to_child , (pos - joint_axis_position)),disableParentCollision);
joint_axis_position,quatRotate(parent_to_child , (pos - joint_axis_position)),settings.m_disableParentCollision);
}
bod->setJointPos(child_link_num, initial_joint_angle);
this_link_num = i;
@@ -322,11 +340,11 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
world->addMultiBodyConstraint(p2p);
}
//add some constraint limit
if (usePrismatic)
if (settings.m_usePrismatic)
{
// btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,n_links-1,2,3);
if (createConstraints)
if (settings.m_createConstraints)
{
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,i,-1,1);
world->addMultiBodyConstraint(con);
@@ -334,7 +352,7 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
} else
{
if (createConstraints)
if (settings.m_createConstraints)
{
if (1)
{

23
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.h
View File

@@ -39,6 +39,27 @@ class btDefaultCollisionConfiguration;
///FeatherstoneMultiBodyDemo is good starting point for learning the code base and porting.
struct btMultiBodySettings
{
btMultiBodySettings()
{
m_numLinks = 0;
m_basePosition.setZero();
m_isFixedBase = true;
m_usePrismatic = false;
m_canSleep = true;
m_createConstraints = false;
m_disableParentCollision = false;
}
int m_numLinks;
btVector3 m_basePosition;
bool m_isFixedBase;
bool m_usePrismatic;
bool m_canSleep;
bool m_createConstraints;
bool m_disableParentCollision;
};
class FeatherstoneMultiBodyDemo : public PlatformDemoApplication
{
@@ -58,7 +79,7 @@ class FeatherstoneMultiBodyDemo : public PlatformDemoApplication
virtual void pickObject(const btVector3& pickPos, const class btCollisionObject* hitObj);
class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic, bool canSleep, bool createConstraints);
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, const btMultiBodySettings& settings);
public: