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Fix in generic 6dof constraint, when springs/limits/motors are combined

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Added btGeneric6DofConstraint::getRelativePivotPosition to read relative linear position of the constraint frame (pivot)
This commit is contained in:
erwin.coumans
2009-06-06 01:09:06 +00:00
parent ee664e7750
commit a9141d5daf
2 changed files with 21 additions and 6 deletions
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16
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -22,9 +22,11 @@ http://gimpact.sf.net
#include "btGeneric6DofConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btTransformUtil.h"
#include <new>
#define D6_USE_OBSOLETE_METHOD false
@@ -661,10 +663,15 @@ btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
}
btScalar btGeneric6DofConstraint::getAngle(int axis_index) const
btScalar btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
{
return m_calculatedAxisAngleDiff[axis_index];
return m_calculatedLinearDiff[axisIndex];
}
btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
{
return m_calculatedAxisAngleDiff[axisIndex];
}
@@ -724,7 +731,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
J2[srow+1] = -ax1[1];
J2[srow+2] = -ax1[2];
}
if((!rotational) && limit)
if((!rotational))
{
btVector3 ltd; // Linear Torque Decoupling vector
btVector3 c = m_calculatedTransformB.getOrigin() - body0->getCenterOfMassPosition();
@@ -749,6 +756,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
if(!limit)
{
btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
btScalar mot_fact = getMotorFactor( limot->m_currentPosition,
limot->m_loLimit,
limot->m_hiLimit,

11
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
View File

@@ -382,14 +382,21 @@ public:
//! Get the relative Euler angle
/*!
\pre btGeneric6DofConstraint.buildJacobian must be called previously.
\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
*/
btScalar getAngle(int axis_index) const;
//! Get the relative position of the constraint pivot
/*!
\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
*/
btScalar getRelativePivotPosition(int axis_index) const;
//! Test angular limit.
/*!
Calculates angular correction and returns true if limit needs to be corrected.
\pre btGeneric6DofConstraint.buildJacobian must be called previously.
\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
*/
bool testAngularLimitMotor(int axis_index);