Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -13,60 +13,47 @@ subject to the following restrictions:
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ConstraintDemo.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include <stdio.h> //printf debugging
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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///AllConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
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class AllConstraintDemo : public CommonRigidBodyBase
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class AllConstraintDemo : public CommonRigidBodyBase
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{
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//keep track of variables to delete memory at the end
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void setupEmptyDynamicsWorld();
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public:
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void setupEmptyDynamicsWorld();
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public:
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AllConstraintDemo(struct GUIHelperInterface* helper);
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virtual ~AllConstraintDemo();
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virtual void initPhysics();
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virtual void initPhysics();
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virtual void exitPhysics();
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virtual void exitPhysics();
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virtual void resetCamera()
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{
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float dist = 27;
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float pitch = -30;
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float yaw = 720;
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float targetPos[3]={2,0,-10};
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m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
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float targetPos[3] = {2, 0, -10};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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virtual bool keyboardCallback(int key, int state);
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virtual bool keyboardCallback(int key, int state);
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// for cone-twist motor driving
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float m_Time;
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class btConeTwistConstraint* m_ctc;
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};
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#define ENABLE_ALL_DEMOS 1
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#define CUBE_HALF_EXTENTS 1.f
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@@ -74,14 +61,11 @@ class AllConstraintDemo : public CommonRigidBodyBase
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#define SIMD_PI_2 ((SIMD_PI)*0.5f)
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#define SIMD_PI_4 ((SIMD_PI)*0.25f)
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btTransform sliderTransform;
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btVector3 lowerSliderLimit = btVector3(-10,0,0);
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btVector3 hiSliderLimit = btVector3(10,0,0);
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btVector3 lowerSliderLimit = btVector3(-10, 0, 0);
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btVector3 hiSliderLimit = btVector3(10, 0, 0);
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btRigidBody* d6body0 =0;
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btRigidBody* d6body0 = 0;
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btHingeConstraint* spDoorHinge = NULL;
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btHingeConstraint* spHingeDynAB = NULL;
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@@ -89,22 +73,16 @@ btGeneric6DofConstraint* spSlider6Dof = NULL;
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static bool s_bTestConeTwistMotor = false;
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void AllConstraintDemo::setupEmptyDynamicsWorld()
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void AllConstraintDemo::setupEmptyDynamicsWorld()
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{
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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}
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void AllConstraintDemo::initPhysics()
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void AllConstraintDemo::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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@@ -115,223 +93,210 @@ void AllConstraintDemo::initPhysics()
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
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btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40);
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btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 40);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-56,0));
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groundTransform.setOrigin(btVector3(0, -56, 0));
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btRigidBody* groundBody;
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groundBody= createRigidBody(0, groundTransform, groundShape);
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groundBody = createRigidBody(0, groundTransform, groundShape);
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btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
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btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
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m_collisionShapes.push_back(shape);
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btTransform trans;
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trans.setIdentity();
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trans.setOrigin(btVector3(0,20,0));
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trans.setOrigin(btVector3(0, 20, 0));
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float mass = 1.f;
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#if ENABLE_ALL_DEMOS
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///gear constraint demo
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///gear constraint demo
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#define THETA SIMD_PI/4.f
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#define THETA SIMD_PI / 4.f
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#define L_1 (2 - tan(THETA))
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#define L_2 (1 / cos(THETA))
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#define RATIO L_2 / L_1
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btRigidBody* bodyA=0;
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btRigidBody* bodyB=0;
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btRigidBody* bodyA = 0;
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btRigidBody* bodyB = 0;
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{
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btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.25,0.2));
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btCollisionShape* cylB = new btCylinderShape(btVector3(L_1,0.025,L_1));
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btCollisionShape* cylA = new btCylinderShape(btVector3(0.2, 0.25, 0.2));
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btCollisionShape* cylB = new btCylinderShape(btVector3(L_1, 0.025, L_1));
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btCompoundShape* cyl0 = new btCompoundShape();
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cyl0->addChildShape(btTransform::getIdentity(),cylA);
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cyl0->addChildShape(btTransform::getIdentity(),cylB);
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cyl0->addChildShape(btTransform::getIdentity(), cylA);
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cyl0->addChildShape(btTransform::getIdentity(), cylB);
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btScalar mass = 6.28;
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btVector3 localInertia;
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cyl0->calculateLocalInertia(mass,localInertia);
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btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
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ci.m_startWorldTransform.setOrigin(btVector3(-8,1,-8));
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cyl0->calculateLocalInertia(mass, localInertia);
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btRigidBody::btRigidBodyConstructionInfo ci(mass, 0, cyl0, localInertia);
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ci.m_startWorldTransform.setOrigin(btVector3(-8, 1, -8));
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btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
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btRigidBody* body = new btRigidBody(ci); //1,0,cyl0,localInertia);
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m_dynamicsWorld->addRigidBody(body);
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body->setLinearFactor(btVector3(0,0,0));
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body->setAngularFactor(btVector3(0,1,0));
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body->setLinearFactor(btVector3(0, 0, 0));
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body->setAngularFactor(btVector3(0, 1, 0));
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bodyA = body;
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}
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{
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btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.26,0.2));
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btCollisionShape* cylB = new btCylinderShape(btVector3(L_2,0.025,L_2));
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btCollisionShape* cylA = new btCylinderShape(btVector3(0.2, 0.26, 0.2));
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btCollisionShape* cylB = new btCylinderShape(btVector3(L_2, 0.025, L_2));
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btCompoundShape* cyl0 = new btCompoundShape();
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cyl0->addChildShape(btTransform::getIdentity(),cylA);
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cyl0->addChildShape(btTransform::getIdentity(),cylB);
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cyl0->addChildShape(btTransform::getIdentity(), cylA);
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cyl0->addChildShape(btTransform::getIdentity(), cylB);
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btScalar mass = 6.28;
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btVector3 localInertia;
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cyl0->calculateLocalInertia(mass,localInertia);
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btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
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ci.m_startWorldTransform.setOrigin(btVector3(-10,2,-8));
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cyl0->calculateLocalInertia(mass, localInertia);
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btRigidBody::btRigidBodyConstructionInfo ci(mass, 0, cyl0, localInertia);
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ci.m_startWorldTransform.setOrigin(btVector3(-10, 2, -8));
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btQuaternion orn(btVector3(0,0,1),-THETA);
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btQuaternion orn(btVector3(0, 0, 1), -THETA);
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ci.m_startWorldTransform.setRotation(orn);
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btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
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body->setLinearFactor(btVector3(0,0,0));
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btHingeConstraint* hinge = new btHingeConstraint(*body,btVector3(0,0,0),btVector3(0,1,0),true);
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btRigidBody* body = new btRigidBody(ci); //1,0,cyl0,localInertia);
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body->setLinearFactor(btVector3(0, 0, 0));
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btHingeConstraint* hinge = new btHingeConstraint(*body, btVector3(0, 0, 0), btVector3(0, 1, 0), true);
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m_dynamicsWorld->addConstraint(hinge);
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bodyB= body;
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body->setAngularVelocity(btVector3(0,3,0));
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bodyB = body;
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body->setAngularVelocity(btVector3(0, 3, 0));
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m_dynamicsWorld->addRigidBody(body);
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}
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btVector3 axisA(0,1,0);
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btVector3 axisB(0,1,0);
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btQuaternion orn(btVector3(0,0,1),-THETA);
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btVector3 axisA(0, 1, 0);
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btVector3 axisB(0, 1, 0);
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btQuaternion orn(btVector3(0, 0, 1), -THETA);
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btMatrix3x3 mat(orn);
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axisB = mat.getRow(1);
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btGearConstraint* gear = new btGearConstraint(*bodyA,*bodyB, axisA,axisB,RATIO);
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m_dynamicsWorld->addConstraint(gear,true);
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btGearConstraint* gear = new btGearConstraint(*bodyA, *bodyB, axisA, axisB, RATIO);
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m_dynamicsWorld->addConstraint(gear, true);
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#endif
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#if ENABLE_ALL_DEMOS
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//point to point constraint with a breaking threshold
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{
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trans.setIdentity();
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trans.setOrigin(btVector3(1,30,-5));
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createRigidBody( mass,trans,shape);
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trans.setOrigin(btVector3(0,0,-5));
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trans.setOrigin(btVector3(1, 30, -5));
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createRigidBody(mass, trans, shape);
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trans.setOrigin(btVector3(0, 0, -5));
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btRigidBody* body0 = createRigidBody( mass,trans,shape);
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trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
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btRigidBody* body0 = createRigidBody(mass, trans, shape);
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trans.setOrigin(btVector3(2 * CUBE_HALF_EXTENTS, 20, 0));
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mass = 1.f;
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// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
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btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
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btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
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// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
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btVector3 pivotInA(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, 0);
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btTypedConstraint* p2p = new btPoint2PointConstraint(*body0, pivotInA);
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m_dynamicsWorld->addConstraint(p2p);
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p2p ->setBreakingImpulseThreshold(10.2);
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p2p->setBreakingImpulseThreshold(10.2);
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p2p->setDbgDrawSize(btScalar(5.f));
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}
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#endif
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#if ENABLE_ALL_DEMOS
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//point to point constraint (ball socket)
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{
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btRigidBody* body0 = createRigidBody( mass,trans,shape);
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trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
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btRigidBody* body0 = createRigidBody(mass, trans, shape);
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trans.setOrigin(btVector3(2 * CUBE_HALF_EXTENTS, 20, 0));
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mass = 1.f;
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// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
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// btRigidBody* body1 = createRigidBody( 0.0,trans,0);
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// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
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// btRigidBody* body1 = createRigidBody( 0.0,trans,0);
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//body1->setActivationState(DISABLE_DEACTIVATION);
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//body1->setDamping(0.3,0.3);
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btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
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btVector3 axisInA(0,0,1);
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btVector3 pivotInA(CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS);
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btVector3 axisInA(0, 0, 1);
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// btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
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// btVector3 axisInB = body1?
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// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
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// btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
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// btVector3 axisInB = body1?
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// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
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body0->getCenterOfMassTransform().getBasis() * axisInA;
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#define P2P
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#ifdef P2P
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btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
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btTypedConstraint* p2p = new btPoint2PointConstraint(*body0, pivotInA);
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//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
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//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
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m_dynamicsWorld->addConstraint(p2p);
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p2p->setDbgDrawSize(btScalar(5.f));
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#else
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btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
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btHingeConstraint* hinge = new btHingeConstraint(*body0, pivotInA, axisInA);
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//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
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//float targetVelocity = 0.f;
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//float maxMotorImpulse = 0.01;
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float targetVelocity = 1.f;
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float maxMotorImpulse = 1.0f;
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hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
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float targetVelocity = 1.f;
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float maxMotorImpulse = 1.0f;
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hinge->enableAngularMotor(true, targetVelocity, maxMotorImpulse);
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m_dynamicsWorld->addConstraint(hinge);
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hinge->setDbgDrawSize(btScalar(5.f));
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#endif //P2P
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#endif //P2P
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}
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#endif
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#if ENABLE_ALL_DEMOS
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{
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btTransform trans;
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trans.setIdentity();
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btVector3 worldPos(-20,0,30);
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trans.setOrigin(worldPos);
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trans.setIdentity();
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btVector3 worldPos(-20, 0, 30);
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trans.setOrigin(worldPos);
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInB = btTransform::getIdentity();
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInB = btTransform::getIdentity();
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btRigidBody* pRbA1 = createRigidBody(mass, trans, shape);
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// btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape);
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pRbA1->setActivationState(DISABLE_DEACTIVATION);
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btRigidBody* pRbA1 = createRigidBody(mass, trans, shape);
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// btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape);
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pRbA1->setActivationState(DISABLE_DEACTIVATION);
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// add dynamic rigid body B1
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worldPos.setValue(-30,0,30);
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trans.setOrigin(worldPos);
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btRigidBody* pRbB1 = createRigidBody(mass, trans, shape);
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// btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape);
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pRbB1->setActivationState(DISABLE_DEACTIVATION);
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// add dynamic rigid body B1
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worldPos.setValue(-30, 0, 30);
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trans.setOrigin(worldPos);
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btRigidBody* pRbB1 = createRigidBody(mass, trans, shape);
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// btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape);
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pRbB1->setActivationState(DISABLE_DEACTIVATION);
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// create slider constraint between A1 and B1 and add it to world
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btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
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// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
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spSlider1->setLowerLinLimit(-15.0F);
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spSlider1->setUpperLinLimit(-5.0F);
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// spSlider1->setLowerLinLimit(5.0F);
|
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// spSlider1->setUpperLinLimit(15.0F);
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// spSlider1->setLowerLinLimit(-10.0F);
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// spSlider1->setUpperLinLimit(-10.0F);
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// create slider constraint between A1 and B1 and add it to world
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spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
|
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spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
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btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
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// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
|
||||
spSlider1->setLowerLinLimit(-15.0F);
|
||||
spSlider1->setUpperLinLimit(-5.0F);
|
||||
// spSlider1->setLowerLinLimit(5.0F);
|
||||
// spSlider1->setUpperLinLimit(15.0F);
|
||||
// spSlider1->setLowerLinLimit(-10.0F);
|
||||
// spSlider1->setUpperLinLimit(-10.0F);
|
||||
|
||||
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
|
||||
spSlider1->setUpperAngLimit(SIMD_PI / 3.0F);
|
||||
|
||||
m_dynamicsWorld->addConstraint(spSlider1, true);
|
||||
spSlider1->setDbgDrawSize(btScalar(5.f));
|
||||
m_dynamicsWorld->addConstraint(spSlider1, true);
|
||||
spSlider1->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
#if ENABLE_ALL_DEMOS
|
||||
//create a slider, using the generic D6 constraint
|
||||
{
|
||||
mass = 1.f;
|
||||
btVector3 sliderWorldPos(0,10,0);
|
||||
btVector3 sliderAxis(1,0,0);
|
||||
btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f;
|
||||
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
|
||||
btVector3 sliderWorldPos(0, 10, 0);
|
||||
btVector3 sliderAxis(1, 0, 0);
|
||||
btScalar angle = 0.f; //SIMD_RADS_PER_DEG * 10.f;
|
||||
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis, angle));
|
||||
trans.setIdentity();
|
||||
trans.setOrigin(sliderWorldPos);
|
||||
//trans.setBasis(sliderOrientation);
|
||||
sliderTransform = trans;
|
||||
|
||||
d6body0 = createRigidBody( mass,trans,shape);
|
||||
d6body0 = createRigidBody(mass, trans, shape);
|
||||
d6body0->setActivationState(DISABLE_DEACTIVATION);
|
||||
btRigidBody* fixedBody1 = createRigidBody(0,trans,0);
|
||||
btRigidBody* fixedBody1 = createRigidBody(0, trans, 0);
|
||||
m_dynamicsWorld->addRigidBody(fixedBody1);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
@@ -340,54 +305,52 @@ void AllConstraintDemo::initPhysics()
|
||||
frameInA.setOrigin(btVector3(0., 5., 0.));
|
||||
frameInB.setOrigin(btVector3(0., 5., 0.));
|
||||
|
||||
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
|
||||
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
|
||||
spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
|
||||
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
|
||||
bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits
|
||||
spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0, frameInA, frameInB, useLinearReferenceFrameA);
|
||||
spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
|
||||
spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
|
||||
|
||||
//range should be small, otherwise singularities will 'explode' the constraint
|
||||
// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
|
||||
// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
|
||||
// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
|
||||
// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
|
||||
spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
|
||||
spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
|
||||
// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
|
||||
// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
|
||||
// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
|
||||
// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
|
||||
spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI, 0, 0));
|
||||
spSlider6Dof->setAngularUpperLimit(btVector3(1.5, 0, 0));
|
||||
|
||||
spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
|
||||
spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
|
||||
|
||||
|
||||
m_dynamicsWorld->addConstraint(spSlider6Dof);
|
||||
spSlider6Dof->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a door using hinge constraint attached to the world
|
||||
{ // create a door using hinge constraint attached to the world
|
||||
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
|
||||
m_collisionShapes.push_back(pDoorShape);
|
||||
btTransform doorTrans;
|
||||
doorTrans.setIdentity();
|
||||
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
|
||||
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
|
||||
btRigidBody* pDoorBody = createRigidBody(1.0, doorTrans, pDoorShape);
|
||||
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
|
||||
btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
|
||||
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
|
||||
btVector3 btAxisA(0.0f, 1.0f, 0.0f); // pointing upwards, aka Y-axis
|
||||
|
||||
spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
|
||||
spDoorHinge = new btHingeConstraint(*pDoorBody, btPivotA, btAxisA);
|
||||
|
||||
// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
|
||||
// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
|
||||
// test problem values
|
||||
// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
|
||||
// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
|
||||
|
||||
// spDoorHinge->setLimit( 1.f, -1.f);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
|
||||
spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
|
||||
// spDoorHinge->setLimit( 0.0f, 0.0f );
|
||||
// spDoorHinge->setLimit( 1.f, -1.f);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
|
||||
spDoorHinge->setLimit(-SIMD_PI * 0.25f, SIMD_PI * 0.25f);
|
||||
// spDoorHinge->setLimit( 0.0f, 0.0f );
|
||||
m_dynamicsWorld->addConstraint(spDoorHinge);
|
||||
spDoorHinge->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
@@ -396,22 +359,22 @@ void AllConstraintDemo::initPhysics()
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a generic 6DOF constraint
|
||||
{ // create a generic 6DOF constraint
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
// btRigidBody* pBodyA = createRigidBody( mass, tr, shape);
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0);
|
||||
tr.getBasis().setEulerZYX(0, 0, 0);
|
||||
// btRigidBody* pBodyA = createRigidBody( mass, tr, shape);
|
||||
btRigidBody* pBodyA = createRigidBody(0.0, tr, shape);
|
||||
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
tr.getBasis().setEulerZYX(0, 0, 0);
|
||||
btRigidBody* pBodyB = createRigidBody(mass, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(0.f, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(0.f, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
@@ -421,75 +384,72 @@ void AllConstraintDemo::initPhysics()
|
||||
frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
|
||||
|
||||
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
|
||||
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
|
||||
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
|
||||
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
|
||||
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
|
||||
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
|
||||
|
||||
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
|
||||
|
||||
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
|
||||
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
|
||||
|
||||
|
||||
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
|
||||
|
||||
m_dynamicsWorld->addConstraint(pGen6DOF, true);
|
||||
pGen6DOF->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a ConeTwist constraint
|
||||
{ // create a ConeTwist constraint
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyA = createRigidBody( 1.0, tr, shape);
|
||||
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
tr.getBasis().setEulerZYX(0, 0, 0);
|
||||
btRigidBody* pBodyA = createRigidBody(1.0, tr, shape);
|
||||
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
tr.getBasis().setEulerZYX(0, 0, 0);
|
||||
btRigidBody* pBodyB = createRigidBody(0.0, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
|
||||
frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.getBasis().setEulerZYX(0,0, SIMD_PI_2);
|
||||
frameInB.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
|
||||
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
|
||||
|
||||
m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
|
||||
m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
|
||||
m_ctc->setLimit(btScalar(SIMD_PI_4 * 0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
|
||||
m_dynamicsWorld->addConstraint(m_ctc, true);
|
||||
m_ctc->setDbgDrawSize(btScalar(5.f));
|
||||
// s_bTestConeTwistMotor = true; // use only with old solver for now
|
||||
@@ -497,32 +457,32 @@ void AllConstraintDemo::initPhysics()
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
|
||||
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
|
||||
btRigidBody* pBody = createRigidBody(1.0, tr, shape);
|
||||
pBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
|
||||
btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
|
||||
const btVector3 btPivotA(10.0f, 0.0f, 0.0f);
|
||||
btVector3 btAxisA(0.0f, 0.0f, 1.0f);
|
||||
|
||||
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
|
||||
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
|
||||
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
|
||||
btHingeConstraint* pHinge = new btHingeConstraint(*pBody, btPivotA, btAxisA);
|
||||
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
|
||||
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
|
||||
m_dynamicsWorld->addConstraint(pHinge);
|
||||
pHinge->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
{
|
||||
// create a universal joint using generic 6DOF constraint
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
btRigidBody* pBodyA = createRigidBody(0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB (child) below it :
|
||||
tr.setIdentity();
|
||||
@@ -530,13 +490,13 @@ void AllConstraintDemo::initPhysics()
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some (arbitrary) data to build constraint frames
|
||||
btVector3 parentAxis(1.f, 0.f, 0.f);
|
||||
btVector3 childAxis(0.f, 0.f, 1.f);
|
||||
btVector3 parentAxis(1.f, 0.f, 0.f);
|
||||
btVector3 childAxis(0.f, 0.f, 1.f);
|
||||
btVector3 anchor(20.f, 2.f, 0.f);
|
||||
|
||||
btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
|
||||
pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
|
||||
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
|
||||
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(pUniv, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
@@ -545,18 +505,18 @@ void AllConstraintDemo::initPhysics()
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a generic 6DOF constraint with springs
|
||||
{ // create a generic 6DOF constraint with springs
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
tr.getBasis().setEulerZYX(0, 0, 0);
|
||||
btRigidBody* pBodyA = createRigidBody(0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
tr.getBasis().setEulerZYX(0, 0, 0);
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
@@ -575,7 +535,7 @@ void AllConstraintDemo::initPhysics()
|
||||
|
||||
m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
|
||||
pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
|
||||
pGen6DOFSpring->enableSpring(0, true);
|
||||
pGen6DOFSpring->setStiffness(0, 39.478f);
|
||||
pGen6DOFSpring->setDamping(0, 0.5f);
|
||||
@@ -586,14 +546,14 @@ void AllConstraintDemo::initPhysics()
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
{
|
||||
// create a Hinge2 joint
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
btRigidBody* pBodyA = createRigidBody(0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB (child) below it :
|
||||
tr.setIdentity();
|
||||
@@ -601,27 +561,27 @@ void AllConstraintDemo::initPhysics()
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some data to build constraint frames
|
||||
btVector3 parentAxis(0.f, 1.f, 0.f);
|
||||
btVector3 childAxis(1.f, 0.f, 0.f);
|
||||
btVector3 parentAxis(0.f, 1.f, 0.f);
|
||||
btVector3 childAxis(1.f, 0.f, 0.f);
|
||||
btVector3 anchor(-20.f, 0.f, 0.f);
|
||||
btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
|
||||
pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
|
||||
pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f);
|
||||
pHinge2->setUpperLimit(SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(pHinge2, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
pHinge2->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a Hinge joint between two dynamic bodies
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 1.0f, tr, shape);
|
||||
btRigidBody* pBodyA = createRigidBody(1.0f, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB:
|
||||
tr.setIdentity();
|
||||
@@ -629,10 +589,10 @@ void AllConstraintDemo::initPhysics()
|
||||
btRigidBody* pBodyB = createRigidBody(10.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some data to build constraint frames
|
||||
btVector3 axisA(0.f, 1.f, 0.f);
|
||||
btVector3 axisB(0.f, 1.f, 0.f);
|
||||
btVector3 axisA(0.f, 1.f, 0.f);
|
||||
btVector3 axisB(0.f, 1.f, 0.f);
|
||||
btVector3 pivotA(-5.f, 0.f, 0.f);
|
||||
btVector3 pivotB( 5.f, 0.f, 0.f);
|
||||
btVector3 pivotB(5.f, 0.f, 0.f);
|
||||
spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
|
||||
spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
@@ -643,20 +603,20 @@ void AllConstraintDemo::initPhysics()
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // 6DOF connected to the world, with motor
|
||||
{ // 6DOF connected to the world, with motor
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.)));
|
||||
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
|
||||
btRigidBody* pBody = createRigidBody(1.0, tr, shape);
|
||||
pBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
btTransform frameB;
|
||||
frameB.setIdentity();
|
||||
btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint( *pBody, frameB, false );
|
||||
btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint(*pBody, frameB, false);
|
||||
m_dynamicsWorld->addConstraint(pGen6Dof);
|
||||
pGen6Dof->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
pGen6Dof->setAngularLowerLimit(btVector3(0,0,0));
|
||||
pGen6Dof->setAngularUpperLimit(btVector3(0,0,0));
|
||||
pGen6Dof->setAngularLowerLimit(btVector3(0, 0, 0));
|
||||
pGen6Dof->setAngularUpperLimit(btVector3(0, 0, 0));
|
||||
pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0));
|
||||
pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0));
|
||||
|
||||
@@ -667,17 +627,14 @@ void AllConstraintDemo::initPhysics()
|
||||
#endif
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void AllConstraintDemo::exitPhysics()
|
||||
void AllConstraintDemo::exitPhysics()
|
||||
{
|
||||
|
||||
int i;
|
||||
int i;
|
||||
|
||||
//removed/delete constraints
|
||||
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
|
||||
for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
|
||||
{
|
||||
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
|
||||
m_dynamicsWorld->removeConstraint(constraint);
|
||||
@@ -686,7 +643,7 @@ void AllConstraintDemo::exitPhysics()
|
||||
m_ctc = NULL;
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
@@ -694,15 +651,12 @@ void AllConstraintDemo::exitPhysics()
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
m_dynamicsWorld->removeCollisionObject(obj);
|
||||
delete obj;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
for (int j = 0; j < m_collisionShapes.size(); j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
@@ -712,25 +666,24 @@ void AllConstraintDemo::exitPhysics()
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
m_dynamicsWorld=0;
|
||||
m_dynamicsWorld = 0;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
m_solver=0;
|
||||
m_solver = 0;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
m_broadphase=0;
|
||||
m_broadphase = 0;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
}
|
||||
|
||||
AllConstraintDemo::AllConstraintDemo(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper)
|
||||
: CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
|
||||
@@ -738,8 +691,7 @@ AllConstraintDemo::~AllConstraintDemo()
|
||||
{
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
btAssert(m_dynamicsWorld==0);
|
||||
|
||||
btAssert(m_dynamicsWorld == 0);
|
||||
}
|
||||
|
||||
#if 0
|
||||
@@ -838,51 +790,48 @@ void AllConstraintDemo::displayCallback(void) {
|
||||
}
|
||||
#endif
|
||||
|
||||
bool AllConstraintDemo::keyboardCallback(int key, int state)
|
||||
bool AllConstraintDemo::keyboardCallback(int key, int state)
|
||||
{
|
||||
|
||||
bool handled = false;
|
||||
|
||||
switch (key)
|
||||
|
||||
switch (key)
|
||||
{
|
||||
case 'O' :
|
||||
case 'O':
|
||||
{
|
||||
bool offectOnOff;
|
||||
if (spDoorHinge)
|
||||
{
|
||||
bool offectOnOff;
|
||||
if(spDoorHinge)
|
||||
{
|
||||
offectOnOff = spDoorHinge->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spDoorHinge->setUseFrameOffset(offectOnOff);
|
||||
printf("DoorHinge %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if(spHingeDynAB)
|
||||
{
|
||||
offectOnOff = spHingeDynAB->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spHingeDynAB->setUseFrameOffset(offectOnOff);
|
||||
printf("HingeDynAB %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if(spSlider6Dof)
|
||||
{
|
||||
offectOnOff = spSlider6Dof->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spSlider6Dof->setUseFrameOffset(offectOnOff);
|
||||
printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
offectOnOff = spDoorHinge->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spDoorHinge->setUseFrameOffset(offectOnOff);
|
||||
printf("DoorHinge %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if (spHingeDynAB)
|
||||
{
|
||||
offectOnOff = spHingeDynAB->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spHingeDynAB->setUseFrameOffset(offectOnOff);
|
||||
printf("HingeDynAB %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if (spSlider6Dof)
|
||||
{
|
||||
offectOnOff = spSlider6Dof->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spSlider6Dof->setUseFrameOffset(offectOnOff);
|
||||
printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
}
|
||||
handled = true;
|
||||
break;
|
||||
default :
|
||||
{
|
||||
|
||||
}
|
||||
break;
|
||||
default:
|
||||
{
|
||||
}
|
||||
break;
|
||||
}
|
||||
return handled;
|
||||
|
||||
}
|
||||
|
||||
class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options)
|
||||
class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new AllConstraintDemo(options.m_guiHelper);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user