Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

disable constraints when they exceed a breaking threshold, control it with new methods in btTypedConstraint: get/setBreakingImpulseThreshold and get/setEnabled

Browse Source 
Disabled constraints are not removed from the world and they use negligible CPU cycles
This commit is contained in:
erwin.coumans
2011-04-02 19:01:23 +00:00
parent d198451909
commit b16b61d9d6
6 changed files with 91 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define TEST_SERIALIZATION 1
@@ -29,12 +28,6 @@ subject to the following restrictions:
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#ifdef TEST_SERIALIZATION
#include "LinearMath/btSerializer.h"
#include "btBulletFile.h"
#include "btBulletWorldImporter.h"
#endif //TEST_SERIALIZATION
const int numObjects = 3;
@@ -121,6 +114,30 @@ void ConstraintDemo::initPhysics()
trans.setOrigin(btVector3(0,20,0));
float mass = 1.f;
#if ENABLE_ALL_DEMOS
//point to point constraint with a breaking threshold
{
trans.setIdentity();
trans.setOrigin(btVector3(1,30,-5));
localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(0,0,-5));
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
m_dynamicsWorld->addConstraint(p2p);
p2p ->setBreakingImpulseThreshold(10.2);
p2p->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
//point to point constraint (ball socket)
{
@@ -141,7 +158,7 @@ void ConstraintDemo::initPhysics()
(body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
body0->getCenterOfMassTransform().getBasis() * axisInA;
//#define P2P
#define P2P
#ifdef P2P
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
@@ -518,27 +535,6 @@ void ConstraintDemo::initPhysics()
#endif
#ifdef TEST_SERIALIZATION
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
exitPhysics();
setupEmptyDynamicsWorld();
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
fileLoader->loadFile("testFile.bullet");
#endif //TEST_SERIALIZATION
}