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- added linear limits to btGeneric6DofConstraint and made sure the linear axis are in local space of objectA

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- use microseconds instead of milliseconds for deltatime
This commit is contained in:
ejcoumans
2006-11-07 02:32:52 +00:00
parent 074e2b2d3b
commit c3ed55057c
12 changed files with 163 additions and 39 deletions
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106
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -14,6 +14,7 @@ subject to the following restrictions:
*/
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
@@ -45,8 +46,21 @@ int main(int argc,char** argv)
return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
}
btTransform sliderTransform;
btVector3 lowerSliderLimit = btVector3(-20,0,0);
btVector3 hiSliderLimit = btVector3(10,0,0);
void drawLimit()
{
btVector3 from = sliderTransform*lowerSliderLimit;
btVector3 to = sliderTransform*hiSliderLimit;
btVector3 color(255,0,0);
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
}
void ConstraintDemo::initPhysics()
{
@@ -56,6 +70,7 @@ void ConstraintDemo::initPhysics()
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_dynamicsWorld = new btDiscreteDynamicsWorld();
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
btTransform trans;
@@ -63,17 +78,16 @@ void ConstraintDemo::initPhysics()
trans.setOrigin(btVector3(0,20,0));
float mass = 0.f;
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
btRigidBody* body1 = localCreateRigidBody( mass,trans,shape);
body1->setDamping(0.3,0.3);
clientResetScene();
//point to point constraint (ball socket)
{
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
btRigidBody* body1 = localCreateRigidBody( mass,trans,shape);
body1->setActivationState(DISABLE_DEACTIVATION);
body1->setDamping(0.3,0.3);
btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
btVector3 axisInA(0,0,1);
@@ -87,21 +101,80 @@ void ConstraintDemo::initPhysics()
m_dynamicsWorld->addConstraint(p2p);
}
//create a slider, using the generic D6 constraint
{
mass = 1.f;
btVector3 sliderWorldPos(0,10,0);
btVector3 sliderAxis(0,0,1);
btScalar angle=SIMD_RADS_PER_DEG * 10.f;
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
trans.setOrigin(sliderWorldPos);
trans.setBasis(sliderOrientation);
sliderTransform = trans;
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = localCreateRigidBody(0,trans,0);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*body0,*fixedBody1,frameInA,frameInB);
slider->setLinearLowerLimit(lowerSliderLimit);
slider->setLinearUpperLimit(hiSliderLimit);
slider->setAngularLowerLimit(btVector3(1e30,0,0));
slider->setAngularUpperLimit(btVector3(-1e30,0,0));
m_dynamicsWorld->addConstraint(slider);
}
}
void ConstraintDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = float(m_clock.getTimeMicroseconds()) * 0.000001f;
m_clock.reset();
//printf("dt = %f: ",dt);
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
m_dynamicsWorld->stepSimulation(dt);
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
bool verbose = false;
if (verbose)
{
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
}
}
renderme();
drawLimit();
glFlush();
glutSwapBuffers();
}
@@ -113,6 +186,11 @@ void ConstraintDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_dynamicsWorld->updateAabbs();
drawLimit();
renderme();
glFlush();