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Use cylinder inertia tensor, instead of box, by default.

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See Issue 427

Expose some internal data for constraints,
Thanks to Francois Sugny, see Issue 420
This commit is contained in:
erwin.coumans
2010-11-17 23:55:39 +00:00
parent bc3b920995
commit c49927b4ed
8 changed files with 133 additions and 10 deletions
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23
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -433,6 +433,7 @@ public:
*/
btScalar getRelativePivotPosition(int axis_index) const;
void setFrames(const btTransform & frameA, const btTransform & frameB);
//! Test angular limit.
/*!
@@ -446,23 +447,45 @@ public:
m_linearLimits.m_lowerLimit = linearLower;
}
void getLinearLowerLimit(btVector3& linearLower)
{
linearLower = m_linearLimits.m_lowerLimit;
}
void setLinearUpperLimit(const btVector3& linearUpper)
{
m_linearLimits.m_upperLimit = linearUpper;
}
void getLinearUpperLimit(btVector3& linearUpper)
{
linearUpper = m_linearLimits.m_upperLimit;
}
void setAngularLowerLimit(const btVector3& angularLower)
{
for(int i = 0; i < 3; i++)
m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
}
void getAngularLowerLimit(btVector3& angularLower)
{
for(int i = 0; i < 3; i++)
angularLower[i] = m_angularLimits[i].m_loLimit;
}
void setAngularUpperLimit(const btVector3& angularUpper)
{
for(int i = 0; i < 3; i++)
m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
}
void getAngularUpperLimit(btVector3& angularUpper)
{
for(int i = 0; i < 3; i++)
angularUpper[i] = m_angularLimits[i].m_hiLimit;
}
//! Retrieves the angular limit informacion
btRotationalLimitMotor * getRotationalLimitMotor(int index)
{