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More GJK degeneracy fixes, thanks Jacob Langford for the feedback:

Browse Source 
http://code.google.com/p/bullet/issues/detail?id=250

Added missing files for Maya Dynamica plugin
Thanks Herbert Law for the patch, and damrit and others for the report
http://code.google.com/p/bullet/issues/detail?id=231

Fix btQuaternion shortestArcQuat, thanks Stan Melax for original fix and shogun for reminder
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1989

Implemented btDiscreteDynamicsWorld::removeCollisionObject (and btSoftBodyDynamicsWorld) to avoid
crashes. Thanks Jacob Langford for bringing that up.

Minor sphere-debug drawing issue (spheres were drawn inside-out (wrong face winding)
This commit is contained in:
erwin.coumans
2009-07-13 21:48:19 +00:00
parent d4b099236c
commit c4ad354ac0
16 changed files with 329 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
Extras/MayaPlugin/constraint/bt_constraint.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library Maya Plugin
Copyright (c) 2008 Walt Disney Studios
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising
from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must
not claim that you wrote the original software. If you use this
software in a product, an acknowledgment in the product documentation
would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must
not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com>
*/
//bt_constraint.h
#ifndef DYN_BT_CONSTRAINT_H
#define DYN_BT_CONSTRAINT_H
#include "btBulletCollisionCommon.h"
#include "btBulletDynamicsCommon.h"
#include "shared_ptr.h"
class bt_constraint_t
{
public:
protected:
friend class bt_solver_t;
bt_constraint_t() { }
btTypedConstraint* constraint() { return m_constraint.get(); }
void set_constraint(btTypedConstraint *constraint) { return m_constraint.reset(constraint); }
virtual void update_constraint() = 0;
public:
friend class bt_rigid_body_t;
virtual ~bt_constraint_t() { }
protected:
shared_ptr<btTypedConstraint> m_constraint;
};
#endif

118
Extras/MayaPlugin/constraint/hinge_constraint.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library Maya Plugin
Copyright (c) 2008 Herbert Law
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising
from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must
not claim that you wrote the original software. If you use this
software in a product, an acknowledgment in the product documentation
would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must
not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com>
*/
//hinge_constraint.h
#ifndef DYN_HINGE_CONSTRAINT_H
#define DYN_HINGE_CONSTRAINT_H
#include "shared_ptr.h"
#include "rigid_body.h"
#include "mathUtils.h"
#include "constraint.h"
#include "hinge_constraint_impl.h"
class hinge_constraint_t: public constraint_t
{
public:
//typedefs
typedef shared_ptr<hinge_constraint_t> pointer;
//
rigid_body_t::pointer rigid_body() { return m_rigid_body; }
//
void set_pivot(vec3f const& p)
{
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_pivot(p);
}
//local space pivot
void get_pivot(vec3f& p) const {
hinge_constraint_impl_t const* hinge_impl = dynamic_cast<hinge_constraint_impl_t const*>(impl());
hinge_impl->get_pivot(p);
}
//
void get_world_pivot(vec3f& p) const {
hinge_constraint_impl_t const* hinge_impl = dynamic_cast<hinge_constraint_impl_t const*>(impl());
hinge_impl->get_world_pivot(p);
}
//
void set_damping(float d) {
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_damping(d);
}
void set_limit(float lower, float upper, float softness, float bias_factor, float relaxation_factor) {
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_limit(lower, upper, softness, bias_factor, relaxation_factor);
}
void set_axis(vec3f const& p) {
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_axis(p);
}
float damping() const {
hinge_constraint_impl_t const* hinge_impl = dynamic_cast<hinge_constraint_impl_t const*>(impl());
return hinge_impl->damping();
}
void set_world(vec3f const& p)
{
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_world(p);
}
//local space pivot
void get_world(vec3f& p) const {
hinge_constraint_impl_t const* hinge_impl = dynamic_cast<hinge_constraint_impl_t const*>(impl());
hinge_impl->get_world(p);
}
void enable_motor(bool enable, float velocity, float impulse) {
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->enable_motor(enable, velocity, impulse);
}
public:
virtual ~hinge_constraint_t() {};
protected:
friend class solver_t;
hinge_constraint_t(hinge_constraint_impl_t* impl, rigid_body_t::pointer& rigid_body):
constraint_t(impl),
m_rigid_body(rigid_body)
{
}
private:
rigid_body_t::pointer m_rigid_body;
};
#endif //DYN_HINGE_CONSTRAINT_H

50
Extras/MayaPlugin/constraint/slider_constraint_impl.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library Maya Plugin
Copyright (c) 2008 Herbert Law
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising
from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must
not claim that you wrote the original software. If you use this
software in a product, an acknowledgment in the product documentation
would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must
not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com>
*/
//slider_constraint_impl.h
#ifndef DYN_SLIDER_CONSTRAINT_IMPL_H
#define DYN_SLIDER_CONSTRAINT_IMPL_H
#include "constraint_impl.h"
class slider_constraint_impl_t: public constraint_impl_t
{
public:
//
virtual void set_pivot(vec3f const& p) = 0;
virtual void get_pivot(vec3f& p) const = 0;
virtual void get_world_pivot(vec3f& p) const = 0;
virtual void set_world(vec3f const& p) = 0;
virtual void get_world(vec3f& p) const = 0;
//
virtual void set_damping(float d) = 0;
virtual float damping() const = 0;
virtual void set_LinLimit(float lower, float upper) = 0;
virtual void set_AngLimit(float lower, float upper) = 0;
public:
virtual ~slider_constraint_impl_t() {};
};
#endif //DYN_SLIDER_CONSTRAINT_IMPL_H