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change some defaults in MultiBody example, a slider constraint without limits is a bad idea

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This commit is contained in:
erwin coumans
2016-10-16 11:52:38 -07:00
parent 292dd5ced4
commit d1ab6c144b
2 changed files with 7 additions and 6 deletions
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13
examples/MultiBody/MultiDofDemo.cpp
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@@ -136,8 +136,8 @@ void MultiDofDemo::initPhysics()
bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool multibodyOnly = false;
bool canSleep = true;
bool selfCollide = false;
bool multibodyConstraint = true;
bool selfCollide = true;
bool multibodyConstraint = false;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
@@ -159,6 +159,7 @@ void MultiDofDemo::initPhysics()
}
//
m_dynamicsWorld->setGravity(btVector3(0, -9.81 ,0));
//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
//////////////////////////////////////////////
if(numLinks > 0)
{
@@ -247,8 +248,8 @@ void MultiDofDemo::initPhysics()
frameInA.setIdentity();
frameInB.setIdentity();
btVector3 jointAxis(1.0,0.0,0.0);
btMultiBodySliderConstraint* p2p = new btMultiBodySliderConstraint(mbC,numLinks-1,body,pointInA,pointInB,frameInA,frameInB,jointAxis);
//btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC,numLinks-1,mbC,numLinks-4,pointInA,pointInA,frameInA,frameInB);
//btMultiBodySliderConstraint* p2p = new btMultiBodySliderConstraint(mbC,numLinks-1,body,pointInA,pointInB,frameInA,frameInB,jointAxis);
btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC,numLinks-1,mbC,numLinks-4,pointInA,pointInA,frameInA,frameInB);
p2p->setMaxAppliedImpulse(2.0);
m_dynamicsWorld->addMultiBodyConstraint(p2p);
}
@@ -306,10 +307,10 @@ btMultiBody* MultiDofDemo::createFeatherstoneMultiBody_testMultiDof(btMultiBodyD
for(int i = 0; i < numLinks; ++i)
{
if(!spherical)
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
else
//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
}
pMultiBody->finalizeMultiDof();