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Provide easier access to CFM and ERP (and Stop ERP/Stop CFM) for constraints in a similar way to Open Dynamics Engine

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virtual	void	btTypedConstraint::setParam(int num, btScalar value, int axis = -1) = 0;
virtual	btScalar btTypedConstraint::getParam(int num, int axis = -1) const = 0;
	
Parameter can be BT_CONSTRAINT_ERP,BT_CONSTRAINT_STOP_ERP,BT_CONSTRAINT_CFM,BT_CONSTRAINT_STOP_CFM
Axis is 0 .. 5, first 3 for linear degrees of freedom, last 3 for angular. If no axis is specified it will take the 'default' degree of freedom. For a btHingeConstraint this would be the hinge axis (5)
This commit is contained in:
erwin.coumans
2010-02-03 22:16:09 +00:00
parent d2a55dee59
commit d58081ce37
13 changed files with 790 additions and 96 deletions
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102
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -73,6 +73,10 @@ void btConeTwistConstraint::init()
setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_damping = btScalar(0.01);
m_fixThresh = CONETWIST_DEF_FIX_THRESH;
m_flags = 0;
m_linCFM = btScalar(0.f);
m_linERP = btScalar(0.7f);
m_angCFM = btScalar(0.f);
}
@@ -145,13 +149,18 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
// set right hand side
btScalar k = info->fps * info->erp;
btScalar linERP = (m_flags & BT_CONETWIST_FLAGS_LIN_ERP) ? m_linERP : info->erp;
btScalar k = info->fps * linERP;
int j;
for (j=0; j<3; j++)
{
info->m_constraintError[j*info->rowskip] = k * (a2[j] + transB.getOrigin()[j] - a1[j] - transA.getOrigin()[j]);
info->m_lowerLimit[j*info->rowskip] = -SIMD_INFINITY;
info->m_upperLimit[j*info->rowskip] = SIMD_INFINITY;
if(m_flags & BT_CONETWIST_FLAGS_LIN_CFM)
{
info->cfm[j*info->rowskip] = m_linCFM;
}
}
int row = 3;
int srow = row * info->rowskip;
@@ -200,7 +209,10 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
btScalar k = info->fps * m_biasFactor;
info->m_constraintError[srow] = k * m_swingCorrection;
info->cfm[srow] = 0.0f;
if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
{
info->cfm[srow] = m_angCFM;
}
// m_swingCorrection is always positive or 0
info->m_lowerLimit[srow] = 0;
info->m_upperLimit[srow] = SIMD_INFINITY;
@@ -220,7 +232,10 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
J2[srow+2] = -ax1[2];
btScalar k = info->fps * m_biasFactor;
info->m_constraintError[srow] = k * m_twistCorrection;
info->cfm[srow] = 0.0f;
if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
{
info->cfm[srow] = m_angCFM;
}
if(m_twistSpan > 0.0f)
{
@@ -1021,6 +1036,87 @@ void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion &
}
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
void btConeTwistConstraint::setParam(int num, btScalar value, int axis)
{
switch(num)
{
case BT_CONSTRAINT_ERP :
case BT_CONSTRAINT_STOP_ERP :
if((axis >= 0) && (axis < 3))
{
m_linERP = value;
m_flags |= BT_CONETWIST_FLAGS_LIN_ERP;
}
else
{
m_biasFactor = value;
}
break;
case BT_CONSTRAINT_CFM :
case BT_CONSTRAINT_STOP_CFM :
if((axis >= 0) && (axis < 3))
{
m_linCFM = value;
m_flags |= BT_CONETWIST_FLAGS_LIN_CFM;
}
else
{
m_angCFM = value;
m_flags |= BT_CONETWIST_FLAGS_ANG_CFM;
}
break;
default:
btAssertConstrParams(0);
break;
}
}
///return the local value of parameter
btScalar btConeTwistConstraint::getParam(int num, int axis) const
{
btScalar retVal = 0;
switch(num)
{
case BT_CONSTRAINT_ERP :
case BT_CONSTRAINT_STOP_ERP :
if((axis >= 0) && (axis < 3))
{
btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_ERP);
retVal = m_linERP;
}
else if((axis >= 3) && (axis < 6))
{
retVal = m_biasFactor;
}
else
{
btAssertConstrParams(0);
}
break;
case BT_CONSTRAINT_CFM :
case BT_CONSTRAINT_STOP_CFM :
if((axis >= 0) && (axis < 3))
{
btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_CFM);
retVal = m_linCFM;
}
else if((axis >= 3) && (axis < 6))
{
btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_ANG_CFM);
retVal = m_angCFM;
}
else
{
btAssertConstrParams(0);
}
break;
default :
btAssertConstrParams(0);
}
return retVal;
}