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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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16
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
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@@ -42,6 +42,12 @@ and swing 1 and 2 are along the z and y axes respectively.
class btRigidBody;
enum btConeTwistFlags
{
BT_CONETWIST_FLAGS_LIN_CFM = 1,
BT_CONETWIST_FLAGS_LIN_ERP = 2,
BT_CONETWIST_FLAGS_ANG_CFM = 4
};
///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
class btConeTwistConstraint : public btTypedConstraint
@@ -99,6 +105,11 @@ public:
btScalar m_maxMotorImpulse;
btVector3 m_accMotorImpulse;
// parameters
int m_flags;
btScalar m_linCFM;
btScalar m_linERP;
btScalar m_angCFM;
protected:
@@ -256,6 +267,11 @@ public:
btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
///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.
virtual void setParam(int num, btScalar value, int axis = -1);
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
virtual int calculateSerializeBufferSize() const;