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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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39
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -49,7 +49,9 @@ public:
btScalar m_maxLimitForce;//!< max force on limit
btScalar m_damping;//!< Damping.
btScalar m_limitSoftness;//! Relaxation factor
btScalar m_ERP;//!< Error tolerance factor when joint is at limit
btScalar m_normalCFM;//!< Constraint force mixing factor
btScalar m_stopERP;//!< Error tolerance factor when joint is at limit
btScalar m_stopCFM;//!< Constraint force mixing factor when joint is at limit
btScalar m_bounce;//!< restitution factor
bool m_enableMotor;
@@ -71,7 +73,9 @@ public:
m_maxLimitForce = 300.0f;
m_loLimit = 1.0f;
m_hiLimit = -1.0f;
m_ERP = 0.5f;
m_normalCFM = 0.f;
m_stopERP = 0.2f;
m_stopCFM = 0.f;
m_bounce = 0.0f;
m_damping = 1.0f;
m_limitSoftness = 0.5f;
@@ -87,7 +91,9 @@ public:
m_limitSoftness = limot.m_limitSoftness;
m_loLimit = limot.m_loLimit;
m_hiLimit = limot.m_hiLimit;
m_ERP = limot.m_ERP;
m_normalCFM = limot.m_normalCFM;
m_stopERP = limot.m_stopERP;
m_stopCFM = limot.m_stopCFM;
m_bounce = limot.m_bounce;
m_currentLimit = limot.m_currentLimit;
m_currentLimitError = limot.m_currentLimitError;
@@ -134,6 +140,9 @@ public:
btScalar m_limitSoftness;//!< Softness for linear limit
btScalar m_damping;//!< Damping for linear limit
btScalar m_restitution;//! Bounce parameter for linear limit
btVector3 m_normalCFM;//!< Constraint force mixing factor
btVector3 m_stopERP;//!< Error tolerance factor when joint is at limit
btVector3 m_stopCFM;//!< Constraint force mixing factor when joint is at limit
//!@}
bool m_enableMotor[3];
btVector3 m_targetVelocity;//!< target motor velocity
@@ -147,6 +156,9 @@ public:
m_lowerLimit.setValue(0.f,0.f,0.f);
m_upperLimit.setValue(0.f,0.f,0.f);
m_accumulatedImpulse.setValue(0.f,0.f,0.f);
m_normalCFM.setValue(0.f, 0.f, 0.f);
m_stopERP.setValue(0.2f, 0.2f, 0.2f);
m_stopCFM.setValue(0.f, 0.f, 0.f);
m_limitSoftness = 0.7f;
m_damping = btScalar(1.0f);
@@ -168,6 +180,10 @@ public:
m_limitSoftness = other.m_limitSoftness ;
m_damping = other.m_damping;
m_restitution = other.m_restitution;
m_normalCFM = other.m_normalCFM;
m_stopERP = other.m_stopERP;
m_stopCFM = other.m_stopCFM;
for(int i=0; i < 3; i++)
{
m_enableMotor[i] = other.m_enableMotor[i];
@@ -207,6 +223,15 @@ public:
};
enum bt6DofFlags
{
BT_6DOF_FLAGS_CFM_NORM = 1,
BT_6DOF_FLAGS_CFM_STOP = 2,
BT_6DOF_FLAGS_ERP_STOP = 4
};
#define BT_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis
/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/*!
btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'.
@@ -289,6 +314,8 @@ protected:
bool m_useLinearReferenceFrameA;
bool m_useOffsetForConstraintFrame;
int m_flags;
//!@}
btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other)
@@ -499,6 +526,12 @@ public:
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
///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 btGeneric6DofConstraint::setParam(int num, btScalar value, int axis = -1);
///return the local value of parameter
virtual btScalar btGeneric6DofConstraint::getParam(int num, int axis = -1) const;
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)