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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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98
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -35,6 +35,7 @@ btHingeConstraint::btHingeConstraint()
m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_flags(0),
m_useReferenceFrameA(false)
{
m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
@@ -47,6 +48,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
m_angularOnly(false),
m_enableAngularMotor(false),
m_flags(0),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_useReferenceFrameA(useReferenceFrameA)
@@ -98,6 +100,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_flags(0),
m_useReferenceFrameA(useReferenceFrameA)
{
@@ -142,6 +145,7 @@ m_angularOnly(false),
m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_flags(0),
m_useReferenceFrameA(useReferenceFrameA)
{
//start with free
@@ -162,6 +166,7 @@ m_angularOnly(false),
m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_flags(0),
m_useReferenceFrameA(useReferenceFrameA)
{
///not providing rigidbody B means implicitly using worldspace for body B
@@ -633,19 +638,26 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
powered = 0;
}
info->m_constraintError[srow] = btScalar(0.0f);
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
if(powered)
{
info->cfm[srow] = btScalar(0.0);
btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * info->erp);
if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
{
info->cfm[srow] = m_normalCFM;
}
btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
info->m_lowerLimit[srow] = - m_maxMotorImpulse;
info->m_upperLimit[srow] = m_maxMotorImpulse;
}
if(limit)
{
k = info->fps * info->erp;
k = info->fps * currERP;
info->m_constraintError[srow] += k * limit_err;
info->cfm[srow] = btScalar(0.0);
if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
{
info->cfm[srow] = m_stopCFM;
}
if(lostop == histop)
{
// limited low and high simultaneously
@@ -1010,19 +1022,26 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
powered = 0;
}
info->m_constraintError[srow] = btScalar(0.0f);
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
if(powered)
{
info->cfm[srow] = btScalar(0.0);
btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * info->erp);
if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
{
info->cfm[srow] = m_normalCFM;
}
btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
info->m_lowerLimit[srow] = - m_maxMotorImpulse;
info->m_upperLimit[srow] = m_maxMotorImpulse;
}
if(limit)
{
k = info->fps * info->erp;
k = info->fps * currERP;
info->m_constraintError[srow] += k * limit_err;
info->cfm[srow] = btScalar(0.0);
if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
{
info->cfm[srow] = m_stopCFM;
}
if(lostop == histop)
{
// limited low and high simultaneously
@@ -1075,3 +1094,66 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
} // if angular limit or powered
}
///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 btHingeConstraint::setParam(int num, btScalar value, int axis)
{
if((axis == -1) || (axis == 5))
{
switch(num)
{
case BT_CONSTRAINT_STOP_ERP :
m_stopERP = value;
m_flags |= BT_HINGE_FLAGS_ERP_STOP;
break;
case BT_CONSTRAINT_STOP_CFM :
m_stopCFM = value;
m_flags |= BT_HINGE_FLAGS_CFM_STOP;
break;
case BT_CONSTRAINT_CFM :
m_normalCFM = value;
m_flags |= BT_HINGE_FLAGS_CFM_NORM;
break;
default :
btAssertConstrParams(0);
}
}
else
{
btAssertConstrParams(0);
}
}
///return the local value of parameter
btScalar btHingeConstraint::getParam(int num, int axis) const
{
btScalar retVal = 0;
if((axis == -1) || (axis == 5))
{
switch(num)
{
case BT_CONSTRAINT_STOP_ERP :
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_STOP);
retVal = m_stopERP;
break;
case BT_CONSTRAINT_STOP_CFM :
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_STOP);
retVal = m_stopCFM;
break;
case BT_CONSTRAINT_CFM :
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_NORM);
retVal = m_normalCFM;
break;
default :
btAssertConstrParams(0);
}
}
else
{
btAssertConstrParams(0);
}
return retVal;
}