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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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73
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
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@@ -22,12 +22,14 @@ subject to the following restrictions:
btPoint2PointConstraint::btPoint2PointConstraint()
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE),
m_flags(0),
m_useSolveConstraintObsolete(false)
{
}
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
m_flags(0),
m_useSolveConstraintObsolete(false)
{
@@ -36,6 +38,7 @@ m_useSolveConstraintObsolete(false)
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
m_flags(0),
m_useSolveConstraintObsolete(false)
{
@@ -136,14 +139,21 @@ void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const
// set right hand side
btScalar k = info->fps * info->erp;
btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
btScalar k = info->fps * currERP;
int j;
for (j=0; j<3; j++)
{
info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
}
if(m_flags & BT_P2P_FLAGS_CFM)
{
for (j=0; j<3; j++)
{
info->cfm[j*info->rowskip] = m_cfm;
}
}
btScalar impulseClamp = m_setting.m_impulseClamp;//
for (j=0; j<3; j++)
@@ -240,3 +250,60 @@ void btPoint2PointConstraint::updateRHS(btScalar timeStep)
}
///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 btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
{
if(axis != -1)
{
btAssertConstrParams(0);
}
else
{
switch(num)
{
case BT_CONSTRAINT_ERP :
case BT_CONSTRAINT_STOP_ERP :
m_erp = value;
m_flags |= BT_P2P_FLAGS_ERP;
break;
case BT_CONSTRAINT_CFM :
case BT_CONSTRAINT_STOP_CFM :
m_cfm = value;
m_flags |= BT_P2P_FLAGS_CFM;
break;
default:
btAssertConstrParams(0);
}
}
}
///return the local value of parameter
btScalar btPoint2PointConstraint::getParam(int num, int axis) const
{
btScalar retVal;
if(axis != -1)
{
btAssertConstrParams(0);
}
else
{
switch(num)
{
case BT_CONSTRAINT_ERP :
case BT_CONSTRAINT_STOP_ERP :
btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
retVal = m_erp;
break;
case BT_CONSTRAINT_CFM :
case BT_CONSTRAINT_STOP_CFM :
btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
retVal = m_cfm;
break;
default:
btAssertConstrParams(0);
}
}
return retVal;
}