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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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36
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
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@@ -40,8 +40,25 @@ class btRigidBody;
#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
enum btSliderFlags
{
BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
};
class btSliderConstraint : public btTypedConstraint
{
@@ -68,26 +85,39 @@ protected:
btScalar m_softnessDirLin;
btScalar m_restitutionDirLin;
btScalar m_dampingDirLin;
btScalar m_cfmDirLin;
btScalar m_softnessDirAng;
btScalar m_restitutionDirAng;
btScalar m_dampingDirAng;
btScalar m_cfmDirAng;
btScalar m_softnessLimLin;
btScalar m_restitutionLimLin;
btScalar m_dampingLimLin;
btScalar m_cfmLimLin;
btScalar m_softnessLimAng;
btScalar m_restitutionLimAng;
btScalar m_dampingLimAng;
btScalar m_cfmLimAng;
btScalar m_softnessOrthoLin;
btScalar m_restitutionOrthoLin;
btScalar m_dampingOrthoLin;
btScalar m_cfmOrthoLin;
btScalar m_softnessOrthoAng;
btScalar m_restitutionOrthoAng;
btScalar m_dampingOrthoAng;
btScalar m_cfmOrthoAng;
// for interlal use
bool m_solveLinLim;
bool m_solveAngLim;
int m_flags;
btJacobianEntry m_jacLin[3];
btScalar m_jacLinDiagABInv[3];
@@ -231,6 +261,12 @@ 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 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;
///fills the dataBuffer and returns the struct name (and 0 on failure)