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add option for rigid body/typed constraint to set target velocity

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compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
This commit is contained in:
Erwin Coumans
2015-06-24 23:19:00 -07:00
parent b14afba350
commit d830681674
11 changed files with 426 additions and 164 deletions
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39
examples/MultiBody/TestJointTorqueSetup.cpp
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@@ -46,9 +46,12 @@ TestJointTorqueSetup::~TestJointTorqueSetup()
}
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
void TestJointTorqueSetup::initPhysics()
{
int upAxis = 1;
gJointFeedbackInWorldSpace = true;
m_guiHelper->setUpAxis(upAxis);
btVector4 colors[4] =
@@ -90,7 +93,9 @@ void TestJointTorqueSetup::initPhysics()
groundOrigin[upAxis] -=.5;
groundOrigin[2]-=0.6;
start.setOrigin(groundOrigin);
btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
// start.setRotation(groundOrn);
btRigidBody* body = createRigidBody(0,start,box);
body->setFriction(0);
btVector4 color = colors[curColor];
@@ -101,7 +106,7 @@ void TestJointTorqueSetup::initPhysics()
{
bool floating = false;
bool damping = true;
bool damping = false;
bool gyro = false;
int numLinks = 2;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
@@ -156,7 +161,14 @@ void TestJointTorqueSetup::initPhysics()
// linkMass= 1000;
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
btCollisionShape* shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));//new btSphereShape(linkHalfExtents[0]);
btCollisionShape* shape = 0;
if (i==0)
{
shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));//
} else
{
shape = new btSphereShape(radius);
}
shape->calculateLocalInertia(linkMass, linkInertiaDiag);
delete shape;
@@ -223,10 +235,8 @@ void TestJointTorqueSetup::initPhysics()
mbC->setAngularDamping(0.9f);
}
//
btVector3 gravity(0,0,0);
gravity[upAxis] = -9.81;
gravity[0] = 0;
m_dynamicsWorld->setGravity(gravity);
m_dynamicsWorld->setGravity(btVector3(0,-1,-10));
//////////////////////////////////////////////
if(0)//numLinks > 0)
{
@@ -288,7 +298,7 @@ void TestJointTorqueSetup::initPhysics()
btVector3 color(0.0,0.0,0.5);
m_guiHelper->createCollisionObjectGraphicsObject(col,color);
col->setFriction(friction);
// col->setFriction(friction);
pMultiBody->setBaseCollider(col);
}
@@ -330,7 +340,7 @@ void TestJointTorqueSetup::initPhysics()
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
col->setFriction(friction);
// col->setFriction(friction);
bool isDynamic = 1;//(linkMass > 0);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
@@ -355,7 +365,7 @@ void TestJointTorqueSetup::initPhysics()
void TestJointTorqueSetup::stepSimulation(float deltaTime)
{
//m_multiBody->addLinkForce(0,btVector3(100,100,100));
if (1)//m_once)
if (0)//m_once)
{
m_once=false;
m_multiBody->addJointTorque(0, 10.0);
@@ -364,9 +374,12 @@ void TestJointTorqueSetup::stepSimulation(float deltaTime)
b3Printf("t = %f,%f,%f\n",torque,torque,torque);//[0],torque[1],torque[2]);
}
m_dynamicsWorld->stepSimulation(1./60,0);
m_dynamicsWorld->stepSimulation(1./240,0);
static int count = 0;
if ((count& 0x0f)==0)
{
if (1)
for (int i=0;i<m_jointFeedbacks.size();i++)
{
b3Printf("F_reaction[%i] linear:%f,%f,%f, angular:%f,%f,%f",
@@ -382,6 +395,8 @@ void TestJointTorqueSetup::stepSimulation(float deltaTime)
);
}
}
count++;
/*