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more tutorial work

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add fixed_timestep command-line parameter, 0 means disabled (variable timestep)
This commit is contained in:
erwincoumans
2015-08-07 14:18:57 -07:00
parent 89c2a729ce
commit de4dcdbb18
6 changed files with 555 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
examples/ExampleBrowser/CMakeLists.txt
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@@ -29,6 +29,8 @@ SET(App_ExampleBrowser_SRCS
../ForkLift/ForkLiftDemo.h ../ForkLift/ForkLiftDemo.h
../Tutorial/Tutorial.cpp ../Tutorial/Tutorial.cpp
../Tutorial/Tutorial.h ../Tutorial/Tutorial.h
../Tutorial/Dof6ConstraintTutorial.cpp
../Tutorial/Dof6ConstraintTutorial.h
../GyroscopicDemo/GyroscopicSetup.cpp ../GyroscopicDemo/GyroscopicSetup.cpp
../GyroscopicDemo/GyroscopicSetup.h ../GyroscopicDemo/GyroscopicSetup.h
../Planar2D/Planar2D.cpp ../Planar2D/Planar2D.cpp

3
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -39,6 +39,7 @@
#include "../Constraints/TestHingeTorque.h" #include "../Constraints/TestHingeTorque.h"
#include "../RenderingExamples/TimeSeriesExample.h" #include "../RenderingExamples/TimeSeriesExample.h"
#include "../Tutorial/Tutorial.h" #include "../Tutorial/Tutorial.h"
#include "../Tutorial/Dof6ConstraintTutorial.h"
#ifdef ENABLE_LUA #ifdef ENABLE_LUA
#include "../LuaDemo/LuaPhysicsSetup.h" #include "../LuaDemo/LuaPhysicsSetup.h"
@@ -110,7 +111,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Tutorial"), ExampleEntry(0,"Tutorial"),
ExampleEntry(1,"Free Rigid Body","(Preliminary work in progress) Free moving rigid body, without external or constraint forces", TutorialCreateFunc,0), ExampleEntry(1,"Free Rigid Body","(Preliminary work in progress) Free moving rigid body, without external or constraint forces", TutorialCreateFunc,0),
ExampleEntry(1,"Spring constraint","A rigid body with a spring constraint attached", Dof6ConstraintTutorialCreateFunc,0),
#ifdef INCLUDE_CLOTH_DEMOS #ifdef INCLUDE_CLOTH_DEMOS
ExampleEntry(0,"Soft Body"), ExampleEntry(0,"Soft Body"),

12
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -58,6 +58,7 @@ static int sCurrentDemoIndex = -1;
static int sCurrentHightlighted = 0; static int sCurrentHightlighted = 0;
static CommonExampleInterface* sCurrentDemo = 0; static CommonExampleInterface* sCurrentDemo = 0;
static b3AlignedObjectArray<const char*> allNames; static b3AlignedObjectArray<const char*> allNames;
static float gFixedTimeStep = 0;
static class ExampleEntries* gAllExamples=0; static class ExampleEntries* gAllExamples=0;
bool sUseOpenGL2 = false; bool sUseOpenGL2 = false;
@@ -358,6 +359,8 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
fprintf(f,"--background_color_red= %f\n", red); fprintf(f,"--background_color_red= %f\n", red);
fprintf(f,"--background_color_green= %f\n", green); fprintf(f,"--background_color_green= %f\n", green);
fprintf(f,"--background_color_blue= %f\n", blue); fprintf(f,"--background_color_blue= %f\n", blue);
fprintf(f,"--fixed_timestep= %f\n", gFixedTimeStep);
if (enable_experimental_opencl) if (enable_experimental_opencl)
{ {
@@ -663,6 +666,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
loadCurrentSettings(startFileName, args); loadCurrentSettings(startFileName, args);
args.GetCmdLineArgument("fixed_timestep",gFixedTimeStep);
///The OpenCL rigid body pipeline is experimental and ///The OpenCL rigid body pipeline is experimental and
///most OpenCL drivers and OpenCL compilers have issues with our kernels. ///most OpenCL drivers and OpenCL compilers have issues with our kernels.
@@ -984,7 +988,13 @@ void OpenGLExampleBrowser::update(float deltaTime)
} }
sCurrentDemo->stepSimulation(deltaTime);//1./60.f); if (gFixedTimeStep>0)
{
sCurrentDemo->stepSimulation(gFixedTimeStep);
} else
{
sCurrentDemo->stepSimulation(deltaTime);//1./60.f);
}
} }
if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0)) if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))

2
examples/RenderingExamples/TimeSeriesCanvas.cpp
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@@ -95,7 +95,7 @@ void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char
int numSources = m_internalData->m_dataSources.size(); int numSources = m_internalData->m_dataSources.size();
int row = numSources%3; int row = numSources%3;
int column = numSources/3; int column = numSources/3;
grapicalPrintf(dataSourceLabel, sTimeSeriesFontData, 30+200*column,m_internalData->m_height-48+row*16, grapicalPrintf(dataSourceLabel, sTimeSeriesFontData, 50+200*column,m_internalData->m_height-48+row*16,
red, green,blue,255); red, green,blue,255);
} }

533
examples/Tutorial/Dof6ConstraintTutorial.cpp Normal file
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@@ -0,0 +1,533 @@
#include "Dof6ConstraintTutorial.h"
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "../RenderingExamples/TimeSeriesCanvas.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923
#endif
#ifndef M_PI_4
#define M_PI_4 0.785398163397448309616
#endif
extern float g_additionalBodyMass;
//comment this out to compare with original spring constraint
#define USE_6DOF2
#ifdef USE_6DOF2
#define CONSTRAINT_TYPE btGeneric6DofSpring2Constraint
#define EXTRAPARAMS
#else
#define CONSTRAINT_TYPE btGeneric6DofSpringConstraint
#define EXTRAPARAMS ,true
#endif
#include "../CommonInterfaces/CommonRigidBodyBase.h"
struct Dof6ConstraintTutorial : public CommonRigidBodyBase
{
struct Dof6ConstraintTutorialInternalData* m_data;
Dof6ConstraintTutorial(struct GUIHelperInterface* helper);
virtual ~Dof6ConstraintTutorial();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
void animate();
virtual void resetCamera()
{
float dist = 5;
float pitch = 722;
float yaw = 35;
float targetPos[3]={4,2,-11};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
struct Dof6ConstraintTutorialInternalData
{
btRigidBody* m_TranslateSpringBody;
btRigidBody* m_TranslateSpringBody2;
btRigidBody* m_RotateSpringBody;
btRigidBody* m_RotateSpringBody2;
btRigidBody* m_BouncingTranslateBody;
btRigidBody* m_MotorBody;
btRigidBody* m_ServoMotorBody;
btRigidBody* m_ChainLeftBody;
btRigidBody* m_ChainRightBody;
CONSTRAINT_TYPE* m_ServoMotorConstraint;
CONSTRAINT_TYPE* m_ChainLeftConstraint;
CONSTRAINT_TYPE* m_ChainRightConstraint;
TimeSeriesCanvas* m_timeSeriesCanvas;
float mDt;
unsigned int frameID;
Dof6ConstraintTutorialInternalData()
: mDt(1./60.),frameID(0)
{
}
};
Dof6ConstraintTutorial::Dof6ConstraintTutorial(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper)
{
m_data = new Dof6ConstraintTutorialInternalData;
m_data->m_timeSeriesCanvas = new TimeSeriesCanvas(helper->get2dCanvasInterface(),256,256,"Position and Velocity");
m_data->m_timeSeriesCanvas ->setupTimeSeries(20,100, 0);
m_data->m_timeSeriesCanvas->addDataSource("X position (m)", 255,0,0);
m_data->m_timeSeriesCanvas->addDataSource("X velocity (m/s)", 0,0,255);
m_data->m_timeSeriesCanvas->addDataSource("dX/dt (m/s)", 0,0,0);
}
Dof6ConstraintTutorial::~Dof6ConstraintTutorial()
{
delete m_data->m_timeSeriesCanvas;
m_data->m_timeSeriesCanvas = 0;
exitPhysics();
delete m_data;
}
void Dof6ConstraintTutorial::initPhysics()
{
// Setup the basic world
m_guiHelper->setUpAxis(1);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
/////// uncomment the corresponding line to test a solver.
//m_solver = new btSequentialImpulseConstraintSolver;
m_solver = new btNNCGConstraintSolver;
//m_solver = new btMLCPSolver(new btSolveProjectedGaussSeidel());
//m_solver = new btMLCPSolver(new btDantzigSolver());
//m_solver = new btMLCPSolver(new btLemkeSolver());
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getDispatchInfo().m_useContinuous = true;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->setGravity(btVector3(0,0,0));
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(5.),btScalar(200.)));
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
btCollisionShape* shape;
btVector3 localInertia(0,0,0);
btDefaultMotionState* motionState;
btTransform bodyTransform;
btScalar mass;
btTransform localA;
btTransform localB;
CONSTRAINT_TYPE* constraint;
//static body centered in the origo
mass = 0.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
localInertia = btVector3(0,0,0);
bodyTransform.setIdentity();
motionState = new btDefaultMotionState(bodyTransform);
btRigidBody* staticBody = new btRigidBody(mass,motionState,shape,localInertia);
m_dynamicsWorld->addRigidBody(staticBody);
/////////// box with undamped translate spring attached to static body
/////////// the box should oscillate left-to-right forever
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(-2,0,-5));
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_TranslateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_TranslateSpringBody->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(m_data->m_TranslateSpringBody);
localA.setIdentity();localA.getOrigin() = btVector3(0,0,-5);
localB.setIdentity();
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_TranslateSpringBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, 1,-1);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 0, 0);
constraint->enableSpring(0, true);
constraint->setStiffness(0, 100);
#ifdef USE_6DOF2
constraint->setDamping(0, 0);
#else
constraint->setDamping(0, 1);
#endif
constraint->setEquilibriumPoint(0, 0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
}
#if 0
/////////// box with rotate spring, attached to static body
/////////// box should swing (rotate) left-to-right forever
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.getBasis().setEulerZYX(0,0,M_PI_2);
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_RotateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_RotateSpringBody->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(m_data->m_RotateSpringBody);
localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
localB.setIdentity();localB.setOrigin(btVector3(0,0.5,0));
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_RotateSpringBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, 0, 0);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 1, -1);
constraint->enableSpring(5, true);
constraint->setStiffness(5, 100);
#ifdef USE_6DOF2
constraint->setDamping(5, 0);
#else
constraint->setDamping(5, 1);
#endif
constraint->setEquilibriumPoint(0, 0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
}
/////////// box with bouncing constraint, translation is bounced at the positive x limit, but not at the negative limit
/////////// bouncing can not be set independently at low and high limits, so two constraints will be created: one that defines the low (non bouncing) limit, and one that defines the high (bouncing) limit
/////////// the box should move to the left (as an impulse will be applied to it periodically) until it reaches its limit, then bounce back
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(0,0,-3));
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_BouncingTranslateBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_BouncingTranslateBody->setActivationState(DISABLE_DEACTIVATION);
m_data->m_BouncingTranslateBody->setDeactivationTime(btScalar(20000000));
m_dynamicsWorld->addRigidBody(m_data->m_BouncingTranslateBody);
localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
localB.setIdentity();
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, -2, SIMD_INFINITY);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, -3, -3);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 0, 0);
#ifdef USE_6DOF2
constraint->setBounce(0,0);
#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
constraint->getTranslationalLimitMotor()->m_restitution = 0.0;
#endif
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, -SIMD_INFINITY, 2);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, -3, -3);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 0, 0);
#ifdef USE_6DOF2
constraint->setBounce(0,1);
#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
constraint->getTranslationalLimitMotor()->m_restitution = 1.0;
#endif
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
}
/////////// box with rotational motor, attached to static body
/////////// the box should rotate around the y axis
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(4,0,0));
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_MotorBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_MotorBody->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(m_data->m_MotorBody);
localA.setIdentity();localA.getOrigin() = btVector3(4,0,0);
localB.setIdentity();
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_MotorBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, 0, 0);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 1,-1);
#ifdef USE_6DOF2
constraint->enableMotor(5,true);
constraint->setTargetVelocity(5,3.f);
constraint->setMaxMotorForce(5,10.f);
#else
constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
#endif
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
}
/////////// box with rotational servo motor, attached to static body
/////////// the box should rotate around the y axis until it reaches its target
/////////// the target will be negated periodically
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(7,0,0));
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_ServoMotorBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_ServoMotorBody->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(m_data->m_ServoMotorBody);
localA.setIdentity();localA.getOrigin() = btVector3(7,0,0);
localB.setIdentity();
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ServoMotorBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, 0, 0);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 1,-1);
#ifdef USE_6DOF2
constraint->enableMotor(5,true);
constraint->setTargetVelocity(5,3.f);
constraint->setMaxMotorForce(5,10.f);
constraint->setServo(5,true);
constraint->setServoTarget(5, M_PI_2);
#else
constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
//servo motor is not implemented in 6dofspring constraint
#endif
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
m_data->m_ServoMotorConstraint = constraint;
}
////////// chain of boxes linked together with fully limited rotational and translational constraints
////////// the chain will be pulled to the left and to the right periodically. They should strictly stick together.
{
btScalar limitConstraintStrength = 0.6;
int bodycount = 10;
btRigidBody* prevBody = 0;
for(int i = 0; i < bodycount; ++i)
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(- i,0,3));
motionState = new btDefaultMotionState(bodyTransform);
btRigidBody* body = new btRigidBody(mass,motionState,shape,localInertia);
body->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(body);
if(prevBody != 0)
{
localB.setIdentity();
localB.setOrigin(btVector3(0.5,0,0));
btTransform localA;
localA.setIdentity();
localA.setOrigin(btVector3(-0.5,0,0));
CONSTRAINT_TYPE* constraint = new CONSTRAINT_TYPE(*prevBody, *body, localA, localB EXTRAPARAMS);
constraint->setLimit(0, -0.01, 0.01);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 0, 0);
for(int a = 0; a < 6; ++a)
{
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.9,a);
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
}
constraint->setDbgDrawSize(btScalar(1.f));
m_dynamicsWorld->addConstraint(constraint, true);
if(i < bodycount - 1)
{
localA.setIdentity();localA.getOrigin() = btVector3(0,0,3);
localB.setIdentity();
CONSTRAINT_TYPE* constraintZY = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
constraintZY->setLimit(0, 1, -1);
constraintZY->setDbgDrawSize(btScalar(1.f));
m_dynamicsWorld->addConstraint(constraintZY, true);
}
}
else
{
localA.setIdentity();localA.getOrigin() = btVector3(bodycount,0,3);
localB.setIdentity();
localB.setOrigin(btVector3(0,0,0));
m_data->m_ChainLeftBody = body;
m_data->m_ChainLeftConstraint = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
m_data->m_ChainLeftConstraint->setLimit(3,0,0);
m_data->m_ChainLeftConstraint->setLimit(4,0,0);
m_data->m_ChainLeftConstraint->setLimit(5,0,0);
for(int a = 0; a < 6; ++a)
{
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
}
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(1.f));
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
}
prevBody = body;
}
m_data->m_ChainRightBody = prevBody;
localA.setIdentity();localA.getOrigin() = btVector3(-bodycount,0,3);
localB.setIdentity();
localB.setOrigin(btVector3(0,0,0));
m_data->m_ChainRightConstraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ChainRightBody, localA, localB EXTRAPARAMS);
m_data->m_ChainRightConstraint->setLimit(3,0,0);
m_data->m_ChainRightConstraint->setLimit(4,0,0);
m_data->m_ChainRightConstraint->setLimit(5,0,0);
for(int a = 0; a < 6; ++a)
{
m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
}
}
#endif
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void Dof6ConstraintTutorial::animate()
{
/////// servo motor: flip its target periodically
#ifdef USE_6DOF2
static float servoNextFrame = -1;
btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
if(servoNextFrame < 0)
{
m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
servoNextFrame = 3.0;
}
servoNextFrame -= m_data->mDt;
#endif
/////// constraint chain: pull the chain left and right periodically
static float chainNextFrame = -1;
static bool left = true;
if(chainNextFrame < 0)
{
if(!left)
{
m_data->m_ChainRightBody->setActivationState(ACTIVE_TAG);
m_dynamicsWorld->removeConstraint(m_data->m_ChainRightConstraint);
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
}
else
{
m_data->m_ChainLeftBody->setActivationState(ACTIVE_TAG);
m_dynamicsWorld->removeConstraint(m_data->m_ChainLeftConstraint);
m_data->m_ChainRightConstraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(m_data->m_ChainRightConstraint, true);
}
chainNextFrame = 3.0;
left = !left;
}
chainNextFrame -= m_data->mDt;
/////// bouncing constraint: push the box periodically
m_data->m_BouncingTranslateBody->setActivationState(ACTIVE_TAG);
static float bounceNextFrame = -1;
if(bounceNextFrame < 0)
{
m_data->m_BouncingTranslateBody->applyCentralImpulse(btVector3(10,0,0));
bounceNextFrame = 3.0;
}
bounceNextFrame -= m_data->mDt;
m_data->frameID++;
}
void Dof6ConstraintTutorial::stepSimulation(float deltaTime)
{
//animate();
float time = m_data->m_timeSeriesCanvas->getCurrentTime();
float prevPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
m_dynamicsWorld->stepSimulation(deltaTime);
float xPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
m_data->m_timeSeriesCanvas->insertDataAtCurrentTime(xPos,0,true);
m_data->m_timeSeriesCanvas->insertDataAtCurrentTime(m_data->m_TranslateSpringBody->getLinearVelocity().x(),1,true);
if (deltaTime>0)
{
m_data->m_timeSeriesCanvas->insertDataAtCurrentTime((xPos-prevPos)/deltaTime,2,true);
}
prevPos = xPos;
m_data->m_timeSeriesCanvas->nextTick();
}
class CommonExampleInterface* Dof6ConstraintTutorialCreateFunc( CommonExampleOptions& options)
{
return new Dof6ConstraintTutorial(options.m_guiHelper);
}

6
examples/Tutorial/Dof6ConstraintTutorial.h Normal file
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#ifndef GENERIC_6DOF_SPRING2_CONSTRAINT_TUTORIAL_H
#define GENERIC_6DOF_SPRING2_CONSTRAINT_TUTORIAL_H
class CommonExampleInterface* Dof6ConstraintTutorialCreateFunc(struct CommonExampleOptions& options);
#endif //GENERIC_6DOF_SPRING2_CONSTRAINT_TUTORIAL_H