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add very basic multibody vehicle

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tweak finite element experiment with parameter
This commit is contained in:
Erwin Coumans
2014-10-31 14:14:45 -07:00
parent 91bcb055db
commit eac8b32782
9 changed files with 486 additions and 348 deletions
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204
Demos3/bullet2/ConstraintDemo/ConstraintPhysicsSetup.cpp
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@@ -1,77 +1,127 @@
#include "ConstraintPhysicsSetup.h"
ConstraintPhysicsSetup::ConstraintPhysicsSetup()
{
}
ConstraintPhysicsSetup::~ConstraintPhysicsSetup()
{
}
btScalar val;
btHingeAccumulatedAngleConstraint* spDoorHinge=0;
void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
{
val=spDoorHinge->getAccumulatedHingeAngle()*SIMD_DEGS_PER_RAD;// spDoorHinge->getHingeAngle()*SIMD_DEGS_PER_RAD;
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(deltaTime);
}
}
#include "Bullet3Common/b3Logging.h"
void ConstraintPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
b3Printf(__FILE__);
gfxBridge.setUpAxis(1);
createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
int mode = btIDebugDraw::DBG_DrawWireframe
+btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawConstraintLimits;
m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
val=1.f;
SliderParams slider("hinge angle",&val);
slider.m_minVal=-720;
slider.m_maxVal=720;
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
{ // create a door using hinge constraint attached to the world
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.push_back(pDoorShape);
btTransform doorTrans;
doorTrans.setIdentity();
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA );
spDoorHinge->setParam(BT_CONSTRAINT_ERP,0.5);
btScalar erp = spDoorHinge->getParam(BT_CONSTRAINT_ERP);
// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
// test problem values
// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
// spDoorHinge->setLimit( 1.f, -1.f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
// spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
// spDoorHinge->setLimit( 0.0f, 0.0f );
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));
//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
//btRigidBody* pDropBody = localCreateRigidBody( 10.0, doorTrans, shape);
}
}
#include "ConstraintPhysicsSetup.h"
ConstraintPhysicsSetup::ConstraintPhysicsSetup()
{
}
ConstraintPhysicsSetup::~ConstraintPhysicsSetup()
{
}
static btScalar val;
static btScalar targetVel=0;
static btScalar maxImpulse=10000;
static btHingeAccumulatedAngleConstraint* spDoorHinge=0;
static btScalar actualHingeVelocity=0.f;
static btVector3 btAxisA(0,1,0);
void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
{
val=spDoorHinge->getAccumulatedHingeAngle()*SIMD_DEGS_PER_RAD;
if (m_dynamicsWorld)
{
spDoorHinge->enableAngularMotor(true,targetVel,maxImpulse);
m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
btHingeConstraint* hinge = spDoorHinge;
if (hinge)
{
const btRigidBody& bodyA = hinge->getRigidBodyA();
const btRigidBody& bodyB = hinge->getRigidBodyB();
btTransform trA = bodyA.getWorldTransform();
btVector3 angVelA = bodyA.getAngularVelocity();
btVector3 angVelB = bodyB.getAngularVelocity();
{
btVector3 ax1 = trA.getBasis()*hinge->getFrameOffsetA().getBasis().getColumn(2);
btScalar vel = angVelA.dot(ax1);
vel -= angVelB.dot(ax1);
printf("hinge velocity (q) = %f\n", vel);
actualHingeVelocity=vel;
}
btVector3 ortho0,ortho1;
btPlaneSpace1(btAxisA,ortho0,ortho1);
{
btScalar vel2 = angVelA.dot(ortho0);
vel2 -= angVelB.dot(ortho0);
printf("hinge orthogonal1 velocity (q) = %f\n", vel2);
}
{
btScalar vel0 = angVelA.dot(ortho1);
vel0 -= angVelB.dot(ortho1);
printf("hinge orthogonal0 velocity (q) = %f\n", vel0);
}
}
}
}
void ConstraintPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.setUpAxis(1);
createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
int mode = btIDebugDraw::DBG_DrawWireframe
+btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawConstraintLimits;
m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
{
SliderParams slider("target vel",&targetVel);
slider.m_minVal=-4;
slider.m_maxVal=4;
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("max impulse",&maxImpulse);
slider.m_minVal=0;
slider.m_maxVal=1000;
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("actual vel",&actualHingeVelocity);
slider.m_minVal=-4;
slider.m_maxVal=4;
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
}
val=1.f;
{
SliderParams slider("angle",&val);
slider.m_minVal=-720;
slider.m_maxVal=720;
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
}
{ // create a door using hinge constraint attached to the world
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.push_back(pDoorShape);
btTransform doorTrans;
doorTrans.setIdentity();
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA );
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));
}
}