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add generic btConeTwistConstraint::setLimit, and change defaults for limit drawing

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This commit is contained in:
erwin.coumans
2009-02-04 02:41:16 +00:00
parent 51f46c8acd
commit f4ad4b9d00
3 changed files with 33 additions and 6 deletions
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25
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
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@@ -114,6 +114,31 @@ public:
m_angularOnly = angularOnly;
}
void setLimit(int limitIndex,btScalar limitValue)
{
switch (limitIndex)
{
case 3:
{
m_swingSpan1 = limitValue;
break;
}
case 4:
{
m_swingSpan2 = limitValue;
break;
}
case 5:
{
m_twistSpan = limitValue;
break;
}
default:
{
}
};
}
void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
{
m_swingSpan1 = _swingSpan1;

8
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
View File

@@ -19,6 +19,8 @@ subject to the following restrictions:
static btRigidBody s_fixed(0, 0,0);
#define DEFAULT_DEBUGDRAW_SIZE btScalar(5.f)
btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
:m_userConstraintType(-1),
m_userConstraintId(-1),
@@ -26,7 +28,7 @@ m_constraintType (type),
m_rbA(s_fixed),
m_rbB(s_fixed),
m_appliedImpulse(btScalar(0.)),
m_DbgDrawSize(btScalar(-1.f))
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}
@@ -37,7 +39,7 @@ m_constraintType (type),
m_rbA(rbA),
m_rbB(s_fixed),
m_appliedImpulse(btScalar(0.)),
m_DbgDrawSize(btScalar(-1.f))
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
@@ -51,7 +53,7 @@ m_constraintType (type),
m_rbA(rbA),
m_rbB(rbB),
m_appliedImpulse(btScalar(0.)),
m_DbgDrawSize(btScalar(-1.f))
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));

6
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
View File

@@ -53,7 +53,7 @@ protected:
btRigidBody& m_rbA;
btRigidBody& m_rbB;
btScalar m_appliedImpulse;
btScalar m_DbgDrawSize;
btScalar m_dbgDrawSize;
public:
@@ -165,11 +165,11 @@ public:
void setDbgDrawSize(btScalar dbgDrawSize)
{
m_DbgDrawSize = dbgDrawSize;
m_dbgDrawSize = dbgDrawSize;
}
btScalar getDbgDrawSize()
{
return m_DbgDrawSize;
return m_dbgDrawSize;
}
};