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add Vehicles/Hinge2Vehicle demo, based on the ForkLift demo, using btHinge2Constraint with rigid body wheels

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change btHinge2Constraint to derive from new btGeneric6DofSpring2Constraint
This commit is contained in:
erwin coumans
2015-04-28 18:12:49 -07:00
parent df86a69a71
commit f4b0cc85cd
13 changed files with 2430 additions and 8 deletions
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4
src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
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@@ -25,7 +25,7 @@ subject to the following restrictions:
// anchor, axis1 and axis2 are in world coordinate system
// axis1 must be orthogonal to axis2
btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
: btGeneric6DofSpring2Constraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(),RO_XYZ),
m_anchor(anchor),
m_axis1(axis1),
m_axis2(axis2)
@@ -59,7 +59,7 @@ btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVec
setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f));
// enable suspension
enableSpring(2, true);
setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
setStiffness(2, SIMD_PI * SIMD_PI * 4.f);
setDamping(2, 0.01f);
setEquilibriumPoint();
}

4
src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "btTypedConstraint.h"
#include "btGeneric6DofSpringConstraint.h"
#include "btGeneric6DofSpring2Constraint.h"
@@ -29,7 +29,7 @@ subject to the following restrictions:
// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
// 1 translational (along axis Z) with suspension spring
ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpringConstraint
ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpring2Constraint
{
protected:
btVector3 m_anchor;