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Improved Slider, Hinge and Generic6DOF constraint setup.

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Turned on by default, use m_useOffsetForConstraintFrame = false to use old setup
Use "O" (capital 'o') button to toggle it in SliderConstraintDemo and ConstraintDemo

Total applied impulse copied back from btSolverConstraint to btTypedConstraint
This commit is contained in:
rponom
2009-11-25 23:52:12 +00:00
parent eea73bc76a
commit f919baf03d
15 changed files with 1082 additions and 114 deletions
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138
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@@ -30,6 +30,8 @@ subject to the following restrictions:
const int numObjects = 3;
#define ENABLE_ALL_DEMOS 1
#define CUBE_HALF_EXTENTS 1.f
#define M_PI 3.1415926f
@@ -43,6 +45,8 @@ btVector3 hiSliderLimit = btVector3(10,0,0);
btRigidBody* d6body0 =0;
btHingeConstraint* spDoorHinge = NULL;
btHingeConstraint* spHingeDynAB = NULL;
btGeneric6DofConstraint* spSlider6Dof = NULL;
static bool s_bTestConeTwistMotor = false;
@@ -102,7 +106,7 @@ void ConstraintDemo::initPhysics()
trans.setOrigin(btVector3(0,20,0));
float mass = 1.f;
#if 1
#if ENABLE_ALL_DEMOS
//point to point constraint (ball socket)
{
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
@@ -140,7 +144,7 @@ void ConstraintDemo::initPhysics()
}
#endif
#if 1
#if ENABLE_ALL_DEMOS
//create a slider, using the generic D6 constraint
{
mass = 1.f;
@@ -161,32 +165,34 @@ void ConstraintDemo::initPhysics()
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
frameInA.setOrigin(btVector3(0., 5., 0.));
frameInB.setOrigin(btVector3(0., 5., 0.));
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
slider->setLinearLowerLimit(lowerSliderLimit);
slider->setLinearUpperLimit(hiSliderLimit);
spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
// slider->setAngularLowerLimit(btVector3(-1.5,0,0));
// slider->setAngularUpperLimit(btVector3(1.5,0,0));
// slider->setAngularLowerLimit(btVector3(0,0,0));
// slider->setAngularUpperLimit(btVector3(0,0,0));
slider->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
slider->setAngularUpperLimit(btVector3(1.5,0,0));
// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
slider->getTranslationalLimitMotor()->m_enableMotor[0] = true;
slider->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
slider->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
m_dynamicsWorld->addConstraint(slider);
slider->setDbgDrawSize(btScalar(5.f));
m_dynamicsWorld->addConstraint(spSlider6Dof);
spSlider6Dof->setDbgDrawSize(btScalar(5.f));
}
#endif
#if 1
#if ENABLE_ALL_DEMOS
{ // 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);
@@ -195,7 +201,7 @@ void ConstraintDemo::initPhysics()
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
btRigidBody* pDoorBody = localCreateRigidBody( 1.0, doorTrans, pDoorShape);
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA( 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
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 btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
@@ -203,7 +209,12 @@ void ConstraintDemo::initPhysics()
// spDoorHinge->setLimit( 0.0f, M_PI_2 );
// test problem values
// spDoorHinge->setLimit( -M_PI, M_PI*0.8f);
spDoorHinge->setLimit( -M_PI*0.8f, M_PI);
// spDoorHinge->setLimit( 1.f, -1.f);
// spDoorHinge->setLimit( -M_PI*0.8f, M_PI);
// spDoorHinge->setLimit( -M_PI*0.8f, M_PI, 0.9f, 0.3f, 0.0f);
// spDoorHinge->setLimit( -M_PI*0.8f, M_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge->setLimit( -M_PI * 0.25f, M_PI * 0.25f );
// spDoorHinge->setLimit( 0.0f, 0.0f );
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));
@@ -212,7 +223,7 @@ void ConstraintDemo::initPhysics()
//btRigidBody* pDropBody = localCreateRigidBody( 10.0, doorTrans, shape);
}
#endif
#if 1
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint
btTransform tr;
@@ -227,7 +238,8 @@ void ConstraintDemo::initPhysics()
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
btRigidBody* pBodyB = localCreateRigidBody(mass, tr, shape);
// btRigidBody* pBodyB = localCreateRigidBody(0.f, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
@@ -240,7 +252,7 @@ void ConstraintDemo::initPhysics()
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
@@ -268,12 +280,16 @@ void ConstraintDemo::initPhysics()
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
m_dynamicsWorld->addConstraint(pGen6DOF, true);
pGen6DOF->setDbgDrawSize(btScalar(5.f));
}
#endif
#if 1
#if ENABLE_ALL_DEMOS
{ // create a ConeTwist constraint
btTransform tr;
@@ -308,7 +324,7 @@ void ConstraintDemo::initPhysics()
s_bTestConeTwistMotor = false;
}
#endif
#if 1
#if ENABLE_ALL_DEMOS
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
btTransform tr;
tr.setIdentity();
@@ -326,7 +342,7 @@ void ConstraintDemo::initPhysics()
}
#endif
#if 1
#if ENABLE_ALL_DEMOS
{
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
@@ -356,7 +372,7 @@ void ConstraintDemo::initPhysics()
}
#endif
#if 1
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint with springs
btTransform tr;
@@ -397,7 +413,7 @@ void ConstraintDemo::initPhysics()
pGen6DOFSpring->setEquilibriumPoint();
}
#endif
#if 1
#if ENABLE_ALL_DEMOS
{
// create a Hinge2 joint
// create two rigid bodies
@@ -425,7 +441,34 @@ void ConstraintDemo::initPhysics()
pHinge2->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyA = localCreateRigidBody( 1.0f, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB:
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyB = localCreateRigidBody(10.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some data to build constraint frames
btVector3 axisA(0.f, 1.f, 0.f);
btVector3 axisB(0.f, 1.f, 0.f);
btVector3 pivotA(-5.f, 0.f, 0.f);
btVector3 pivotB( 5.f, 0.f, 0.f);
spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB->setDbgDrawSize(btScalar(5.f));
}
#endif
}
ConstraintDemo::~ConstraintDemo()
@@ -570,3 +613,42 @@ void ConstraintDemo::displayCallback(void) {
}
void ConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
{
(void)x;
(void)y;
switch (key)
{
case 'O' :
{
bool offectOnOff;
if(spDoorHinge)
{
offectOnOff = spDoorHinge->getUseFrameOffset();
offectOnOff = !offectOnOff;
spDoorHinge->setUseFrameOffset(offectOnOff);
printf("DoorHinge %s frame offset\n", offectOnOff ? "uses" : "does not use");
}
if(spHingeDynAB)
{
offectOnOff = spHingeDynAB->getUseFrameOffset();
offectOnOff = !offectOnOff;
spHingeDynAB->setUseFrameOffset(offectOnOff);
printf("HingeDynAB %s frame offset\n", offectOnOff ? "uses" : "does not use");
}
if(spSlider6Dof)
{
offectOnOff = spSlider6Dof->getUseFrameOffset();
offectOnOff = !offectOnOff;
spSlider6Dof->setUseFrameOffset(offectOnOff);
printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
}
}
break;
default :
{
DemoApplication::keyboardCallback(key, x, y);
}
break;
}
}

2
Demos/ConstraintDemo/ConstraintDemo.h
View File

@@ -50,6 +50,8 @@ class ConstraintDemo : public GlutDemoApplication
return demo;
}
virtual void keyboardCallback(unsigned char key, int x, int y);
// for cone-twist motor driving
float m_Time;
class btConeTwistConstraint* m_ctc;

2
Demos/OpenGL/DemoApplication.h
View File

@@ -151,7 +151,7 @@ public:
m_forwardAxis = axis;
}
void myinit();
virtual void myinit();
void toggleIdle();

106
Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
View File

@@ -43,6 +43,8 @@ April 24, 2008
#define CUBE_HALF_EXTENTS 1.f
#define SLIDER_ENABLE_ALL_DEMOS 1
// A couple of sliders
@@ -166,7 +168,7 @@ void SliderConstraintDemo::initPhysics()
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
groundTransform.setOrigin(btVector3(0,-76,0));
btRigidBody* groundBody = localCreateRigidBody(0, groundTransform, groundShape);
// add box shape (will be reused for all bodies)
@@ -178,21 +180,25 @@ void SliderConstraintDemo::initPhysics()
// add dynamic rigid body A1
btTransform trans;
trans.setIdentity();
btVector3 worldPos(0,0,0);
btVector3 worldPos(-20,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-10,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
#if SLIDER_ENABLE_ALL_DEMOS
btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape);
// btRigidBody* pRbA1 = localCreateRigidBody(0.f, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-30,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape);
// btRigidBody* pRbB1 = localCreateRigidBody(0.f, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
#if SLIDER_DEMO_USE_6DOF
spSlider1 = new btGeneric6DofConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
@@ -220,19 +226,39 @@ void SliderConstraintDemo::initPhysics()
m_dynamicsWorld->addConstraint(spSlider1, true);
spSlider1->setDbgDrawSize(btScalar(5.f));
#endif
#if SLIDER_ENABLE_ALL_DEMOS
// add kinematic rigid body A2
worldPos.setValue(0,2,0);
// worldPos.setValue(20,4,0);
worldPos.setValue(5,-20,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA2 = localCreateRigidBody(0., trans, shape);
// btRigidBody* pRbA2 = localCreateRigidBody(mass, trans, shape);
// btRigidBody* pRbA2 = localCreateRigidBody(mass * 10000, trans, shape);
pRbA2->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B2
worldPos.setValue(-10,2,0);
// worldPos.setValue(-20,4,0);
worldPos.setValue(-5,-20,0);
trans.setOrigin(worldPos);
// btRigidBody* pRbB2 = localCreateRigidBody(0., trans, shape);
btRigidBody* pRbB2 = localCreateRigidBody(mass, trans, shape);
// btRigidBody* pRbB2 = localCreateRigidBody(mass * 10000, trans, shape);
pRbB2->setActivationState(DISABLE_DEACTIVATION);
// frameInA.getBasis().setEulerZYX(1.f, 1.f, 1.f);
// frameInB.getBasis().setEulerZYX(1.f, 1.f, 1.f);
// frameInA.getBasis().setEulerZYX(1.f, 1.f, 1.f);
// frameInB.getBasis().setEulerZYX(1.f, 1.f, 1.f);
// frameInA.setOrigin(btVector3(-20., 5., 0));
// frameInB.setOrigin(btVector3( 20., 5., 0));
frameInA.setOrigin(btVector3(-5., 20., 0));
frameInB.setOrigin(btVector3( 5., 20., 0));
// create slider constraint between A2 and B2 and add it to world
#if SLIDER_DEMO_USE_6DOF
spSlider2 = new btGeneric6DofConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
@@ -243,8 +269,10 @@ void SliderConstraintDemo::initPhysics()
#else
spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
// spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, false);
spSlider2->setLowerLinLimit(-25.0F);
spSlider2->setUpperLinLimit(-5.0F);
// spSlider2->setLowerLinLimit(0.0F);
// spSlider2->setUpperLinLimit(0.0F);
spSlider2->setLowerLinLimit(-2.0F);
spSlider2->setUpperLinLimit(2.0F);
// spSlider2->setLowerLinLimit(5.0F);
// spSlider2->setUpperLinLimit(25.0F);
// spSlider2->setUpperLinLimit(-5.0F);
@@ -256,12 +284,17 @@ void SliderConstraintDemo::initPhysics()
// spSlider2->setLowerAngLimit(-SIMD_PI / 2.0F);
// spSlider2->setUpperAngLimit(SIMD_PI / 2.0F);
spSlider2->setLowerAngLimit(-SIMD_PI);
spSlider2->setUpperAngLimit(SIMD_PI *0.8F);
// spSlider2->setLowerAngLimit(-SIMD_PI);
// spSlider2->setUpperAngLimit(SIMD_PI *0.8F);
// spSlider2->setLowerAngLimit(-0.01F);
// spSlider2->setUpperAngLimit(0.01F);
spSlider2->setLowerAngLimit(-1.570796326F * 0.5f);
spSlider2->setUpperAngLimit(1.570796326F * 0.5f);
// spSlider2->setLowerAngLimit(1.F);
// spSlider2->setUpperAngLimit(-1.F);
// spSlider2->setDampingLimLin(0.5f);
@@ -293,22 +326,22 @@ void SliderConstraintDemo::initPhysics()
#endif
m_dynamicsWorld->addConstraint(spSlider2, true);
spSlider2->setDbgDrawSize(btScalar(5.f));
#endif
#if 1
#if SLIDER_ENABLE_ALL_DEMOS
{
// add dynamic rigid body A1
trans.setIdentity();
worldPos.setValue(20,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA3 = localCreateRigidBody(0.0F, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
pRbA3->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(25,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB3 = localCreateRigidBody(mass, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
pRbB3->setActivationState(DISABLE_DEACTIVATION);
btVector3 pivA( 2.5, 0., 0.);
btVector3 pivB(-2.5, 0., 0.);
@@ -319,7 +352,7 @@ void SliderConstraintDemo::initPhysics()
}
#endif
#if 1
#if 0 // SLIDER_ENABLE_ALL_DEMOS
// add dynamic rigid body A4
trans.setIdentity();
worldPos.setValue(20,10,0);
@@ -449,3 +482,30 @@ void SliderConstraintDemo::displayCallback(void)
} // SliderConstraintDemo::displayCallback()
void SliderConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
{
(void)x;
(void)y;
switch (key)
{
case 'O' :
{
bool offectOnOff;
offectOnOff = spSlider1->getUseFrameOffset();
offectOnOff = !offectOnOff;
spSlider1->setUseFrameOffset(offectOnOff);
printf("Slider1 %s frame offset\n", offectOnOff ? "uses" : "does not use");
offectOnOff = spSlider2->getUseFrameOffset();
offectOnOff = !offectOnOff;
spSlider2->setUseFrameOffset(offectOnOff);
printf("Slider2 %s frame offset\n", offectOnOff ? "uses" : "does not use");
}
break;
default :
{
DemoApplication::keyboardCallback(key, x, y);
}
break;
}
}

2
Demos/SliderConstraintDemo/SliderConstraintDemo.h
View File

@@ -64,6 +64,8 @@ class SliderConstraintDemo : public GlutDemoApplication
demo->initPhysics();
return demo;
}
virtual void keyboardCallback(unsigned char key, int x, int y);
};