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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
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@@ -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;
}
}