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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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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);
};