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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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30
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -221,20 +221,22 @@ This brings support for limit parameters and motors. </li>
<li> Angulars limits have these possible ranges:
<table border=1 >
<tr
<tr>
<td><b>AXIS</b></td>
<td><b>MIN ANGLE</b></td>
<td><b>MAX ANGLE</b></td>
</tr><tr>
<td>X</td>
<td>-PI</td>
<td>PI</td>
<td>-PI</td>
<td>PI</td>
</tr><tr>
<td>Y</td>
<td>-PI/2</td>
<td>PI/2</td>
<td>-PI/2</td>
<td>PI/2</td>
</tr><tr>
<td>Z</td>
<td>-PI/2</td>
<td>PI/2</td>
<td>-PI</td>
<td>PI</td>
</tr>
</table>
</li>
@@ -278,10 +280,14 @@ protected:
btVector3 m_calculatedAxisAngleDiff;
btVector3 m_calculatedAxis[3];
btVector3 m_calculatedLinearDiff;
btScalar m_factA;
btScalar m_factB;
bool m_hasStaticBody;
btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
bool m_useLinearReferenceFrameA;
bool m_useOffsetForConstraintFrame;
//!@}
@@ -295,7 +301,7 @@ protected:
int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
int setLinearLimits(btConstraintInfo2 *info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
void buildLinearJacobian(
btJacobianEntry & jacLinear,const btVector3 & normalWorld,
@@ -485,7 +491,13 @@ public:
const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational);
int get_limit_motor_info2UsingFrameOffset( btRotationalLimitMotor * limot,
const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed);
// access for UseFrameOffset
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
};