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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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6
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
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@@ -48,6 +48,7 @@ class btSliderConstraint : public btTypedConstraint
protected:
///for backwards compatibility during the transition to 'getInfo/getInfo2'
bool m_useSolveConstraintObsolete;
bool m_useOffsetForConstraintFrame;
btTransform m_frameInA;
btTransform m_frameInB;
// use frameA fo define limits, if true
@@ -137,6 +138,7 @@ public:
virtual void getInfo2 (btConstraintInfo2* info);
void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
void getInfo2NonVirtualUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
@@ -221,11 +223,13 @@ public:
// shared code used by ODE solver
void calculateTransforms(const btTransform& transA,const btTransform& transB);
void testLinLimits();
void testLinLimits2(btConstraintInfo2* info);
void testAngLimits();
// access for PE Solver
btVector3 getAncorInA();
btVector3 getAncorInB();
// access for UseFrameOffset
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
};