1e13454511
Will also add Erin Catto's local implicit version from the GDC 2015 tutorial Added demo for btGeneric6DofSpring2Constraint, thanks to Gabor Puhr Add gfxBridge.autogenerateGraphicsObjects method for Bullet 2 demos in new framework (need to implement all Bullet 2 collision shape types...) Use 1,1,1 for local scaling in btStaticPlaneShape
129 lines
3.7 KiB
C++
129 lines
3.7 KiB
C++
#include "ConstraintPhysicsSetup.h"
|
|
|
|
ConstraintPhysicsSetup::ConstraintPhysicsSetup()
|
|
{
|
|
}
|
|
ConstraintPhysicsSetup::~ConstraintPhysicsSetup()
|
|
{
|
|
}
|
|
|
|
static btScalar val;
|
|
static btScalar targetVel=0;
|
|
static btScalar maxImpulse=10000;
|
|
static btHingeAccumulatedAngleConstraint* spDoorHinge=0;
|
|
static btScalar actualHingeVelocity=0.f;
|
|
|
|
static btVector3 btAxisA(0,1,0);
|
|
|
|
void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
|
|
{
|
|
val=spDoorHinge->getAccumulatedHingeAngle()*SIMD_DEGS_PER_RAD;
|
|
if (m_dynamicsWorld)
|
|
{
|
|
spDoorHinge->enableAngularMotor(true,targetVel,maxImpulse);
|
|
|
|
m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
|
|
|
|
|
|
btHingeConstraint* hinge = spDoorHinge;
|
|
|
|
if (hinge)
|
|
{
|
|
|
|
const btRigidBody& bodyA = hinge->getRigidBodyA();
|
|
const btRigidBody& bodyB = hinge->getRigidBodyB();
|
|
|
|
|
|
btTransform trA = bodyA.getWorldTransform();
|
|
btVector3 angVelA = bodyA.getAngularVelocity();
|
|
btVector3 angVelB = bodyB.getAngularVelocity();
|
|
|
|
{
|
|
btVector3 ax1 = trA.getBasis()*hinge->getFrameOffsetA().getBasis().getColumn(2);
|
|
btScalar vel = angVelA.dot(ax1);
|
|
vel -= angVelB.dot(ax1);
|
|
printf("hinge velocity (q) = %f\n", vel);
|
|
actualHingeVelocity=vel;
|
|
}
|
|
btVector3 ortho0,ortho1;
|
|
btPlaneSpace1(btAxisA,ortho0,ortho1);
|
|
{
|
|
|
|
btScalar vel2 = angVelA.dot(ortho0);
|
|
vel2 -= angVelB.dot(ortho0);
|
|
printf("hinge orthogonal1 velocity (q) = %f\n", vel2);
|
|
}
|
|
{
|
|
|
|
btScalar vel0 = angVelA.dot(ortho1);
|
|
vel0 -= angVelB.dot(ortho1);
|
|
printf("hinge orthogonal0 velocity (q) = %f\n", vel0);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void ConstraintPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
|
|
{
|
|
gfxBridge.setUpAxis(1);
|
|
|
|
createEmptyDynamicsWorld();
|
|
|
|
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
|
|
int mode = btIDebugDraw::DBG_DrawWireframe
|
|
+btIDebugDraw::DBG_DrawConstraints
|
|
+btIDebugDraw::DBG_DrawConstraintLimits;
|
|
m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
|
|
|
|
|
|
{
|
|
SliderParams slider("target vel",&targetVel);
|
|
slider.m_minVal=-4;
|
|
slider.m_maxVal=4;
|
|
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
|
|
{
|
|
SliderParams slider("max impulse",&maxImpulse);
|
|
slider.m_minVal=0;
|
|
slider.m_maxVal=1000;
|
|
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
|
|
{
|
|
SliderParams slider("actual vel",&actualHingeVelocity);
|
|
slider.m_minVal=-4;
|
|
slider.m_maxVal=4;
|
|
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
|
|
val=1.f;
|
|
{
|
|
SliderParams slider("angle",&val);
|
|
slider.m_minVal=-720;
|
|
slider.m_maxVal=720;
|
|
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
|
|
{ // 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);
|
|
btTransform doorTrans;
|
|
doorTrans.setIdentity();
|
|
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
|
|
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
|
|
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
|
|
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
|
|
|
|
spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA );
|
|
|
|
m_dynamicsWorld->addConstraint(spDoorHinge);
|
|
|
|
spDoorHinge->setDbgDrawSize(btScalar(5.f));
|
|
}
|
|
|
|
gfxBridge.autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
}
|