70 lines
2.4 KiB
C++
70 lines
2.4 KiB
C++
#include "ConstraintPhysicsSetup.h"
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ConstraintPhysicsSetup::ConstraintPhysicsSetup()
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{
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}
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ConstraintPhysicsSetup::~ConstraintPhysicsSetup()
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{
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}
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btScalar val;
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btHingeAccumulatedAngleConstraint* spDoorHinge=0;
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void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
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{
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val=spDoorHinge->getAccumulatedHingeAngle()*SIMD_DEGS_PER_RAD;// spDoorHinge->getHingeAngle()*SIMD_DEGS_PER_RAD;
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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}
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void ConstraintPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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createEmptyDynamicsWorld();
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gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
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int mode = btIDebugDraw::DBG_DrawWireframe
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+btIDebugDraw::DBG_DrawConstraints
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+btIDebugDraw::DBG_DrawConstraintLimits;
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
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val=1.f;
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SliderParams slider("hinge angle",&val);
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slider.m_minVal=-720;
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slider.m_maxVal=720;
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gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
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{ // create a door using hinge constraint attached to the world
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btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
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m_collisionShapes.push_back(pDoorShape);
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btTransform doorTrans;
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doorTrans.setIdentity();
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doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
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btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
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pDoorBody->setActivationState(DISABLE_DEACTIVATION);
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const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
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btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
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spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA );
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// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
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// test problem values
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// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
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// spDoorHinge->setLimit( 1.f, -1.f);
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// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
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// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
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// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
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// spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
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// spDoorHinge->setLimit( 0.0f, 0.0f );
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m_dynamicsWorld->addConstraint(spDoorHinge);
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spDoorHinge->setDbgDrawSize(btScalar(5.f));
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//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
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//btRigidBody* pDropBody = localCreateRigidBody( 10.0, doorTrans, shape);
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}
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} |