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fixes in btQuaternion::inverse, fixed in btConeTwistConstraint, RagdollDemo and BenchmarkDemo.

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Some constraint limits for btConeTwistConstraint might need to flip sign now.
This commit is contained in:
erwin.coumans 2008-04-07 21:58:36 +00:00
parent c1a10fd1fe
commit 569a949ae3
4 changed files with 15 additions and 26 deletions
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11
Demos/Benchmarks/BenchmarkDemo.cpp
View File

@ -713,7 +713,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
coneC->setLimit(M_PI_4, M_PI_4, M_PI_2);
m_joints[JOINT_SPINE_HEAD] = coneC;
@ -722,7 +722,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(scale*btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_4*5); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_4*5); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
coneC->setLimit(M_PI_4, M_PI_4, 0);
m_joints[JOINT_LEFT_HIP] = coneC;
@ -739,7 +739,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,M_PI_4); localA.setOrigin(scale*btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_4); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_4); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
coneC->setLimit(M_PI_4, M_PI_4, 0);
m_joints[JOINT_RIGHT_HIP] = coneC;
@ -756,7 +756,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,M_PI); localA.setOrigin(scale*btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
coneC->setLimit(M_PI_2, M_PI_2, 0);
m_joints[JOINT_LEFT_SHOULDER] = coneC;
@ -774,7 +774,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,0); localA.setOrigin(scale*btVector3(btScalar(0.2), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
coneC->setLimit(M_PI_2, M_PI_2, 0);
m_joints[JOINT_RIGHT_SHOULDER] = coneC;
@ -1181,3 +1181,4 @@ void BenchmarkDemo::exitPhysics()

11
Demos/RagdollDemo/RagdollDemo.cpp
View File

@ -202,7 +202,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
coneC->setLimit(M_PI_4, M_PI_4, M_PI_2);
m_joints[JOINT_SPINE_HEAD] = coneC;
@ -211,7 +211,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_4*5); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_4*5); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
coneC->setLimit(M_PI_4, M_PI_4, 0);
m_joints[JOINT_LEFT_HIP] = coneC;
@ -228,7 +228,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,M_PI_4); localA.setOrigin(btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_4); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_4); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
coneC->setLimit(M_PI_4, M_PI_4, 0);
m_joints[JOINT_RIGHT_HIP] = coneC;
@ -245,7 +245,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,M_PI); localA.setOrigin(btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
coneC->setLimit(M_PI_2, M_PI_2, 0);
m_joints[JOINT_LEFT_SHOULDER] = coneC;
@ -263,7 +263,7 @@ public:
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,0); localA.setOrigin(btVector3(btScalar(0.2), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
coneC->setLimit(M_PI_2, M_PI_2, 0);
m_joints[JOINT_RIGHT_SHOULDER] = coneC;
@ -468,3 +468,4 @@ void RagdollDemo::exitPhysics()

16
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
View File

@ -33,11 +33,6 @@ btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,
:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
m_angularOnly(false)
{
// flip axis for correct angles
m_rbBFrame.getBasis()[1][0] *= btScalar(-1.);
m_rbBFrame.getBasis()[1][1] *= btScalar(-1.);
m_rbBFrame.getBasis()[1][2] *= btScalar(-1.);
m_swingSpan1 = btScalar(1e30);
m_swingSpan2 = btScalar(1e30);
m_twistSpan = btScalar(1e30);
@ -55,15 +50,6 @@ btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform&
{
m_rbBFrame = m_rbAFrame;
// flip axis for correct angles
m_rbBFrame.getBasis()[1][0] *= btScalar(-1.);
m_rbBFrame.getBasis()[1][1] *= btScalar(-1.);
m_rbBFrame.getBasis()[1][2] *= btScalar(-1.);
m_rbBFrame.getBasis()[2][0] *= btScalar(-1.);
m_rbBFrame.getBasis()[2][1] *= btScalar(-1.);
m_rbBFrame.getBasis()[2][2] *= btScalar(-1.);
m_swingSpan1 = btScalar(1e30);
m_swingSpan2 = btScalar(1e30);
m_twistSpan = btScalar(1e30);
@ -143,7 +129,7 @@ void btConeTwistConstraint::buildJacobian()
btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1);
btScalar RMaxAngle2Sq = 1.0f / (m_swingSpan2*m_swingSpan2);
btScalar EllipseAngle = btFabs(swing1)* RMaxAngle1Sq + btFabs(swing2) * RMaxAngle2Sq;
btScalar EllipseAngle = btFabs(swing1*swing1)* RMaxAngle1Sq + btFabs(swing2*swing2) * RMaxAngle2Sq;
if (EllipseAngle > 1.0f)
{

3
src/LinearMath/btQuaternion.h
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@ -158,7 +158,7 @@ public:
btQuaternion inverse() const
{
return btQuaternion(m_x, m_y, m_z, -m_unusedW);
return btQuaternion(-m_x, -m_y, -m_z, m_unusedW);
}
SIMD_FORCE_INLINE btQuaternion
@ -319,3 +319,4 @@ shortestArcQuatNormalize2(btVector3& v0,btVector3& v1)