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Code Issues Releases Wiki Activity

clean up: reverted some unnecessary changes

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This commit is contained in:
jingyuc 2022-01-30 17:41:44 -08:00
parent fbeafa0249
commit bfef75f871
5 changed files with 425 additions and 429 deletions
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2
build_cmake_pybullet_double.sh
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@ -5,7 +5,7 @@ if [ -e CMakeCache.txt ]; then
fi fi
mkdir -p build_cmake mkdir -p build_cmake
cd build_cmake cd build_cmake
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DBT_USE_EGL=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE:FILEPATH=/opt/homebrew/Caskroom/miniforge/base/bin/python3 -DPYTHON_INCLUDE_DIR:PATH=/opt/homebrew/Caskroom/miniforge/base/include/python3.9 -DPYTHON_LIBRARY:FILEPATH=/opt/homebrew/Caskroom/miniforge/base/lib/libpython3.9.dylib .. || exit 1 cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DBT_USE_EGL=ON -DCMAKE_BUILD_TYPE=Release .. || exit 1
make -j $(command nproc 2>/dev/null || echo 12) || exit 1 make -j $(command nproc 2>/dev/null || echo 12) || exit 1
cd examples cd examples
cd pybullet cd pybullet

824
examples/Constraints/ConstraintDemo.cpp
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@ -111,93 +111,93 @@ void AllConstraintDemo::initPhysics()
float mass = 1.f; float mass = 1.f;
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// ///gear constraint demo ///gear constraint demo
// #define THETA SIMD_PI / 4.f #define THETA SIMD_PI / 4.f
// #define L_1 (2 - std::tan(THETA)) #define L_1 (2 - std::tan(THETA))
// #define L_2 (1 / std::cos(THETA)) #define L_2 (1 / std::cos(THETA))
// #define RATIO L_2 / L_1 #define RATIO L_2 / L_1
// btRigidBody* bodyA = 0; btRigidBody* bodyA = 0;
// btRigidBody* bodyB = 0; btRigidBody* bodyB = 0;
// { {
// btCollisionShape* cylA = new btCylinderShape(btVector3(0.2, 0.25, 0.2)); btCollisionShape* cylA = new btCylinderShape(btVector3(0.2, 0.25, 0.2));
// btCollisionShape* cylB = new btCylinderShape(btVector3(L_1, 0.025, L_1)); btCollisionShape* cylB = new btCylinderShape(btVector3(L_1, 0.025, L_1));
// btCompoundShape* cyl0 = new btCompoundShape(); btCompoundShape* cyl0 = new btCompoundShape();
// cyl0->addChildShape(btTransform::getIdentity(), cylA); cyl0->addChildShape(btTransform::getIdentity(), cylA);
// cyl0->addChildShape(btTransform::getIdentity(), cylB); cyl0->addChildShape(btTransform::getIdentity(), cylB);
// btScalar mass = 6.28; btScalar mass = 6.28;
// btVector3 localInertia; btVector3 localInertia;
// cyl0->calculateLocalInertia(mass, localInertia); cyl0->calculateLocalInertia(mass, localInertia);
// btRigidBody::btRigidBodyConstructionInfo ci(mass, 0, cyl0, localInertia); btRigidBody::btRigidBodyConstructionInfo ci(mass, 0, cyl0, localInertia);
// ci.m_startWorldTransform.setOrigin(btVector3(-8, 1, -8)); ci.m_startWorldTransform.setOrigin(btVector3(-8, 1, -8));
// btRigidBody* body = new btRigidBody(ci); //1,0,cyl0,localInertia); btRigidBody* body = new btRigidBody(ci); //1,0,cyl0,localInertia);
// m_dynamicsWorld->addRigidBody(body); m_dynamicsWorld->addRigidBody(body);
// body->setLinearFactor(btVector3(0, 0, 0)); body->setLinearFactor(btVector3(0, 0, 0));
// body->setAngularFactor(btVector3(0, 1, 0)); body->setAngularFactor(btVector3(0, 1, 0));
// bodyA = body; bodyA = body;
// } }
// { {
// btCollisionShape* cylA = new btCylinderShape(btVector3(0.2, 0.26, 0.2)); btCollisionShape* cylA = new btCylinderShape(btVector3(0.2, 0.26, 0.2));
// btCollisionShape* cylB = new btCylinderShape(btVector3(L_2, 0.025, L_2)); btCollisionShape* cylB = new btCylinderShape(btVector3(L_2, 0.025, L_2));
// btCompoundShape* cyl0 = new btCompoundShape(); btCompoundShape* cyl0 = new btCompoundShape();
// cyl0->addChildShape(btTransform::getIdentity(), cylA); cyl0->addChildShape(btTransform::getIdentity(), cylA);
// cyl0->addChildShape(btTransform::getIdentity(), cylB); cyl0->addChildShape(btTransform::getIdentity(), cylB);
// btScalar mass = 6.28; btScalar mass = 6.28;
// btVector3 localInertia; btVector3 localInertia;
// cyl0->calculateLocalInertia(mass, localInertia); cyl0->calculateLocalInertia(mass, localInertia);
// btRigidBody::btRigidBodyConstructionInfo ci(mass, 0, cyl0, localInertia); btRigidBody::btRigidBodyConstructionInfo ci(mass, 0, cyl0, localInertia);
// ci.m_startWorldTransform.setOrigin(btVector3(-10, 2, -8)); ci.m_startWorldTransform.setOrigin(btVector3(-10, 2, -8));
// btQuaternion orn(btVector3(0, 0, 1), -THETA); btQuaternion orn(btVector3(0, 0, 1), -THETA);
// ci.m_startWorldTransform.setRotation(orn); ci.m_startWorldTransform.setRotation(orn);
// btRigidBody* body = new btRigidBody(ci); //1,0,cyl0,localInertia); btRigidBody* body = new btRigidBody(ci); //1,0,cyl0,localInertia);
// body->setLinearFactor(btVector3(0, 0, 0)); body->setLinearFactor(btVector3(0, 0, 0));
// btHingeConstraint* hinge = new btHingeConstraint(*body, btVector3(0, 0, 0), btVector3(0, 1, 0), true); btHingeConstraint* hinge = new btHingeConstraint(*body, btVector3(0, 0, 0), btVector3(0, 1, 0), true);
// m_dynamicsWorld->addConstraint(hinge); m_dynamicsWorld->addConstraint(hinge);
// bodyB = body; bodyB = body;
// body->setAngularVelocity(btVector3(0, 3, 0)); body->setAngularVelocity(btVector3(0, 3, 0));
// m_dynamicsWorld->addRigidBody(body); m_dynamicsWorld->addRigidBody(body);
// } }
// btVector3 axisA(0, 1, 0); btVector3 axisA(0, 1, 0);
// btVector3 axisB(0, 1, 0); btVector3 axisB(0, 1, 0);
// btQuaternion orn(btVector3(0, 0, 1), -THETA); btQuaternion orn(btVector3(0, 0, 1), -THETA);
// btMatrix3x3 mat(orn); btMatrix3x3 mat(orn);
// axisB = mat.getRow(1); axisB = mat.getRow(1);
// btGearConstraint* gear = new btGearConstraint(*bodyA, *bodyB, axisA, axisB, RATIO); btGearConstraint* gear = new btGearConstraint(*bodyA, *bodyB, axisA, axisB, RATIO);
// m_dynamicsWorld->addConstraint(gear, true); m_dynamicsWorld->addConstraint(gear, true);
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// //point to point constraint with a breaking threshold //point to point constraint with a breaking threshold
// { {
// trans.setIdentity(); trans.setIdentity();
// trans.setOrigin(btVector3(1, 30, -5)); trans.setOrigin(btVector3(1, 30, -5));
// createRigidBody(mass, trans, shape); createRigidBody(mass, trans, shape);
// trans.setOrigin(btVector3(0, 0, -5)); trans.setOrigin(btVector3(0, 0, -5));
// btRigidBody* body0 = createRigidBody(mass, trans, shape); btRigidBody* body0 = createRigidBody(mass, trans, shape);
// trans.setOrigin(btVector3(2 * CUBE_HALF_EXTENTS, 20, 0)); trans.setOrigin(btVector3(2 * CUBE_HALF_EXTENTS, 20, 0));
// mass = 1.f; mass = 1.f;
// // btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape); // btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
// btVector3 pivotInA(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, 0); btVector3 pivotInA(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, 0);
// btTypedConstraint* p2p = new btPoint2PointConstraint(*body0, pivotInA); btTypedConstraint* p2p = new btPoint2PointConstraint(*body0, pivotInA);
// m_dynamicsWorld->addConstraint(p2p); m_dynamicsWorld->addConstraint(p2p);
// p2p->setBreakingImpulseThreshold(10.2); p2p->setBreakingImpulseThreshold(10.2);
// p2p->setDbgDrawSize(btScalar(5.f)); p2p->setDbgDrawSize(btScalar(5.f));
// } }
// #endif #endif
#if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
//point to point constraint (ball socket) //point to point constraint (ball socket)
@ -241,391 +241,391 @@ void AllConstraintDemo::initPhysics()
} }
#endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { {
// btTransform trans; btTransform trans;
// trans.setIdentity(); trans.setIdentity();
// btVector3 worldPos(-20, 0, 30); btVector3 worldPos(-20, 0, 30);
// trans.setOrigin(worldPos); trans.setOrigin(worldPos);
// btTransform frameInA, frameInB; btTransform frameInA, frameInB;
// frameInA = btTransform::getIdentity(); frameInA = btTransform::getIdentity();
// frameInB = btTransform::getIdentity(); frameInB = btTransform::getIdentity();
// btRigidBody* pRbA1 = createRigidBody(mass, trans, shape); btRigidBody* pRbA1 = createRigidBody(mass, trans, shape);
// // btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape); // btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape);
// pRbA1->setActivationState(DISABLE_DEACTIVATION); pRbA1->setActivationState(DISABLE_DEACTIVATION);
// // add dynamic rigid body B1 // add dynamic rigid body B1
// worldPos.setValue(-30, 0, 30); worldPos.setValue(-30, 0, 30);
// trans.setOrigin(worldPos); trans.setOrigin(worldPos);
// btRigidBody* pRbB1 = createRigidBody(mass, trans, shape); btRigidBody* pRbB1 = createRigidBody(mass, trans, shape);
// // btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape); // btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape);
// pRbB1->setActivationState(DISABLE_DEACTIVATION); pRbB1->setActivationState(DISABLE_DEACTIVATION);
// // create slider constraint between A1 and B1 and add it to world // create slider constraint between A1 and B1 and add it to world
// btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true); btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
// // spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false); // spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
// spSlider1->setLowerLinLimit(-15.0F); spSlider1->setLowerLinLimit(-15.0F);
// spSlider1->setUpperLinLimit(-5.0F); spSlider1->setUpperLinLimit(-5.0F);
// // spSlider1->setLowerLinLimit(5.0F); // spSlider1->setLowerLinLimit(5.0F);
// // spSlider1->setUpperLinLimit(15.0F); // spSlider1->setUpperLinLimit(15.0F);
// // spSlider1->setLowerLinLimit(-10.0F); // spSlider1->setLowerLinLimit(-10.0F);
// // spSlider1->setUpperLinLimit(-10.0F); // spSlider1->setUpperLinLimit(-10.0F);
// spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F); spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
// spSlider1->setUpperAngLimit(SIMD_PI / 3.0F); spSlider1->setUpperAngLimit(SIMD_PI / 3.0F);
// m_dynamicsWorld->addConstraint(spSlider1, true); m_dynamicsWorld->addConstraint(spSlider1, true);
// spSlider1->setDbgDrawSize(btScalar(5.f)); spSlider1->setDbgDrawSize(btScalar(5.f));
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// //create a slider, using the generic D6 constraint //create a slider, using the generic D6 constraint
// { {
// mass = 1.f; mass = 1.f;
// btVector3 sliderWorldPos(0, 10, 0); btVector3 sliderWorldPos(0, 10, 0);
// btVector3 sliderAxis(1, 0, 0); btVector3 sliderAxis(1, 0, 0);
// btScalar angle = 0.f; //SIMD_RADS_PER_DEG * 10.f; btScalar angle = 0.f; //SIMD_RADS_PER_DEG * 10.f;
// btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis, angle)); btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis, angle));
// trans.setIdentity(); trans.setIdentity();
// trans.setOrigin(sliderWorldPos); trans.setOrigin(sliderWorldPos);
// //trans.setBasis(sliderOrientation); //trans.setBasis(sliderOrientation);
// sliderTransform = trans; sliderTransform = trans;
// d6body0 = createRigidBody(mass, trans, shape); d6body0 = createRigidBody(mass, trans, shape);
// d6body0->setActivationState(DISABLE_DEACTIVATION); d6body0->setActivationState(DISABLE_DEACTIVATION);
// btRigidBody* fixedBody1 = createRigidBody(0, trans, 0); btRigidBody* fixedBody1 = createRigidBody(0, trans, 0);
// m_dynamicsWorld->addRigidBody(fixedBody1); m_dynamicsWorld->addRigidBody(fixedBody1);
// btTransform frameInA, frameInB; btTransform frameInA, frameInB;
// frameInA = btTransform::getIdentity(); frameInA = btTransform::getIdentity();
// frameInB = btTransform::getIdentity(); frameInB = btTransform::getIdentity();
// frameInA.setOrigin(btVector3(0., 5., 0.)); frameInA.setOrigin(btVector3(0., 5., 0.));
// frameInB.setOrigin(btVector3(0., 5., 0.)); frameInB.setOrigin(btVector3(0., 5., 0.));
// // bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits // bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
// bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits
// spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0, frameInA, frameInB, useLinearReferenceFrameA); spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0, frameInA, frameInB, useLinearReferenceFrameA);
// spSlider6Dof->setLinearLowerLimit(lowerSliderLimit); spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
// spSlider6Dof->setLinearUpperLimit(hiSliderLimit); spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
// //range should be small, otherwise singularities will 'explode' the constraint //range should be small, otherwise singularities will 'explode' the constraint
// // spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0)); // spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
// // spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0)); // spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
// // spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0)); // spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
// // spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0)); // spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
// spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI, 0, 0)); spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI, 0, 0));
// spSlider6Dof->setAngularUpperLimit(btVector3(1.5, 0, 0)); spSlider6Dof->setAngularUpperLimit(btVector3(1.5, 0, 0));
// spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true; spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
// spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f; spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
// spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f; spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
// m_dynamicsWorld->addConstraint(spSlider6Dof); m_dynamicsWorld->addConstraint(spSlider6Dof);
// spSlider6Dof->setDbgDrawSize(btScalar(5.f)); spSlider6Dof->setDbgDrawSize(btScalar(5.f));
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { // create a door using hinge constraint attached to the world { // create a door using hinge constraint attached to the world
// btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f)); btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
// m_collisionShapes.push_back(pDoorShape); m_collisionShapes.push_back(pDoorShape);
// btTransform doorTrans; btTransform doorTrans;
// doorTrans.setIdentity(); doorTrans.setIdentity();
// doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f)); doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
// btRigidBody* pDoorBody = createRigidBody(1.0, doorTrans, pDoorShape); btRigidBody* pDoorBody = createRigidBody(1.0, doorTrans, pDoorShape);
// pDoorBody->setActivationState(DISABLE_DEACTIVATION); pDoorBody->setActivationState(DISABLE_DEACTIVATION);
// const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
// btVector3 btAxisA(0.0f, 1.0f, 0.0f); // pointing upwards, aka Y-axis btVector3 btAxisA(0.0f, 1.0f, 0.0f); // pointing upwards, aka Y-axis
// spDoorHinge = new btHingeConstraint(*pDoorBody, btPivotA, btAxisA); spDoorHinge = new btHingeConstraint(*pDoorBody, btPivotA, btAxisA);
// // spDoorHinge->setLimit( 0.0f, SIMD_PI_2 ); // spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
// // test problem values // test problem values
// // spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f); // spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
// // spDoorHinge->setLimit( 1.f, -1.f); // spDoorHinge->setLimit( 1.f, -1.f);
// // spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI); // spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
// // spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f); // spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
// // spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits" // spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
// spDoorHinge->setLimit(-SIMD_PI * 0.25f, SIMD_PI * 0.25f); spDoorHinge->setLimit(-SIMD_PI * 0.25f, SIMD_PI * 0.25f);
// // spDoorHinge->setLimit( 0.0f, 0.0f ); // spDoorHinge->setLimit( 0.0f, 0.0f );
// m_dynamicsWorld->addConstraint(spDoorHinge); m_dynamicsWorld->addConstraint(spDoorHinge);
// spDoorHinge->setDbgDrawSize(btScalar(5.f)); spDoorHinge->setDbgDrawSize(btScalar(5.f));
// //doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f)); //doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
// //btRigidBody* pDropBody = createRigidBody( 10.0, doorTrans, shape); //btRigidBody* pDropBody = createRigidBody( 10.0, doorTrans, shape);
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { // create a generic 6DOF constraint { // create a generic 6DOF constraint
// btTransform tr; btTransform tr;
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
// tr.getBasis().setEulerZYX(0, 0, 0); tr.getBasis().setEulerZYX(0, 0, 0);
// // btRigidBody* pBodyA = createRigidBody( mass, tr, shape); // btRigidBody* pBodyA = createRigidBody( mass, tr, shape);
// btRigidBody* pBodyA = createRigidBody(0.0, tr, shape); btRigidBody* pBodyA = createRigidBody(0.0, tr, shape);
// // btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0); // btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0);
// pBodyA->setActivationState(DISABLE_DEACTIVATION); pBodyA->setActivationState(DISABLE_DEACTIVATION);
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
// tr.getBasis().setEulerZYX(0, 0, 0); tr.getBasis().setEulerZYX(0, 0, 0);
// btRigidBody* pBodyB = createRigidBody(mass, tr, shape); btRigidBody* pBodyB = createRigidBody(mass, tr, shape);
// // btRigidBody* pBodyB = createRigidBody(0.f, tr, shape); // btRigidBody* pBodyB = createRigidBody(0.f, tr, shape);
// pBodyB->setActivationState(DISABLE_DEACTIVATION); pBodyB->setActivationState(DISABLE_DEACTIVATION);
// btTransform frameInA, frameInB; btTransform frameInA, frameInB;
// frameInA = btTransform::getIdentity(); frameInA = btTransform::getIdentity();
// frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.))); frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
// frameInB = btTransform::getIdentity(); frameInB = btTransform::getIdentity();
// frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.))); frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true); btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
// // btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false); // btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
// pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.)); pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
// pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.)); pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
// // pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.)); // pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
// // pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.)); // pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
// // pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.)); // pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
// // pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.)); // pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
// // pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true; // pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
// // pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f; // pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
// // pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f; // pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
// // pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.)); // pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
// // pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.)); // pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
// // pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI)); // pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
// // pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI)); // pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
// pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f)); pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f)); pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
// // pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f)); // pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// // pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f)); // pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// // pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f)); // pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// // pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f)); // pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// // pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5)); // pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
// // pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5)); // pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
// // pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.)); // pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
// // pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.)); // pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
// // pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.)); // pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
// // pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.)); // pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
// // pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.)); // pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
// // pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.)); // pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
// m_dynamicsWorld->addConstraint(pGen6DOF, true); m_dynamicsWorld->addConstraint(pGen6DOF, true);
// pGen6DOF->setDbgDrawSize(btScalar(5.f)); pGen6DOF->setDbgDrawSize(btScalar(5.f));
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { // create a ConeTwist constraint { // create a ConeTwist constraint
// btTransform tr; btTransform tr;
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
// tr.getBasis().setEulerZYX(0, 0, 0); tr.getBasis().setEulerZYX(0, 0, 0);
// btRigidBody* pBodyA = createRigidBody(1.0, tr, shape); btRigidBody* pBodyA = createRigidBody(1.0, tr, shape);
// // btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape); // btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
// pBodyA->setActivationState(DISABLE_DEACTIVATION); pBodyA->setActivationState(DISABLE_DEACTIVATION);
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
// tr.getBasis().setEulerZYX(0, 0, 0); tr.getBasis().setEulerZYX(0, 0, 0);
// btRigidBody* pBodyB = createRigidBody(0.0, tr, shape); btRigidBody* pBodyB = createRigidBody(0.0, tr, shape);
// // btRigidBody* pBodyB = createRigidBody(1.0, tr, shape); // btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
// btTransform frameInA, frameInB; btTransform frameInA, frameInB;
// frameInA = btTransform::getIdentity(); frameInA = btTransform::getIdentity();
// frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2); frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
// frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.))); frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
// frameInB = btTransform::getIdentity(); frameInB = btTransform::getIdentity();
// frameInB.getBasis().setEulerZYX(0, 0, SIMD_PI_2); frameInB.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
// frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.))); frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
// m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB); m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
// // m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f); // m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
// // m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit // m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
// m_ctc->setLimit(btScalar(SIMD_PI_4 * 0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f); m_ctc->setLimit(btScalar(SIMD_PI_4 * 0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
// m_dynamicsWorld->addConstraint(m_ctc, true); m_dynamicsWorld->addConstraint(m_ctc, true);
// m_ctc->setDbgDrawSize(btScalar(5.f)); m_ctc->setDbgDrawSize(btScalar(5.f));
// // s_bTestConeTwistMotor = true; // use only with old solver for now // s_bTestConeTwistMotor = true; // use only with old solver for now
// s_bTestConeTwistMotor = false; s_bTestConeTwistMotor = false;
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver) { // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
// btTransform tr; btTransform tr;
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
// btRigidBody* pBody = createRigidBody(1.0, tr, shape); btRigidBody* pBody = createRigidBody(1.0, tr, shape);
// pBody->setActivationState(DISABLE_DEACTIVATION); pBody->setActivationState(DISABLE_DEACTIVATION);
// const btVector3 btPivotA(10.0f, 0.0f, 0.0f); const btVector3 btPivotA(10.0f, 0.0f, 0.0f);
// btVector3 btAxisA(0.0f, 0.0f, 1.0f); btVector3 btAxisA(0.0f, 0.0f, 1.0f);
// btHingeConstraint* pHinge = new btHingeConstraint(*pBody, btPivotA, btAxisA); btHingeConstraint* pHinge = new btHingeConstraint(*pBody, btPivotA, btAxisA);
// // pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver // pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
// pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
// m_dynamicsWorld->addConstraint(pHinge); m_dynamicsWorld->addConstraint(pHinge);
// pHinge->setDbgDrawSize(btScalar(5.f)); pHinge->setDbgDrawSize(btScalar(5.f));
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { {
// // create a universal joint using generic 6DOF constraint // create a universal joint using generic 6DOF constraint
// // create two rigid bodies // create two rigid bodies
// // static bodyA (parent) on top: // static bodyA (parent) on top:
// btTransform tr; btTransform tr;
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
// btRigidBody* pBodyA = createRigidBody(0.0, tr, shape); btRigidBody* pBodyA = createRigidBody(0.0, tr, shape);
// pBodyA->setActivationState(DISABLE_DEACTIVATION); pBodyA->setActivationState(DISABLE_DEACTIVATION);
// // dynamic bodyB (child) below it : // dynamic bodyB (child) below it :
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.)));
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape); btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
// pBodyB->setActivationState(DISABLE_DEACTIVATION); pBodyB->setActivationState(DISABLE_DEACTIVATION);
// // add some (arbitrary) data to build constraint frames // add some (arbitrary) data to build constraint frames
// btVector3 parentAxis(1.f, 0.f, 0.f); btVector3 parentAxis(1.f, 0.f, 0.f);
// btVector3 childAxis(0.f, 0.f, 1.f); btVector3 childAxis(0.f, 0.f, 1.f);
// btVector3 anchor(20.f, 2.f, 0.f); btVector3 anchor(20.f, 2.f, 0.f);
// btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis); btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
// pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f); pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
// pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f); pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// // add constraint to world // add constraint to world
// m_dynamicsWorld->addConstraint(pUniv, true); m_dynamicsWorld->addConstraint(pUniv, true);
// // draw constraint frames and limits for debugging // draw constraint frames and limits for debugging
// pUniv->setDbgDrawSize(btScalar(5.f)); pUniv->setDbgDrawSize(btScalar(5.f));
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { // create a generic 6DOF constraint with springs { // create a generic 6DOF constraint with springs
// btTransform tr; btTransform tr;
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
// tr.getBasis().setEulerZYX(0, 0, 0); tr.getBasis().setEulerZYX(0, 0, 0);
// btRigidBody* pBodyA = createRigidBody(0.0, tr, shape); btRigidBody* pBodyA = createRigidBody(0.0, tr, shape);
// pBodyA->setActivationState(DISABLE_DEACTIVATION); pBodyA->setActivationState(DISABLE_DEACTIVATION);
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
// tr.getBasis().setEulerZYX(0, 0, 0); tr.getBasis().setEulerZYX(0, 0, 0);
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape); btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
// pBodyB->setActivationState(DISABLE_DEACTIVATION); pBodyB->setActivationState(DISABLE_DEACTIVATION);
// btTransform frameInA, frameInB; btTransform frameInA, frameInB;
// frameInA = btTransform::getIdentity(); frameInA = btTransform::getIdentity();
// frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.))); frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.)));
// frameInB = btTransform::getIdentity(); frameInB = btTransform::getIdentity();
// frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.))); frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
// btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true); btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
// pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.)); pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.));
// pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.)); pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.));
// pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f)); pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f));
// pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f)); pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f));
// m_dynamicsWorld->addConstraint(pGen6DOFSpring, true); m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
// pGen6DOFSpring->setDbgDrawSize(btScalar(5.f)); pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
// pGen6DOFSpring->enableSpring(0, true); pGen6DOFSpring->enableSpring(0, true);
// pGen6DOFSpring->setStiffness(0, 39.478f); pGen6DOFSpring->setStiffness(0, 39.478f);
// pGen6DOFSpring->setDamping(0, 0.5f); pGen6DOFSpring->setDamping(0, 0.5f);
// pGen6DOFSpring->enableSpring(5, true); pGen6DOFSpring->enableSpring(5, true);
// pGen6DOFSpring->setStiffness(5, 39.478f); pGen6DOFSpring->setStiffness(5, 39.478f);
// pGen6DOFSpring->setDamping(0, 0.3f); pGen6DOFSpring->setDamping(0, 0.3f);
// pGen6DOFSpring->setEquilibriumPoint(); pGen6DOFSpring->setEquilibriumPoint();
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { {
// // create a Hinge2 joint // create a Hinge2 joint
// // create two rigid bodies // create two rigid bodies
// // static bodyA (parent) on top: // static bodyA (parent) on top:
// btTransform tr; btTransform tr;
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
// btRigidBody* pBodyA = createRigidBody(0.0, tr, shape); btRigidBody* pBodyA = createRigidBody(0.0, tr, shape);
// pBodyA->setActivationState(DISABLE_DEACTIVATION); pBodyA->setActivationState(DISABLE_DEACTIVATION);
// // dynamic bodyB (child) below it : // dynamic bodyB (child) below it :
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.)));
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape); btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
// pBodyB->setActivationState(DISABLE_DEACTIVATION); pBodyB->setActivationState(DISABLE_DEACTIVATION);
// // add some data to build constraint frames // add some data to build constraint frames
// btVector3 parentAxis(0.f, 1.f, 0.f); btVector3 parentAxis(0.f, 1.f, 0.f);
// btVector3 childAxis(1.f, 0.f, 0.f); btVector3 childAxis(1.f, 0.f, 0.f);
// btVector3 anchor(-20.f, 0.f, 0.f); btVector3 anchor(-20.f, 0.f, 0.f);
// btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis); btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
// pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f); pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
// pHinge2->setUpperLimit(SIMD_HALF_PI * 0.5f); pHinge2->setUpperLimit(SIMD_HALF_PI * 0.5f);
// // add constraint to world // add constraint to world
// m_dynamicsWorld->addConstraint(pHinge2, true); m_dynamicsWorld->addConstraint(pHinge2, true);
// // draw constraint frames and limits for debugging // draw constraint frames and limits for debugging
// pHinge2->setDbgDrawSize(btScalar(5.f)); pHinge2->setDbgDrawSize(btScalar(5.f));
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { {
// // create a Hinge joint between two dynamic bodies // create a Hinge joint between two dynamic bodies
// // create two rigid bodies // create two rigid bodies
// // static bodyA (parent) on top: // static bodyA (parent) on top:
// btTransform tr; btTransform tr;
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
// btRigidBody* pBodyA = createRigidBody(1.0f, tr, shape); btRigidBody* pBodyA = createRigidBody(1.0f, tr, shape);
// pBodyA->setActivationState(DISABLE_DEACTIVATION); pBodyA->setActivationState(DISABLE_DEACTIVATION);
// // dynamic bodyB: // dynamic bodyB:
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
// btRigidBody* pBodyB = createRigidBody(10.0, tr, shape); btRigidBody* pBodyB = createRigidBody(10.0, tr, shape);
// pBodyB->setActivationState(DISABLE_DEACTIVATION); pBodyB->setActivationState(DISABLE_DEACTIVATION);
// // add some data to build constraint frames // add some data to build constraint frames
// btVector3 axisA(0.f, 1.f, 0.f); btVector3 axisA(0.f, 1.f, 0.f);
// btVector3 axisB(0.f, 1.f, 0.f); btVector3 axisB(0.f, 1.f, 0.f);
// btVector3 pivotA(-5.f, 0.f, 0.f); btVector3 pivotA(-5.f, 0.f, 0.f);
// btVector3 pivotB(5.f, 0.f, 0.f); btVector3 pivotB(5.f, 0.f, 0.f);
// spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB); spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
// spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f); spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// // add constraint to world // add constraint to world
// m_dynamicsWorld->addConstraint(spHingeDynAB, true); m_dynamicsWorld->addConstraint(spHingeDynAB, true);
// // draw constraint frames and limits for debugging // draw constraint frames and limits for debugging
// spHingeDynAB->setDbgDrawSize(btScalar(5.f)); spHingeDynAB->setDbgDrawSize(btScalar(5.f));
// } }
// #endif #endif
// #if ENABLE_ALL_DEMOS #if ENABLE_ALL_DEMOS
// { // 6DOF connected to the world, with motor { // 6DOF connected to the world, with motor
// btTransform tr; btTransform tr;
// tr.setIdentity(); tr.setIdentity();
// tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.))); tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.)));
// btRigidBody* pBody = createRigidBody(1.0, tr, shape); btRigidBody* pBody = createRigidBody(1.0, tr, shape);
// pBody->setActivationState(DISABLE_DEACTIVATION); pBody->setActivationState(DISABLE_DEACTIVATION);
// btTransform frameB; btTransform frameB;
// frameB.setIdentity(); frameB.setIdentity();
// btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint(*pBody, frameB, false); btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint(*pBody, frameB, false);
// m_dynamicsWorld->addConstraint(pGen6Dof); m_dynamicsWorld->addConstraint(pGen6Dof);
// pGen6Dof->setDbgDrawSize(btScalar(5.f)); pGen6Dof->setDbgDrawSize(btScalar(5.f));
// pGen6Dof->setAngularLowerLimit(btVector3(0, 0, 0)); pGen6Dof->setAngularLowerLimit(btVector3(0, 0, 0));
// pGen6Dof->setAngularUpperLimit(btVector3(0, 0, 0)); pGen6Dof->setAngularUpperLimit(btVector3(0, 0, 0));
// pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0)); pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0));
// pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0)); pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0));
// pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true; pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
// pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f; pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
// pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f; pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
// } }
// #endif #endif
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
} }

12
examples/ReducedDeformableDemo/ReducedCollide.cpp
View File

@ -209,18 +209,18 @@ void ReducedCollide::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb); getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1); rsb->getCollisionShape()->setMargin(0.1);
// rsb->scale(btVector3(0.5, 0.5, 0.5)); // rsb->scale(btVector3(0.5, 0.5, 0.5));
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 4, 0));
// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
rsb->transformTo(init_transform);
rsb->setStiffnessScale(100); rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta); rsb->setDamping(damping_alpha, damping_beta);
rsb->setTotalMass(15); rsb->setTotalMass(15);
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 4, 0));
// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
rsb->transformTo(init_transform);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
rsb->m_cfg.kDF = 0; rsb->m_cfg.kDF = 0;

14
examples/RobotSimulator/HelloBulletRobotics.cpp
View File

@ -18,8 +18,7 @@ int main(int argc, char* argv[])
} }
//remove all existing objects (if any) //remove all existing objects (if any)
// sim->resetSimulation(); sim->resetSimulation();
sim->resetSimulation(RESET_USE_REDUCED_DEFORMABLE_WORLD);
sim->setGravity(btVector3(0, 0, -9.8)); sim->setGravity(btVector3(0, 0, -9.8));
sim->setNumSolverIterations(100); sim->setNumSolverIterations(100);
b3RobotSimulatorSetPhysicsEngineParameters args; b3RobotSimulatorSetPhysicsEngineParameters args;
@ -27,12 +26,11 @@ int main(int argc, char* argv[])
int planeUid = sim->loadURDF("plane.urdf"); int planeUid = sim->loadURDF("plane.urdf");
printf("planeUid = %d\n", planeUid); printf("planeUid = %d\n", planeUid);
int r2d2Uid = sim->loadURDF("reduced_cube/reduced_cube.urdf");
// int r2d2Uid = sim->loadURDF("r2d2.urdf");
// printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
btVector3 basePosition = btVector3(0, 3, 3); int r2d2Uid = sim->loadURDF("r2d2.urdf");
printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
btVector3 basePosition = btVector3(0, 0, 0.5);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1); btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation); sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);
@ -42,7 +40,7 @@ int main(int argc, char* argv[])
btVector3 basePos; btVector3 basePos;
btQuaternion baseOrn; btQuaternion baseOrn;
sim->getBasePositionAndOrientation(r2d2Uid, basePos, baseOrn); sim->getBasePositionAndOrientation(r2d2Uid, basePos, baseOrn);
// printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]); printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]);
sim->stepSimulation(); sim->stepSimulation();
} }

2
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
View File

@ -136,8 +136,6 @@ void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv)
void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero) void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero)
{ {
static btScalar sim_time = 0;
size_t counter = 0; size_t counter = 0;
for (int i = 0; i < m_softBodies.size(); ++i) for (int i = 0; i < m_softBodies.size(); ++i)
{ {