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Code Issues Releases Wiki Activity

tweaks to rolling friction demo/dof2spring2 demo

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This commit is contained in:
Erwin Coumans 2015-05-03 12:01:38 -07:00
parent 184a0013b4
commit db5f280c3d
2 changed files with 22 additions and 1 deletions
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15
examples/Constraints/Dof6Spring2Setup.cpp
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@ -120,7 +120,8 @@ void Dof6Spring2Setup::initPhysics()
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getDispatchInfo().m_useContinuous = true; m_dynamicsWorld->getDispatchInfo().m_useContinuous = true;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->setGravity(btVector3(0,0,0)); m_dynamicsWorld->setGravity(btVector3(0,0,0));
// Setup a big ground box // Setup a big ground box
@ -188,6 +189,7 @@ void Dof6Spring2Setup::initPhysics()
constraint->setDamping(0, 1); constraint->setDamping(0, 1);
#endif #endif
constraint->setEquilibriumPoint(0, 0); constraint->setEquilibriumPoint(0, 0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true); m_dynamicsWorld->addConstraint(constraint, true);
} }
@ -220,6 +222,7 @@ void Dof6Spring2Setup::initPhysics()
constraint->setDamping(5, 1); constraint->setDamping(5, 1);
#endif #endif
constraint->setEquilibriumPoint(0, 0); constraint->setEquilibriumPoint(0, 0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true); m_dynamicsWorld->addConstraint(constraint, true);
} }
@ -253,6 +256,7 @@ void Dof6Spring2Setup::initPhysics()
#endif #endif
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0); constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0); constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true); m_dynamicsWorld->addConstraint(constraint, true);
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS); constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, -SIMD_INFINITY, 2); constraint->setLimit(0, -SIMD_INFINITY, 2);
@ -268,6 +272,7 @@ void Dof6Spring2Setup::initPhysics()
#endif #endif
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0); constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0); constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true); m_dynamicsWorld->addConstraint(constraint, true);
} }
@ -301,6 +306,7 @@ void Dof6Spring2Setup::initPhysics()
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f; constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10; constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
#endif #endif
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true); m_dynamicsWorld->addConstraint(constraint, true);
} }
@ -338,6 +344,7 @@ void Dof6Spring2Setup::initPhysics()
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10; constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
//servo motor is not implemented in 6dofspring constraint //servo motor is not implemented in 6dofspring constraint
#endif #endif
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true); m_dynamicsWorld->addConstraint(constraint, true);
m_data->m_ServoMotorConstraint = constraint; m_data->m_ServoMotorConstraint = constraint;
} }
@ -378,6 +385,7 @@ void Dof6Spring2Setup::initPhysics()
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.9,a); constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.9,a);
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a); constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
} }
constraint->setDbgDrawSize(btScalar(1.f));
m_dynamicsWorld->addConstraint(constraint, true); m_dynamicsWorld->addConstraint(constraint, true);
if(i < bodycount - 1) if(i < bodycount - 1)
@ -386,7 +394,9 @@ void Dof6Spring2Setup::initPhysics()
localB.setIdentity(); localB.setIdentity();
CONSTRAINT_TYPE* constraintZY = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS); CONSTRAINT_TYPE* constraintZY = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
constraintZY->setLimit(0, 1, -1); constraintZY->setLimit(0, 1, -1);
constraintZY->setDbgDrawSize(btScalar(1.f));
m_dynamicsWorld->addConstraint(constraintZY, true); m_dynamicsWorld->addConstraint(constraintZY, true);
} }
} }
else else
@ -404,6 +414,7 @@ void Dof6Spring2Setup::initPhysics()
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a); m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a); m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
} }
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(1.f));
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true); m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
} }
prevBody = body; prevBody = body;
@ -451,12 +462,14 @@ void Dof6Spring2Setup::animate()
{ {
m_data->m_ChainRightBody->setActivationState(ACTIVE_TAG); m_data->m_ChainRightBody->setActivationState(ACTIVE_TAG);
m_dynamicsWorld->removeConstraint(m_data->m_ChainRightConstraint); m_dynamicsWorld->removeConstraint(m_data->m_ChainRightConstraint);
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true); m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
} }
else else
{ {
m_data->m_ChainLeftBody->setActivationState(ACTIVE_TAG); m_data->m_ChainLeftBody->setActivationState(ACTIVE_TAG);
m_dynamicsWorld->removeConstraint(m_data->m_ChainLeftConstraint); m_dynamicsWorld->removeConstraint(m_data->m_ChainLeftConstraint);
m_data->m_ChainRightConstraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(m_data->m_ChainRightConstraint, true); m_dynamicsWorld->addConstraint(m_data->m_ChainRightConstraint, true);
} }
chainNextFrame = 3.0; chainNextFrame = 3.0;

8
examples/RollingFrictionDemo/RollingFrictionDemo.cpp
View File

@ -56,6 +56,14 @@ public:
void exitPhysics(); void exitPhysics();
void resetCamera()
{
float dist = 35;
float pitch = 0;
float yaw = 14;
float targetPos[3]={0,0,0};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
}; };