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Some progress on upright constraints.

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git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/branches/switch_coordinate_system@4906 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2010-03-02 05:21:20 +00:00
parent cd24969100
commit 3eae65cb89
2 changed files with 66 additions and 64 deletions
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20
src/physics/btUprightConstraint.cpp
View File

@ -23,6 +23,7 @@ subject to the following restrictions:
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include "karts/kart.hpp"
//!
//!
//!
@ -89,11 +90,13 @@ void btUprightConstraint::solveAngularLimit(
//!
//!
btUprightConstraint::btUprightConstraint(btRigidBody& rbA, const btTransform& frameInA )
: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA)
, m_frameInA(frameInA)
btUprightConstraint::btUprightConstraint(const Kart *kart,
const btTransform& frameInA)
: btTypedConstraint(D6_CONSTRAINT_TYPE, *(kart->getBody()))
, m_frameInA(frameInA)
{
m_kart = kart;
m_ERP = 1.0f;
m_bounce = 0.0f;
m_damping = 1.0f;
@ -115,9 +118,8 @@ void btUprightConstraint::buildJacobian()
{
btTransform worldTransform = m_rbA.getCenterOfMassTransform() * m_frameInA;
btVector3 upAxis = worldTransform.getBasis().getColumn(1);
m_limit[ 0 ].m_angle = btAtan2( upAxis.getY(), upAxis.getZ() )-SIMD_PI/2.0f;
m_limit[ 1 ].m_angle = -btAtan2( upAxis.getY(), upAxis.getX() )+SIMD_PI/2.0f;
m_limit[ 0 ].m_angle = m_kart->getHPR().getPitch();
m_limit[ 1 ].m_angle = m_kart->getHPR().getRoll();
for ( int i = 0; i < 2; i++ )
{
if ( m_limit[ i ].m_angle < -SIMD_PI )
@ -148,7 +150,9 @@ void btUprightConstraint::solveConstraint(btScalar timeStep)
if(m_disable_time>0.0f) return;
}
solveAngularLimit( &m_limit[ 0 ], m_timeStep, btScalar(1.) / m_jacAng[ 0 ].getDiagonal(), &m_rbA );
solveAngularLimit( &m_limit[ 1 ], m_timeStep, btScalar(1.) / m_jacAng[ 1 ].getDiagonal(), &m_rbA );
solveAngularLimit( &m_limit[ 0 ], m_timeStep,
btScalar(1.) / m_jacAng[ 0 ].getDiagonal(), &m_rbA );
solveAngularLimit( &m_limit[ 1 ],
m_timeStep, btScalar(1.) / m_jacAng[ 1 ].getDiagonal(), &m_rbA );
}

110
src/physics/btUprightConstraint.hpp
View File

@ -22,18 +22,15 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
class btRigidBody;
//!
//!
//!
class Kart;
class btUprightConstraintLimit
{
public:
btVector3 m_axis;
btScalar m_angle;
btScalar m_accumulatedImpulse;
btScalar m_currentLimitError;
btVector3 m_axis;
btScalar m_angle;
btScalar m_accumulatedImpulse;
btScalar m_currentLimitError;
};
class btUprightConstraint : public btTypedConstraint
@ -55,77 +52,78 @@ protected:
//! temporal variables
//!@{
btScalar m_timeStep;
btScalar m_ERP;
btScalar m_bounce;
btScalar m_damping;
btScalar m_maxLimitForce;
btScalar m_limitSoftness;
btScalar m_hiLimit;
btScalar m_loLimit;
btScalar m_timeStep;
btScalar m_ERP;
btScalar m_bounce;
btScalar m_damping;
btScalar m_maxLimitForce;
btScalar m_limitSoftness;
btScalar m_hiLimit;
btScalar m_loLimit;
btScalar m_disable_time;
const Kart* m_kart;
btUprightConstraintLimit m_limit[ 2 ];
btUprightConstraintLimit m_limit[2];
//!@}
btUprightConstraint& operator=(btUprightConstraint& other)
btUprightConstraint& operator=(btUprightConstraint& other)
{
btAssert(0);
(void) other;
return *this;
}
void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW);
void buildAngularJacobian(btJacobianEntry & jacAngular,
const btVector3 & jointAxisW);
void solveAngularLimit(
btUprightConstraintLimit *limit,
btScalar timeStep, btScalar jacDiagABInv,
btRigidBody * body0 );
void solveAngularLimit(btUprightConstraintLimit *limit,
btScalar timeStep, btScalar jacDiagABInv,
btRigidBody * body0 );
public:
btUprightConstraint(btRigidBody& rbA, const btTransform& frameInA );
btUprightConstraint(const Kart *kart, const btTransform& frameInA );
// -PI,+PI is the full range
// 0,0 is no rotation around x or z
// -PI*0.2,+PI*0.2 is a nice bit of tilt
void setLimit( btScalar range )
{
m_loLimit = -range;
m_hiLimit = +range;
}
// -PI,+PI is the full range
// 0,0 is no rotation around x or z
// -PI*0.2,+PI*0.2 is a nice bit of tilt
void setLimit( btScalar range )
{
m_loLimit = -range;
m_hiLimit = +range;
}
// Error correction scaling
// 0 - 1
//
void setErp( btScalar erp )
{
m_ERP = erp;
}
void setBounce( btScalar bounce )
{
m_bounce = bounce;
}
void setMaxLimitForce( btScalar force )
{
m_maxLimitForce = force;
}
void setLimitSoftness( btScalar softness )
{
m_limitSoftness = softness;
}
void setDamping( btScalar damping )
{
m_damping = damping;
}
// Error correction scaling
// 0 - 1
//
void setErp( btScalar erp )
{
m_ERP = erp;
}
void setBounce( btScalar bounce )
{
m_bounce = bounce;
}
void setMaxLimitForce( btScalar force )
{
m_maxLimitForce = force;
}
void setLimitSoftness( btScalar softness )
{
m_limitSoftness = softness;
}
void setDamping( btScalar damping )
{
m_damping = damping;
}
void setDisableTime( btScalar t )
{
m_disable_time = t;
}
virtual void buildJacobian();
virtual void solveConstraint(btScalar timeStep);
virtual void solveConstraint(btScalar timeStep);
};