Revision: 20374
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20374
Author: erwin
Date: 2009-05-24 08:31:47 +0200 (Sun, 24 May 2009)
Log Message:
-----------
+ renamed pad3 to m_contactProcessingThreshold (thanks Campbell Barton/ideasman
for confirming it is ok to rename it)
+ fixed Python method, PyArg_ParseTuple already checks for errors, no returning
of NULL, thanks Campbell too)
+ added linear/angular spring for each of the 6DOFs of a generic 6dof
constraint. This makes the generic 6dof constraint very versatile.
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
trunk/blender/source/blender/blenkernel/intern/object.c
trunk/blender/source/blender/blenloader/intern/readfile.c
trunk/blender/source/blender/makesdna/DNA_object_types.h
trunk/blender/source/blender/src/buttons_logic.c
trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
2009-05-24 05:58:37 UTC (rev 20373)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
2009-05-24 06:31:47 UTC (rev 20374)
@@ -22,9 +22,11 @@
#include "btGeneric6DofConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
+#include "LinearMath/btTransformUtil.h"
#include <new>
+
#define D6_USE_OBSOLETE_METHOD false
@@ -738,7 +740,9 @@
}
// if we're limited low and high simultaneously, the joint motor is
// ineffective
- if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
+ if (limit && (limot->m_loLimit == limot->m_hiLimit))
+ powered = 0;
+
info->m_constraintError[srow] = btScalar(0.f);
if (powered)
{
@@ -827,3 +831,117 @@
+btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA,
btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB
,bool useLinearReferenceFrameA)
+ : btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB,
useLinearReferenceFrameA)
+{
+ for(int i = 0; i < 6; i++)
+ {
+ m_springEnabled[i] = false;
+ m_equilibriumPoint[i] = btScalar(0.f);
+ m_springStiffness[i] = btScalar(0.f);
+ }
+}
+
+
+void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
+{
+ btAssert((index >= 0) && (index < 6));
+ m_springEnabled[index] = onOff;
+ if(index < 3)
+ {
+ m_linearLimits.m_enableMotor[index] = onOff;
+ }
+ else
+ {
+ m_angularLimits[index - 3].m_enableMotor = onOff;
+ }
+}
+
+
+
+void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
+{
+ btAssert((index >= 0) && (index < 6));
+ m_springStiffness[index] = stiffness;
+}
+
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint()
+{
+ calculateTransforms();
+ for(int i = 0; i < 3; i++)
+ {
+ m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
+ }
+ for(int i = 0; i < 3; i++)
+ {
+ m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
+ }
+}
+
+
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
+{
+ btAssert((index >= 0) && (index < 6));
+ calculateTransforms();
+ if(index < 3)
+ {
+ m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
+ }
+ else
+ {
+ m_equilibriumPoint[index + 3] =
m_calculatedAxisAngleDiff[index];
+ }
+}
+
+
+
+void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2*
info)
+{
+ // it is assumed that calculateTransforms() have been called before
this call
+ int i;
+ btVector3 relVel = m_rbB.getLinearVelocity() -
m_rbA.getLinearVelocity();
+ for(i = 0; i < 3; i++)
+ {
+ if(m_springEnabled[i])
+ {
+ // get current position of constraint
+ btScalar currPos = m_calculatedLinearDiff[i];
+ // calculate difference
+ btScalar delta = currPos - m_equilibriumPoint[i];
+ // spring force is (delta * m_stiffness) according to
Hooke's Law
+ btScalar force = delta * m_springStiffness[i];
+ m_linearLimits.m_targetVelocity[i] = force * info->fps;
+ m_linearLimits.m_maxMotorForce[i] = btFabs(force) /
info->fps;
+ }
+ }
+ for(i = 0; i < 3; i++)
+ {
+ if(m_springEnabled[i + 3])
+ {
+ // get current position of constraint
+ btScalar currPos = m_calculatedAxisAngleDiff[i];
+ // calculate difference
+ btScalar delta = currPos - m_equilibriumPoint[i+3];
+ // spring force is (-delta * m_stiffness) according to
Hooke's Law
+ btScalar force = -delta * m_springStiffness[i+3];
+ m_angularLimits[i].m_targetVelocity = force *
info->fps;
+ m_angularLimits[i].m_maxMotorForce = btFabs(force) /
info->fps;
+ }
+ }
+}
+
+
+void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
+{
+ // this will be called by constraint solver at the constraint setup
stage
+ // set current motor parameters
+ internalUpdateSprings(info);
+ // do the rest of job for constraint setup
+ btGeneric6DofConstraint::getInfo2(info);
+}
+
+
+
+
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
2009-05-24 05:58:37 UTC (rev 20373)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
2009-05-24 06:31:47 UTC (rev 20374)
@@ -478,4 +478,20 @@
};
+class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
+{
+protected:
+ bool m_springEnabled[6];
+ btScalar m_equilibriumPoint[6];
+ btScalar m_springStiffness[6];
+ void internalUpdateSprings(btConstraintInfo2* info);
+public:
+ btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const
btTransform& frameInA, const btTransform& frameInB ,bool
useLinearReferenceFrameA);
+ void enableSpring(int index, bool onOff);
+ void setStiffness(int index, btScalar stiffness);
+ void setEquilibriumPoint(); // set the current constraint
position/orientation as an equilibrium point for all DOF
+ void setEquilibriumPoint(int index); // set the current constraint
position/orientation as an equilibrium point for given DOF
+ virtual void getInfo2 (btConstraintInfo2* info);
+};
+
#endif //GENERIC_6DOF_CONSTRAINT_H
Modified: trunk/blender/source/blender/blenkernel/intern/object.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/object.c 2009-05-24
05:58:37 UTC (rev 20373)
+++ trunk/blender/source/blender/blenkernel/intern/object.c 2009-05-24
06:31:47 UTC (rev 20374)
@@ -985,7 +985,7 @@
ob->gameflag= OB_PROP|OB_COLLISION;
ob->margin = 0.0;
/* ob->pad3 == Contact Processing Threshold */
- ob->pad3 = 1.;
+ ob->m_contactProcessingThreshold = 1.;
/* NT fluid sim defaults */
ob->fluidsimFlag = 0;
Modified: trunk/blender/source/blender/blenloader/intern/readfile.c
===================================================================
--- trunk/blender/source/blender/blenloader/intern/readfile.c 2009-05-24
05:58:37 UTC (rev 20373)
+++ trunk/blender/source/blender/blenloader/intern/readfile.c 2009-05-24
06:31:47 UTC (rev 20374)
@@ -8110,7 +8110,7 @@
Object *ob;
World *wrld;
for(ob = main->object.first; ob; ob= ob->id.next) {
- ob->pad3 = 1.; //pad3 is used for
m_contactProcessingThreshold
+ ob->m_contactProcessingThreshold = 1.; //pad3 is used
for m_contactProcessingThreshold
if(ob->parent) {
/* check if top parent has compound shape set
and if yes, set this object
to compound shaper as well (was the
behaviour before, now it's optional) */
Modified: trunk/blender/source/blender/makesdna/DNA_object_types.h
===================================================================
--- trunk/blender/source/blender/makesdna/DNA_object_types.h 2009-05-24
05:58:37 UTC (rev 20373)
+++ trunk/blender/source/blender/makesdna/DNA_object_types.h 2009-05-24
06:31:47 UTC (rev 20374)
@@ -159,7 +159,7 @@
float margin;
float max_vel; /* clamp the maximum velocity 0.0 is disabled */
float min_vel; /* clamp the maximum velocity 0.0 is disabled */
- float pad3; /* pad3 is now used for m_contactProcessingThreshold, can
we still rename it? */
+ float m_contactProcessingThreshold;
char dt, dtx;
char totcol; /* copy of mesh or curve or meta */
Modified: trunk/blender/source/blender/src/buttons_logic.c
===================================================================
--- trunk/blender/source/blender/src/buttons_logic.c 2009-05-24 05:58:37 UTC
(rev 20373)
+++ trunk/blender/source/blender/src/buttons_logic.c 2009-05-24 06:31:47 UTC
(rev 20374)
@@ -3204,7 +3204,7 @@
if (ob->gameflag & OB_RIGID_BODY)
{
uiDefButF(block, NUM, 0, "CPT",
- xco+180, yco, 180, 19, &ob->pad3, 0.00,
1., 1, 0,
+ xco+180, yco, 180, 19,
&ob->m_contactProcessingThreshold, 0.00, 1., 1, 0,
"Contact Processing Threshold");
yco -= 20;
@@ -3287,7 +3287,7 @@
xco, yco, 180, 19, &ob->margin, 0.0,
1.0, 1, 0,
"Collision margin");
uiDefButF(block, NUM, 0, "CPT",
- xco+180, yco, 180, 19, &ob->pad3, 0.00, 1., 1,
0,
+ xco+180, yco, 180, 19,
&ob->m_contactProcessingThreshold, 0.00, 1., 1, 0,
"Contact Processing Threshold");
}
Modified: trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
===================================================================
--- trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
2009-05-24 05:58:37 UTC (rev 20373)
+++ trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
2009-05-24 06:31:47 UTC (rev 20374)
@@ -1422,7 +1422,7 @@
///contact processing threshold is only for rigid bodies and static
geometry, not 'dynamic'
if (objprop.m_angular_rigidbody || !objprop.m_dyna )
{
- objprop.m_contactProcessingThreshold = blenderobject->pad3;
+ objprop.m_contactProcessingThreshold =
blenderobject->m_contactProcessingThreshold;
} else
{
objprop.m_contactProcessingThreshold = 0.f;
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
2009-05-24 05:58:37 UTC (rev 20373)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
2009-05-24 06:31:47 UTC (rev 20374)
@@ -59,22 +59,17 @@
int len = PyTuple_Size(args);
int success = 1;
- if (len == 3)
+ int dof;
+ float minLimit,maxLimit;
+ success =
PyArg_ParseTuple(args,"iff:setParam",&dof,&minLimit,&maxLimit);
+ if (success)
{
- int dof;
- float minLimit,maxLimit;
- success = PyArg_ParseTuple(args,"iff",&dof,&minLimit,&maxLimit);
- if (success)
- {
-
m_physenv->setConstraintParam(m_constraintId,dof,minLimit,maxLimit);
- Py_RETURN_NONE;
- }
+
m_physenv->setConstraintParam(m_constraintId,dof,minLimit,maxLimit);
}
- return NULL;
+ Py_RETURN_NONE;
}
-
//python specific stuff
PyTypeObject KX_ConstraintWrapper::Type = {
#if (PY_VERSION_HEX >= 0x02060000)
Modified:
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
2009-05-24 05:58:37 UTC (rev 20373)
@@ Diff output truncated at 10240 characters. @@
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