Revision: 20442
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20442
Author: erwin
Date: 2009-05-27 03:29:41 +0200 (Wed, 27 May 2009)
Log Message:
-----------
"Motor at limit" jitter fixed for btGeneric6Dof constraint, fix taken from
Bullet SVN repo.
Now we need some cool constraint limit/motor/spring demos, such as a Forklift
demo, moving robots, ragdolls etc. for Blender 2.49!
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
2009-05-27 00:07:03 UTC (rev 20441)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
2009-05-27 01:29:41 UTC (rev 20442)
@@ -420,6 +420,7 @@
bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
{
btScalar angle = m_calculatedAxisAngleDiff[axis_index];
+ m_angularLimits[axis_index].m_currentPosition = angle;
//test limits
m_angularLimits[axis_index].testLimitValue(angle);
return m_angularLimits[axis_index].needApplyTorques();
@@ -544,6 +545,7 @@
{ // re-use rotational motor code
limot.m_bounce = btScalar(0.f);
limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
+ limot.m_currentPosition =
m_linearLimits.m_currentLinearDiff[i];
limot.m_currentLimitError =
m_linearLimits.m_currentLimitError[i];
limot.m_damping = m_linearLimits.m_damping;
limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
@@ -696,6 +698,7 @@
m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() *
m_calculatedLinearDiff;
for(int i = 0; i < 3; i++)
{
+ m_linearLimits.m_currentLinearDiff[i] =
m_calculatedLinearDiff[i];
m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
}
}
@@ -740,16 +743,21 @@
}
// 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)
{
info->cfm[srow] = 0.0f;
- if(!limit)
+// if(!limit)
{
- info->m_constraintError[srow] += limot->m_targetVelocity;
+ btScalar tag_vel = rotational ?
limot->m_targetVelocity : -limot->m_targetVelocity;
+
+ btScalar mot_fact = getMotorFactor(
limot->m_currentPosition,
+
limot->m_loLimit,
+
limot->m_hiLimit,
+
tag_vel,
+
info->fps * info->erp);
+ info->m_constraintError[srow] += mot_fact *
limot->m_targetVelocity;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
info->m_upperLimit[srow] = limot->m_maxMotorForce;
}
@@ -831,6 +839,7 @@
+
btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA,
btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB
,bool useLinearReferenceFrameA)
: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB,
useLinearReferenceFrameA)
{
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
2009-05-27 00:07:03 UTC (rev 20441)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
2009-05-27 01:29:41 UTC (rev 20442)
@@ -54,6 +54,7 @@
//! temp_variables
//!...@{
btScalar m_currentLimitError;//! How much is violated this limit
+ btScalar m_currentPosition; //! current value of angle
int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
btScalar m_accumulatedImpulse;
//!...@}
@@ -134,6 +135,7 @@
btVector3 m_targetVelocity;//!< target motor velocity
btVector3 m_maxMotorForce;//!< max force on motor
btVector3 m_currentLimitError;//! How much is violated this limit
+ btVector3 m_currentLinearDiff;//! Current relative offset of constraint
frames
int m_currentLimit[3];//!< 0=free, 1=at lower
limit, 2=at upper limit
btTranslationalLimitMotor()
@@ -478,6 +480,16 @@
};
+/// Generic 6 DOF constraint that allows to set spring motors to any
translational and rotational DOF
+
+/// DOF index used in enableSpring() and setStiffness() means:
+/// 0 : translation X
+/// 1 : translation Y
+/// 2 : translation Z
+/// 3 : rotation X (3rd Euler rotational around new position of X axis, range
[-PI+epsilon, PI-epsilon] )
+/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range
[-PI/2+epsilon, PI/2-epsilon] )
+/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon,
PI-epsilon] )
+
class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
{
protected:
@@ -494,4 +506,5 @@
virtual void getInfo2 (btConstraintInfo2* info);
};
+
#endif //GENERIC_6DOF_CONSTRAINT_H
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