Revision: 20665
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20665
Author: erwin
Date: 2009-06-06 02:12:49 +0200 (Sat, 06 Jun 2009)
Log Message:
-----------
#18872 bugfix for torque on dynamic objects
#18893, fix to getParam for generic 6dof constraints
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
trunk/blender/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
trunk/blender/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
2009-06-05 23:59:33 UTC (rev 20664)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
2009-06-06 00:12:49 UTC (rev 20665)
@@ -663,10 +663,15 @@
}
+btScalar btGeneric6DofConstraint::getRelativePivotPosition(int
axisIndex) const
+{
+ return m_calculatedLinearDiff[axisIndex];
+}
-btScalar btGeneric6DofConstraint::getAngle(int axis_index) const
+
+btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
{
- return m_calculatedAxisAngleDiff[axis_index];
+ return m_calculatedAxisAngleDiff[axisIndex];
}
@@ -839,7 +844,6 @@
-
btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA,
btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB
,bool useLinearReferenceFrameA)
: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB,
useLinearReferenceFrameA)
{
@@ -848,6 +852,7 @@
m_springEnabled[i] = false;
m_equilibriumPoint[i] = btScalar(0.f);
m_springStiffness[i] = btScalar(0.f);
+ m_springDamping[i] = btScalar(1.f);
}
}
@@ -875,6 +880,13 @@
}
+void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
+{
+ btAssert((index >= 0) && (index < 6));
+ m_springDamping[index] = damping;
+}
+
+
void btGeneric6DofSpringConstraint::setEquilibriumPoint()
{
calculateTransforms();
@@ -908,6 +920,7 @@
void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2*
info)
{
+ calculateTransforms();
// it is assumed that calculateTransforms() have been called before
this call
int i;
btVector3 relVel = m_rbB.getLinearVelocity() -
m_rbA.getLinearVelocity();
@@ -921,8 +934,9 @@
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;
+ btScalar velFactor = info->fps * m_springDamping[i];
+ m_linearLimits.m_targetVelocity[i] = velFactor * force;
+ m_linearLimits.m_maxMotorForce[i] = btFabs(force) /
info->fps;
}
}
for(i = 0; i < 3; i++)
@@ -935,7 +949,8 @@
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;
+ btScalar velFactor = info->fps * m_springDamping[i+3];
+ m_angularLimits[i].m_targetVelocity = velFactor * force;
m_angularLimits[i].m_maxMotorForce = btFabs(force) /
info->fps;
}
}
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
2009-06-05 23:59:33 UTC (rev 20664)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
2009-06-06 00:12:49 UTC (rev 20665)
@@ -382,14 +382,21 @@
//! Get the relative Euler angle
/*!
- \pre btGeneric6DofConstraint.buildJacobian must be called previously.
+ \pre btGeneric6DofConstraint::calculateTransforms() must be called
previously.
*/
btScalar getAngle(int axis_index) const;
+ //! Get the relative position of the constraint pivot
+ /*!
+ \pre btGeneric6DofConstraint::calculateTransforms() must be called
previously.
+ */
+ btScalar getRelativePivotPosition(int axis_index) const;
+
+
//! Test angular limit.
/*!
Calculates angular correction and returns true if limit needs to be
corrected.
- \pre btGeneric6DofConstraint.buildJacobian must be called previously.
+ \pre btGeneric6DofConstraint::calculateTransforms() must be called
previously.
*/
bool testAngularLimitMotor(int axis_index);
@@ -496,11 +503,13 @@
bool m_springEnabled[6];
btScalar m_equilibriumPoint[6];
btScalar m_springStiffness[6];
+ btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping)
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 setDamping(int index, btScalar damping);
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);
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
2009-06-05 23:59:33 UTC (rev 20664)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
2009-06-06 00:12:49 UTC (rev 20665)
@@ -54,6 +54,20 @@
return PyInt_FromLong(m_constraintId);
}
+
+PyObject* KX_ConstraintWrapper::PyGetParam(PyObject* args, PyObject* kwds)
+{
+ int dof;
+ float value;
+
+ if (!PyArg_ParseTuple(args,"i:getParam",&dof))
+ return NULL;
+
+ value = m_physenv->getConstraintParam(m_constraintId,dof);
+ return PyFloat_FromDouble(value);
+
+}
+
PyObject* KX_ConstraintWrapper::PySetParam(PyObject* args, PyObject* kwds)
{
int dof;
@@ -119,6 +133,7 @@
PyMethodDef KX_ConstraintWrapper::Methods[] = {
{"getConstraintId",(PyCFunction)
KX_ConstraintWrapper::sPyGetConstraintId, METH_NOARGS},
{"setParam",(PyCFunction) KX_ConstraintWrapper::sPySetParam,
METH_VARARGS},
+ {"getParam",(PyCFunction) KX_ConstraintWrapper::sPyGetParam,
METH_VARARGS},
{NULL,NULL} //Sentinel
};
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
2009-06-05 23:59:33 UTC (rev 20664)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
2009-06-06 00:12:49 UTC (rev 20665)
@@ -45,6 +45,7 @@
KX_PYMETHOD_NOARGS(KX_ConstraintWrapper,GetConstraintId);
KX_PYMETHOD(KX_ConstraintWrapper,SetParam);
+ KX_PYMETHOD(KX_ConstraintWrapper,GetParam);
private:
int m_constraintId;
Modified:
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2009-06-05 23:59:33 UTC (rev 20664)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2009-06-06 00:12:49 UTC (rev 20665)
@@ -1019,7 +1019,8 @@
//workaround for incompatibility between 'DYNAMIC' game
object, and angular factor
//a DYNAMIC object has some inconsistency: it has no
angular effect due to collisions, but still has torque
const btVector3& angFac = body->getAngularFactor();
- body->setAngularFactor(1.f);
+ btVector3 tmpFac(0,0,1);
+ body->setAngularFactor(tmpFac);
body->applyTorque(torque);
body->setAngularFactor(angFac);
}
Modified:
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
2009-06-05 23:59:33 UTC (rev 20664)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
2009-06-06 00:12:49 UTC (rev 20665)
@@ -1786,6 +1786,45 @@
}
+float CcdPhysicsEnvironment::getConstraintParam(int constraintId,int param)
+{
+ btTypedConstraint* typedConstraint = getConstraintById(constraintId);
+ switch (typedConstraint->getUserConstraintType())
+ {
+ case PHY_GENERIC_6DOF_CONSTRAINT:
+ {
+
+ switch (param)
+ {
+ case 0: case 1: case 2:
+ {
+ //param = 0..2 are linear constraint
values
+ btGeneric6DofConstraint* genCons =
(btGeneric6DofConstraint*)typedConstraint;
+ genCons->calculateTransforms();
+ return
genCons->getRelativePivotPosition(param);
+ break;
+ }
+ case 3: case 4: case 5:
+ {
+ //param = 3..5 are relative constraint
(Euler) angles
+ btGeneric6DofConstraint* genCons =
(btGeneric6DofConstraint*)typedConstraint;
+ genCons->calculateTransforms();
+ return genCons->getAngle(param-3);
+ break;
+ }
+ default:
+ {
+ }
+ }
+ break;
+ };
+ default:
+ {
+ };
+ };
+ return 0.f;
+}
+
void CcdPhysicsEnvironment::setConstraintParam(int constraintId,int
param,float value0,float value1)
{
btTypedConstraint* typedConstraint = getConstraintById(constraintId);
@@ -1835,11 +1874,9 @@
{
bool springEnabled = true;
genCons->setStiffness(springIndex,value0);
+
genCons->setDamping(springIndex,value1);
genCons->enableSpring(springIndex,springEnabled);
- if (value1>0.5f)
- {
-
genCons->setEquilibriumPoint(springIndex);
- }
+
genCons->setEquilibriumPoint(springIndex);
} else
{
bool springEnabled = false;
Modified: trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
2009-06-05 23:59:33 UTC (rev 20664)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
2009-06-06 00:12:49 UTC (rev 20665)
@@ -149,7 +149,10 @@
const btVector3& angularMaxLimits,int flags
);
+
virtual void setConstraintParam(int constraintId,int
param,float value,float value1);
+
+ virtual float getConstraintParam(int constraintId,int param);
virtual void removeConstraint(int constraintid);
Modified:
trunk/blender/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
===================================================================
--- trunk/blender/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
2009-06-05 23:59:33 UTC (rev 20664)
+++ trunk/blender/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
2009-06-06 00:12:49 UTC (rev 20665)
@@ Diff output truncated at 10240 characters. @@
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