void ConstraintDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
m_Time = 0;
setupEmptyDynamicsWorld();
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
btRigidBody* groundBody;
groundBody= localCreateRigidBody(0, groundTransform, groundShape);
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
btTransform trans;
trans.setIdentity();
trans.setOrigin(btVector3(0,20,0));
float mass = 1.f;
#if ENABLE_ALL_DEMOS
//point to point constraint (ball socket)
{
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
// btRigidBody* body1 = localCreateRigidBody( 0.0,trans,0);
//body1->setActivationState(DISABLE_DEACTIVATION);
//body1->setDamping(0.3,0.3);
btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
btVector3 axisInA(0,0,1);
btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
btVector3 axisInB = body1?
(body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
body0->getCenterOfMassTransform().getBasis() * axisInA;
//#define P2P
#ifdef P2P
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
m_dynamicsWorld->addConstraint(p2p);
p2p->setDbgDrawSize(btScalar(5.f));
#else
btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
float targetVelocity = 1.f;
float maxMotorImpulse = 1.0f;
hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
m_dynamicsWorld->addConstraint(hinge);
hinge->setDbgDrawSize(btScalar(5.f));
#endif //P2P
}
#endif
#if ENABLE_ALL_DEMOS
//create a slider, using the generic D6 constraint
{
mass = 1.f;
btVector3 sliderWorldPos(0,10,0);
btVector3 sliderAxis(1,0,0);
btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f;
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
trans.setIdentity();
trans.setOrigin(sliderWorldPos);
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
d6body0 = localCreateRigidBody( mass,trans,shape);
d6body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = localCreateRigidBody(0,trans,0);
m_dynamicsWorld->addRigidBody(fixedBody1);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
frameInA.setOrigin(btVector3(0., 5., 0.));
frameInB.setOrigin(btVector3(0., 5., 0.));
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
m_dynamicsWorld->addConstraint(spSlider6Dof);
spSlider6Dof->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a door using hinge constraint attached to the world
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.push_back(pDoorShape);
btTransform doorTrans;
doorTrans.setIdentity();
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
btRigidBody* pDoorBody = localCreateRigidBody( 1.0, doorTrans, pDoorShape);
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
// test problem values
// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
// spDoorHinge->setLimit( 1.f, -1.f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
// spDoorHinge->setLimit( 0.0f, 0.0f );
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));
//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
//btRigidBody* pDropBody = localCreateRigidBody( 10.0, doorTrans, shape);
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
// btRigidBody* pBodyA = localCreateRigidBody( mass, tr, shape);
btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
// btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, 0);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = localCreateRigidBody(mass, tr, shape);
// btRigidBody* pBodyB = localCreateRigidBody(0.f, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
m_dynamicsWorld->addConstraint(pGen6DOF, true);
pGen6DOF->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a ConeTwist constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = localCreateRigidBody( 1.0, tr, shape);
// btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = localCreateRigidBody(0.0, tr, shape);
// btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.getBasis().setEulerZYX(0,0, SIMD_PI_2);
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
m_dynamicsWorld->addConstraint(m_ctc, true);
m_ctc->setDbgDrawSize(btScalar(5.f));
// s_bTestConeTwistMotor = true; // use only with old solver for now
s_bTestConeTwistMotor = false;
}
#endif
#if ENABLE_ALL_DEMOS
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btRigidBody* pBody = localCreateRigidBody( 1.0, tr, shape);
pBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld->addConstraint(pHinge);
pHinge->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.)));
btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
btVector3 parentAxis(1.f, 0.f, 0.f);
btVector3 childAxis(0.f, 0.f, 1.f);
btVector3 anchor(20.f, 2.f, 0.f);
btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint with springs
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.));
pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.));
pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f));
pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f));
m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
pGen6DOFSpring->enableSpring(0, true);
pGen6DOFSpring->setStiffness(0, 39.478f);
pGen6DOFSpring->setDamping(0, 0.5f);
pGen6DOFSpring->enableSpring(5, true);
pGen6DOFSpring->setStiffness(5, 39.478f);
pGen6DOFSpring->setDamping(0, 0.3f);
pGen6DOFSpring->setEquilibriumPoint();
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.)));
btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some data to build constraint frames
btVector3 parentAxis(0.f, 1.f, 0.f);
btVector3 childAxis(1.f, 0.f, 0.f);
btVector3 anchor(-20.f, 0.f, 0.f);
btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyA = localCreateRigidBody( 1.0f, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB:
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyB = localCreateRigidBody(10.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some data to build constraint frames
btVector3 axisA(0.f, 1.f, 0.f);
btVector3 axisB(0.f, 1.f, 0.f);
btVector3 pivotA(-5.f, 0.f, 0.f);
btVector3 pivotB( 5.f, 0.f, 0.f);
spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB->setDbgDrawSize(btScalar(5.f));
}
#endif
#ifdef TEST_SERIALIZATION
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
exitPhysics();
setupEmptyDynamicsWorld();
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
fileLoader->loadFile("testFile.bullet");
#endif //TEST_SERIALIZATION
}
ConstraintKitDemo::ConstraintKitDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
//
// Setup the camera
//
{
hkVector4 from(0.0f, 5.0f, 15.0f);
hkVector4 to (0.0f, -2.0f, 0.0f);
hkVector4 up (0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
//
// Create the world
//
{
hkpWorldCinfo info;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
info.setBroadPhaseWorldSize( 100.0f );
info.m_enableDeactivation = false;
m_world = new hkpWorld( info );
m_world->lock();
setupGraphics();
}
//
// Register the box-box collision agent
//
{
hkpAgentRegisterUtil::registerAllAgents( m_world->getCollisionDispatcher() );
}
//
// Create vectors to be used for setup
//
hkVector4 halfSize(0.5f, 0.5f, 0.5f);
//
// Create Box Shape
//
hkpBoxShape* boxShape;
{
boxShape = new hkpBoxShape( halfSize , 0 );
}
//
// Create fixed rigid body
//
hkpRigidBody* fixedBody;
{
hkpRigidBodyCinfo info;
info.m_position.set(0.0f, 0.0f, 0.0f);
info.m_shape = boxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
fixedBody = new hkpRigidBody(info);
m_world->addEntity(fixedBody);
fixedBody->removeReference();
}
//
// Create movable rigid body
//
hkpRigidBody* moveableBody;
{
hkpRigidBodyCinfo info;
info.m_position.set(2.0f, 2.0f, 0.0f);
info.m_shape = boxShape;
// Compute the box inertia tensor
hkpMassProperties massProperties;
info.m_mass = 10.0f;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(halfSize, info.m_mass, massProperties);
info.m_inertiaTensor = massProperties.m_inertiaTensor;
info.m_centerOfMass = massProperties.m_centerOfMass;
info.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
moveableBody = new hkpRigidBody(info);
// Add some damping to this body to allow it to come to rest.
moveableBody->setAngularDamping(0.1f);
moveableBody->setLinearDamping(0.1f);
m_world->addEntity(moveableBody);
moveableBody->removeReference();
}
// Done with shape - remove reference since bodies have ownership
boxShape->removeReference();
//
// CREATE GENERIC CONSTRAINT
//
{
hkpGenericConstraintData* constraintData = new hkpGenericConstraintData();
hkpConstraintConstructionKit kit;
// Must always start with this command (the constraintData works like a program, every
// command being executed sequentially).
kit.begin(constraintData);
{
// Set the pivots. These will be the points which are constrained by any linear constraintData
// specified later. The fixed body has its pivot in the middle of its base. The movable
// body has its pivot on one corner.
hkVector4 pivotB(0.0f, -0.5f, 0.0f);
m_pivotBIndex = kit.setPivotB(pivotB);
hkVector4 pivotA(-0.5f, 0.5f, 0.5f);
m_pivotAIndex = kit.setPivotA(pivotA);
// Set the axis in World space. This means we can easily update it
// to pass through the pivots of the two bodies in our step code. Initially
// we calculate this using the current location of the bodies and their pivots
// <programlisting id="setInWorldSpace">
const int axisId = 0;
hkVector4 axis0;
{
hkVector4 pivotAW, pivotBW;
pivotAW.setTransformedPos(moveableBody->getTransform(), pivotA);
pivotBW.setTransformedPos(fixedBody->getTransform(), pivotB);
axis0.setSub4(pivotBW, pivotAW);
axis0.normalize3();
}
// Record the index we get back when we set this axis so we can query the
// constraintData later using it as a "parameter ID".
m_axisIndex = kit.setLinearDofWorld(axis0, axisId);
// Set the limits of this axis ([0, 5])
kit.setLinearLimit(axisId, 0.0f, 5.0f);
}
// Must always end with this command.
kit.end();
hkpConstraintInstance* constraint = new hkpConstraintInstance( moveableBody, fixedBody, constraintData );
m_world->addConstraint(constraint);
m_constraintData = constraintData;
m_constraint = constraint;
}
m_world->unlock();
}
// The powerline is a *chain* of constraints and will suffer from the following artifacts if implemented using a
// series of ball-and-socket constraints:
// 1. Stretching when large accelerations are present.
// 2. Collision artifacts or a perforamcne hit) if we allow the entire chain to collide with the ragdoll, or if we
// allow inter-link collisions.
// To address this we wrap the ball-and-socket constraints in a "Chain" hkpConstraintChainInstance constraint, and
// also increase the inertia tensor and angular damping to further hinding excess motion.
// We also disable inter-link collisions and collisions between the end links and the ragdoll - see details below.
void HK_CALL CharacterAttachmentsHelpers::addPowerline(hkpWorld* world,
const hkaRagdollInstance* ragdollInstance,
const hkQsTransform& currentTransform,
const char* startBoneName, const char* endBoneName,
hkpGroupFilter* filter,
const ConstraintStabilityTricks& tricks )
{
// We will use two tricks to increase stability:
const hkReal inertiaToMassRatio = tricks.m_useDamping ? 40.0f : 1.0f;
const hkReal angularDamping = tricks.m_useDamping ? 4.0f: 0.05f;
// We are going to add a belt of constrained bodies where the
// ends of the chain do not collide with anything in the ragdoll layer (L1),
// and the chain does not collide with itself.
// We do the rb-chain collisions with layers (forcing all chain bodies into a different group than the ragdoll bodies).
// All chain = G3 => collisions with ragdoll (L1) done by layer
// Ends == Layer 2
// All other bodies in chain == Layer 3
// Disable(Layer 1, Layer 2)
// Enable(Layer 1, Layer 3)
// and we do the chain-chain collisions with groups:
// All chain = Group 3, SGroup 0, SGroup No-Collide 0 => collisions disabled
filter->disableCollisionsBetween(1, 2);
filter->enableCollisionsBetween(1, 3);
const hkReal linkSize = 0.055f;
const int numLinks = 10;
// Get the relevant RBs to which we attach this belt.
hkpRigidBody* torso = HK_NULL;
hkpRigidBody* hand = HK_NULL;
{
int torsoIndex = hkaSkeletonUtils::findBoneWithName( *ragdollInstance->m_skeleton, startBoneName);
HK_ASSERT2( 0, torsoIndex >= 0, "Couldn't find " << startBoneName << " in ragdoll" );
torso = ragdollInstance->getRigidBodyOfBone( torsoIndex );
int handIndex = hkaSkeletonUtils::findBoneWithName( *ragdollInstance->m_skeleton, endBoneName );
HK_ASSERT2( 0, handIndex >= 0, "Couldn't find " << endBoneName << " in ragdoll" );
hand = ragdollInstance->getRigidBodyOfBone( handIndex );
}
// Get a list of bodies for the chain
hkArray<hkpRigidBody*> bodies;
{
// Start with the torso
bodies.pushBack( torso );
// Create a bunch of new bodies for the links in the belt
hkpRigidBodyCinfo info;
info.m_shape = new hkpSphereShape( linkSize );
// Note that we use a scaled mass here to artificially damp the movement
const hkReal mass = 1.0f;
hkpInertiaTensorComputer::setShapeVolumeMassProperties( info.m_shape, mass * inertiaToMassRatio, info );
info.m_mass = mass;
// Note that we use an increased angular damping to further artificially damp the movement
info.m_angularDamping = angularDamping;
for( int i = 0; i < numLinks; i++ )
{
// Place roughly behind the character model space - we'll let a short simulation run settle the constraint preoperly.
hkReal iReal = i / (hkReal) numLinks;
info.m_position.set( -iReal* 1.0f + 0.2f, 0.2f, 0.2f - iReal* 0.2f );
// Move into world space behind character
info.m_position.setTransformedPos(currentTransform, info.m_position);
// Filter info, see above. End links have layer 2, othwerwise have layer 3.
// All links have group 3, and subgroup 0, subgroup-nocollide 0
if(i ==0 || i == numLinks-1)
{
info.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo( 2, 3, 0, 0 );
}
else
{
info.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo( 3, 3, 0, 0 );
}
hkpRigidBody* body = new hkpRigidBody( info );
bodies.pushBack( body );
world->addEntity( body );
body->removeReference();
}
info.m_shape->removeReference();
// End with the hand
bodies.pushBack( hand );
}
// Create the chain constraint. This is the 'core' constraint that will link the bodies together in
// a chain. Using a single 'chain' constraint rather than n (unrelated) individual constraints will
// reduce possible stretching dramatically.
if( tricks.m_useChain )
{
hkpBallSocketChainData* chainData = new hkpBallSocketChainData();
for( int i=0; i<bodies.getSize()-1; ++i )
{
hkVector4 pivotA( 0.0f, 0.0f, linkSize*0.75f );
hkVector4 pivotB( 0.0f, 0.0f, -linkSize*0.75f );
if( i == 0 ) // torso
{
pivotA.set( 0.0f, -0.1f, 0.0f );
}
else if( i == bodies.getSize()-2 ) // hand
{
pivotB.set( 0.0f, -0.05f, -0.1f );
}
chainData->addConstraintInfoInBodySpace( pivotA, pivotB );
}
hkpConstraintChainInstance* chain = new hkpConstraintChainInstance( chainData );
chainData->removeReference();
for( int i=0; i<bodies.getSize(); ++i )
{
chain->addEntity( bodies[i] );
}
world->addConstraint( chain );
chain->removeReference();
}
else
{
for( int i=0; i<bodies.getSize()-1; ++i )
{
hkVector4 pivotA( 0.0f, 0.0f, linkSize*0.75f );
hkVector4 pivotB( 0.0f, 0.0f, -linkSize*0.75f );
if( i == 0 ) // torso
{
pivotA.set( 0.0f, -0.1f, 0.0f );
}
else if( i == bodies.getSize()-2 ) // hand
{
pivotB.set( 0.0f, -0.05f, -0.1f );
}
hkpBallAndSocketConstraintData* bscd = new hkpBallAndSocketConstraintData();
bscd->setInBodySpace(pivotA, pivotB);
hkpConstraintInstance* constraint = new hkpConstraintInstance(bodies[i], bodies[i+1], bscd );
world->addConstraint(constraint);
constraint->removeReference();
bscd->removeReference();
}
}
}
void AllConstraintDemo::initPhysics()
{
m_guiHelper->setUpAxis(1);
m_Time = 0;
setupEmptyDynamicsWorld();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
btRigidBody* groundBody;
groundBody= createRigidBody(0, groundTransform, groundShape);
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
btTransform trans;
trans.setIdentity();
trans.setOrigin(btVector3(0,20,0));
float mass = 1.f;
#if ENABLE_ALL_DEMOS
///gear constraint demo
#define THETA SIMD_PI/4.f
#define L_1 (2 - tan(THETA))
#define L_2 (1 / cos(THETA))
#define RATIO L_2 / L_1
btRigidBody* bodyA=0;
btRigidBody* bodyB=0;
{
btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.25,0.2));
btCollisionShape* cylB = new btCylinderShape(btVector3(L_1,0.025,L_1));
btCompoundShape* cyl0 = new btCompoundShape();
cyl0->addChildShape(btTransform::getIdentity(),cylA);
cyl0->addChildShape(btTransform::getIdentity(),cylB);
btScalar mass = 6.28;
btVector3 localInertia;
cyl0->calculateLocalInertia(mass,localInertia);
btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
ci.m_startWorldTransform.setOrigin(btVector3(-8,1,-8));
btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
m_dynamicsWorld->addRigidBody(body);
body->setLinearFactor(btVector3(0,0,0));
body->setAngularFactor(btVector3(0,1,0));
bodyA = body;
}
{
btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.26,0.2));
btCollisionShape* cylB = new btCylinderShape(btVector3(L_2,0.025,L_2));
btCompoundShape* cyl0 = new btCompoundShape();
cyl0->addChildShape(btTransform::getIdentity(),cylA);
cyl0->addChildShape(btTransform::getIdentity(),cylB);
btScalar mass = 6.28;
btVector3 localInertia;
cyl0->calculateLocalInertia(mass,localInertia);
btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
ci.m_startWorldTransform.setOrigin(btVector3(-10,2,-8));
btQuaternion orn(btVector3(0,0,1),-THETA);
ci.m_startWorldTransform.setRotation(orn);
btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
body->setLinearFactor(btVector3(0,0,0));
btHingeConstraint* hinge = new btHingeConstraint(*body,btVector3(0,0,0),btVector3(0,1,0),true);
m_dynamicsWorld->addConstraint(hinge);
bodyB= body;
body->setAngularVelocity(btVector3(0,3,0));
m_dynamicsWorld->addRigidBody(body);
}
btVector3 axisA(0,1,0);
btVector3 axisB(0,1,0);
btQuaternion orn(btVector3(0,0,1),-THETA);
btMatrix3x3 mat(orn);
axisB = mat.getRow(1);
btGearConstraint* gear = new btGearConstraint(*bodyA,*bodyB, axisA,axisB,RATIO);
m_dynamicsWorld->addConstraint(gear,true);
#endif
#if ENABLE_ALL_DEMOS
//point to point constraint with a breaking threshold
{
trans.setIdentity();
trans.setOrigin(btVector3(1,30,-5));
createRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(0,0,-5));
btRigidBody* body0 = createRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
m_dynamicsWorld->addConstraint(p2p);
p2p ->setBreakingImpulseThreshold(10.2);
p2p->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
//point to point constraint (ball socket)
{
btRigidBody* body0 = createRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
// btRigidBody* body1 = createRigidBody( 0.0,trans,0);
//body1->setActivationState(DISABLE_DEACTIVATION);
//body1->setDamping(0.3,0.3);
btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
btVector3 axisInA(0,0,1);
// btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
// btVector3 axisInB = body1?
// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
body0->getCenterOfMassTransform().getBasis() * axisInA;
#define P2P
#ifdef P2P
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
m_dynamicsWorld->addConstraint(p2p);
p2p->setDbgDrawSize(btScalar(5.f));
#else
btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
float targetVelocity = 1.f;
float maxMotorImpulse = 1.0f;
hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
m_dynamicsWorld->addConstraint(hinge);
hinge->setDbgDrawSize(btScalar(5.f));
#endif //P2P
}
#endif
#if ENABLE_ALL_DEMOS
{
btTransform trans;
trans.setIdentity();
btVector3 worldPos(-20,0,30);
trans.setOrigin(worldPos);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
btRigidBody* pRbA1 = createRigidBody(mass, trans, shape);
// btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-30,0,30);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = createRigidBody(mass, trans, shape);
// btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
spSlider1->setLowerLinLimit(-15.0F);
spSlider1->setUpperLinLimit(-5.0F);
// spSlider1->setLowerLinLimit(5.0F);
// spSlider1->setUpperLinLimit(15.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
m_dynamicsWorld->addConstraint(spSlider1, true);
spSlider1->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
//create a slider, using the generic D6 constraint
{
mass = 1.f;
btVector3 sliderWorldPos(0,10,0);
btVector3 sliderAxis(1,0,0);
btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f;
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
trans.setIdentity();
trans.setOrigin(sliderWorldPos);
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
d6body0 = createRigidBody( mass,trans,shape);
d6body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = createRigidBody(0,trans,0);
m_dynamicsWorld->addRigidBody(fixedBody1);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
frameInA.setOrigin(btVector3(0., 5., 0.));
frameInB.setOrigin(btVector3(0., 5., 0.));
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
m_dynamicsWorld->addConstraint(spSlider6Dof);
spSlider6Dof->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a door using hinge constraint attached to the world
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.push_back(pDoorShape);
btTransform doorTrans;
doorTrans.setIdentity();
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
// test problem values
// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
// spDoorHinge->setLimit( 1.f, -1.f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
// spDoorHinge->setLimit( 0.0f, 0.0f );
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));
//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
//btRigidBody* pDropBody = createRigidBody( 10.0, doorTrans, shape);
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
// btRigidBody* pBodyA = createRigidBody( mass, tr, shape);
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = createRigidBody(mass, tr, shape);
// btRigidBody* pBodyB = createRigidBody(0.f, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
m_dynamicsWorld->addConstraint(pGen6DOF, true);
pGen6DOF->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a ConeTwist constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = createRigidBody( 1.0, tr, shape);
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = createRigidBody(0.0, tr, shape);
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.getBasis().setEulerZYX(0,0, SIMD_PI_2);
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
m_dynamicsWorld->addConstraint(m_ctc, true);
m_ctc->setDbgDrawSize(btScalar(5.f));
// s_bTestConeTwistMotor = true; // use only with old solver for now
s_bTestConeTwistMotor = false;
}
#endif
#if ENABLE_ALL_DEMOS
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
pBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld->addConstraint(pHinge);
pHinge->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.)));
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
btVector3 parentAxis(1.f, 0.f, 0.f);
btVector3 childAxis(0.f, 0.f, 1.f);
btVector3 anchor(20.f, 2.f, 0.f);
btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint with springs
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.));
pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.));
pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f));
pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f));
m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
pGen6DOFSpring->enableSpring(0, true);
pGen6DOFSpring->setStiffness(0, 39.478f);
pGen6DOFSpring->setDamping(0, 0.5f);
pGen6DOFSpring->enableSpring(5, true);
pGen6DOFSpring->setStiffness(5, 39.478f);
pGen6DOFSpring->setDamping(0, 0.3f);
pGen6DOFSpring->setEquilibriumPoint();
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.)));
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some data to build constraint frames
btVector3 parentAxis(0.f, 1.f, 0.f);
btVector3 childAxis(1.f, 0.f, 0.f);
btVector3 anchor(-20.f, 0.f, 0.f);
btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyA = createRigidBody( 1.0f, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB:
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyB = createRigidBody(10.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some data to build constraint frames
btVector3 axisA(0.f, 1.f, 0.f);
btVector3 axisB(0.f, 1.f, 0.f);
btVector3 pivotA(-5.f, 0.f, 0.f);
btVector3 pivotB( 5.f, 0.f, 0.f);
spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // 6DOF connected to the world, with motor
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.)));
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
pBody->setActivationState(DISABLE_DEACTIVATION);
btTransform frameB;
frameB.setIdentity();
btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint( *pBody, frameB, false );
m_dynamicsWorld->addConstraint(pGen6Dof);
pGen6Dof->setDbgDrawSize(btScalar(5.f));
pGen6Dof->setAngularLowerLimit(btVector3(0,0,0));
pGen6Dof->setAngularUpperLimit(btVector3(0,0,0));
pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0));
pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0));
pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
}
#endif
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
/* ----------------------------------------------------------------------- */
void SIMPLE_Agents::addRobotPhysics( const vector <double> &_pos, const vector <double> &_rot ){
mass = 0.150;
btQuaternion rotation;
rotation.setEulerZYX( 0.0, _rot[1], 0.0);
btVector3 position = btVector3(_pos[0],robot_height * 0.65,_pos[2]);
btMotionState* motion = new btDefaultMotionState(btTransform(rotation, position));
btCylinderShape* cylinder1=new btCylinderShape(btVector3(robot_radius,robot_height*0.5,robot_radius));
cylinder1->setMargin(robot_radius*0.5);
btVector3 inertia(0.0,0.0,0.0);
cylinder1->calculateLocalInertia(mass,inertia);
btRigidBody::btRigidBodyConstructionInfo info(mass,motion,cylinder1,inertia);
//info.m_restitution = 0.0f;
info.m_friction = 0.5f;
//info.m_rollingFriction = 0.1;
body=new btRigidBody(info);
body->setLinearFactor(btVector3(1,1,1));
body->setAngularFactor(btVector3(0,1,0));
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK );
world->addRigidBody(body);
btCylinderShape* wheel1 = new btCylinderShape(btVector3(wheel_radius,wheel_width,wheel_radius));
double mass1 = 0.15;
btVector3 inertia1(0.0,0.0,0.0);
wheel1->calculateLocalInertia(mass1,inertia1);
btTransform t1;
t1.setIdentity();
t1.setOrigin(btVector3(_pos[0], wheel_radius + pos[1], half_wheel_distance + pos[2]));
btQuaternion rotation1;
rotation1.setEulerZYX( 0.0, _rot[1], 1.57072428);
t1.setRotation(rotation1);
btMotionState* motion1=new btDefaultMotionState(t1);
btRigidBody::btRigidBodyConstructionInfo info1(mass1,motion1,wheel1,inertia1);
//info1.m_restitution = 0.0f;
info1.m_friction = 0.45f;
//info1.m_rollingFriction = 10.0;
right_wheel=new btRigidBody(info1);
world->addRigidBody(right_wheel);
right_wheel->setLinearFactor(btVector3(1,1,1));
right_wheel->setAngularFactor(btVector3(1,1,1));
btVector3 axisA(0.f, 0.f, 1.0f);
btVector3 axisB(0.f, 1.f, 0.f);
btVector3 pivotA(0.f, -robot_height* 0.22, half_wheel_distance);
btVector3 pivotB(0.0f, 0.0f, 0.0f);
right_hinge = new btHingeConstraint(*body, *right_wheel, pivotA, pivotB, axisA, axisB);
btJointFeedback* feedback1 = new btJointFeedback;
feedback1->m_appliedForceBodyA = btVector3(0, 0, 0);
feedback1->m_appliedForceBodyB = btVector3(0, 0, 0);
feedback1->m_appliedTorqueBodyA = btVector3(0, 0, 0);
feedback1->m_appliedTorqueBodyB = btVector3(0, 0, 0);
right_hinge->setJointFeedback(feedback1);
right_hinge->enableFeedback(true);
right_hinge->setLimit(1,-1,1.0,0.3,1);
right_hinge->enableAngularMotor(false, 0,0);
//right_hinge->setOverrideNumSolverIterations(1000);
world->addConstraint(right_hinge, true);
btCylinderShape* wheel2 = new btCylinderShape(btVector3(wheel_radius,wheel_width,wheel_radius));
double mass2 = 0.15;
btVector3 inertia2(0.0,0.0,0.0);
wheel2->calculateLocalInertia(mass2,inertia2);
btTransform t2;
t2.setIdentity();
t2.setOrigin(btVector3(pos[0], wheel_radius + pos[1], half_wheel_distance + pos[2]));
btQuaternion rotation2;
rotation2.setEulerZYX( 0.0, _rot[1], 1.57072428);
t2.setRotation(rotation2);
btMotionState* motion2=new btDefaultMotionState(t2);
//wheel2->setMargin(0.0);
btRigidBody::btRigidBodyConstructionInfo info2(mass2,motion2,wheel2,inertia2);
//info2.m_restitution = 0.0f;
info2.m_friction = 0.45f;
// info2.m_rollingFriction = 10.0;
left_wheel=new btRigidBody(info2);
right_wheel->setLinearFactor(btVector3(1,1,1));
right_wheel->setAngularFactor(btVector3(1,1,1));
world->addRigidBody(left_wheel);
btVector3 axisA1(0.0f, 0.0f, 1.0f);
btVector3 axisB1(0.0f, 1.0f, 0.0f);
btVector3 pivotA1(0.f, -robot_height* 0.22,-half_wheel_distance);
btVector3 pivotB1(0.0f, 0.0f, 0.0f);
left_hinge = new btHingeConstraint(*body, *left_wheel, pivotA1, pivotB1, axisA1, axisB1);
left_hinge->enableFeedback(true);
btJointFeedback* feedback = new btJointFeedback;
feedback->m_appliedForceBodyA = btVector3(0, 0, 0);
feedback->m_appliedForceBodyB = btVector3(0, 0, 0);
feedback->m_appliedTorqueBodyA = btVector3(0, 0, 0);
feedback->m_appliedTorqueBodyB = btVector3(0, 0, 0);
left_hinge->setJointFeedback(feedback);
left_hinge->setLimit(1,-1,1.0,0.3,1);
left_hinge->enableAngularMotor(false, 0,0);
//left_hinge->setOverrideNumSolverIterations(1000);
world->addConstraint(left_hinge, true);
}
