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#18872 bugfix for torque on dynamic objects

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#18893, fix to getParam for generic 6dof constraints
This commit is contained in:
Erwin Coumans 2009-06-06 00:12:49 +00:00
parent 04ccb0caf8
commit 884a6a6573
10 changed files with 105 additions and 14 deletions
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29
extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp vendored
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@ -663,10 +663,15 @@ btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
}
btScalar btGeneric6DofConstraint::getAngle(int axis_index) const
btScalar btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
{
return m_calculatedAxisAngleDiff[axis_index];
return m_calculatedLinearDiff[axisIndex];
}
btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
{
return m_calculatedAxisAngleDiff[axisIndex];
}
@ -839,7 +844,6 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
{
@ -848,6 +852,7 @@ btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, b
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::setStiffness(int index, btScalar stiffness)
}
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::setEquilibriumPoint(int index)
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 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
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 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
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;
}
}

13
extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h vendored
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@ -382,14 +382,21 @@ public:
//! 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 @@ protected:
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);

15
source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
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@ -54,6 +54,20 @@ PyObject* KX_ConstraintWrapper::PyGetConstraintId()
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 @@ int KX_ConstraintWrapper::py_setattro(PyObject *attr,PyObject* value)
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
};

1
source/gameengine/Ketsji/KX_ConstraintWrapper.h
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@ -45,6 +45,7 @@ public:
KX_PYMETHOD_NOARGS(KX_ConstraintWrapper,GetConstraintId);
KX_PYMETHOD(KX_ConstraintWrapper,SetParam);
KX_PYMETHOD(KX_ConstraintWrapper,GetParam);
private:
int m_constraintId;

3
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@ -1019,7 +1019,8 @@ void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
//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);
}

45
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@ -1786,6 +1786,45 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
}
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 @@ void CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
{
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;

3
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
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@ -149,7 +149,10 @@ protected:
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);

5
source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
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@ -88,6 +88,11 @@ public:
{
}
virtual float getConstraintParam(int constraintId,int param)
{
return 0.f;
}
};
#endif //_DUMMYPHYSICSENVIRONMENT

4
source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
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@ -88,6 +88,10 @@ public:
virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position);
virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
virtual float getConstraintParam(int constraintId,int param)
{
return 0.f;
}
virtual void setConstraintParam(int constraintId,int param,float value,float value1)
{
}

1
source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
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@ -159,6 +159,7 @@ class PHY_IPhysicsEnvironment
virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
virtual void setConstraintParam(int constraintId,int param,float value,float value1) = 0;
virtual float getConstraintParam(int constraintId,int param) = 0;
};
#endif //_IPHYSICSENVIRONMENT