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Use the newer version of the bullet 6dof spring constraint for rigidbody.

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The new constraint is slower and not backward compatible, but should
be better, especially in the damping side. The new constraint also
has a different valid range of the damping coefficient, and a limit
implementation that bounces instead of making the object stationary.

Reviewers: sergof

Differential Revision: https://developer.blender.org/D3125
This commit is contained in:
Alexander Gavrilov
2018-03-31 12:08:16 +03:00
parent 7e39d151d8
commit 26a283deae
4 changed files with 68 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
intern/rigidbody/RBI_api.h
View File

@@ -299,6 +299,7 @@ void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float l
void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, float upper);
/* 6dof spring specific */
void RB_constraint_set_limits_6dof_spring(rbConstraint *con, int axis, float lower, float upper);
void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness);
void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping);
void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable);

28
intern/rigidbody/rb_bullet_api.cpp
View File

@@ -954,7 +954,7 @@ rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigi
make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn);
btTypedConstraint *con = new btGeneric6DofSpringConstraint(*body1, *body2, transform1, transform2, true);
btTypedConstraint *con = new btGeneric6DofSpring2Constraint(*body1, *body2, transform1, transform2);
return (rbConstraint *)con;
}
@@ -1034,32 +1034,38 @@ void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, flo
constraint->setLimit(axis, lower, upper);
}
void RB_constraint_set_limits_6dof_spring(rbConstraint *con, int axis, float lower, float upper)
{
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->setLimit(axis, lower, upper);
}
void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness)
{
btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->setStiffness(axis, stiffness);
}
void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping)
{
btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
// invert damping range so that 0 = no damping
constraint->setDamping(axis, 1.0f - damping);
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->setDamping(axis, damping);
}
void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable)
{
btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->enableSpring(axis, enable);
}
void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con)
{
btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->setEquilibriumPoint();
}