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rigidbody: Add motor constraint

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It's implemented as a separate constraint instead of adding properties
to the existing constraints.
Motors only apply linear and angular impulses and don't limit the
movement of rigid bodies, so it's best to use them in conjunction with
other constraints to limit the degrees of freedom.

Thanks to Markus Kasten (markus111) for the initial patch.
This commit is contained in:
Sergej Reich
2013-02-23 23:04:07 +00:00
parent 47bd908e01
commit c82213359a
6 changed files with 234 additions and 7 deletions
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45
intern/rigidbody/rb_bullet_api.cpp
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@@ -850,6 +850,27 @@ rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigi
return (rbConstraint *)con;
}
rbConstraint *RB_constraint_new_motor(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
{
btRigidBody *body1 = rb1->body;
btRigidBody *body2 = rb2->body;
btTransform transform1;
btTransform transform2;
make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn);
btGeneric6DofConstraint *con = new btGeneric6DofConstraint(*body1, *body2, transform1, transform2, true);
/* unlock constraint axes */
for (int i = 0; i < 6; i++) {
con->setLimit(i, 0.0f, -1.0f);
}
/* unlock motor axes */
con->getTranslationalLimitMotor()->m_upperLimit.setValue(-1.0f, -1.0f, -1.0f);
return (rbConstraint*)con;
}
/* Cleanup ----------------------------- */
void RB_constraint_delete(rbConstraint *con)
@@ -947,4 +968,28 @@ void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold)
constraint->setBreakingImpulseThreshold(threshold);
}
void RB_constraint_set_enable_motor(rbConstraint *con, int enable_lin, int enable_ang)
{
btGeneric6DofConstraint *constraint = reinterpret_cast<btGeneric6DofConstraint*>(con);
constraint->getTranslationalLimitMotor()->m_enableMotor[0] = enable_lin;
constraint->getRotationalLimitMotor(0)->m_enableMotor = enable_ang;
}
void RB_constraint_set_max_impulse_motor(rbConstraint *con, float max_impulse_lin, float max_impulse_ang)
{
btGeneric6DofConstraint *constraint = reinterpret_cast<btGeneric6DofConstraint*>(con);
constraint->getTranslationalLimitMotor()->m_maxMotorForce.setX(max_impulse_lin);
constraint->getRotationalLimitMotor(0)->m_maxMotorForce = max_impulse_ang;
}
void RB_constraint_set_target_velocity_motor(rbConstraint *con, float velocity_lin, float velocity_ang)
{
btGeneric6DofConstraint *constraint = reinterpret_cast<btGeneric6DofConstraint*>(con);
constraint->getTranslationalLimitMotor()->m_targetVelocity.setX(velocity_lin);
constraint->getRotationalLimitMotor(0)->m_targetVelocity = velocity_ang;
}
/* ********************************** */