C++ btDynamicsWorld::addConstraint方法代码示例

本文整理汇总了C++中btDynamicsWorld::addConstraint方法的典型用法代码示例。如果您正苦于以下问题：C++ btDynamicsWorld::addConstraint方法的具体用法？C++ btDynamicsWorld::addConstraint怎么用？C++ btDynamicsWorld::addConstraint使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类btDynamicsWorld的用法示例。

在下文中一共展示了btDynamicsWorld::addConstraint方法的5个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: addPickingConstraint

 void addPickingConstraint(const btVector3& rayFrom, const btVector3& rayTo) {
   if (!dynamicsWorld) {
     return;
   }
   removePickingConstraint();
   if (pickedObjectIndex <= 0 || pickedObjectIndex >= dynamicsWorld->getNumCollisionObjects()) {
     return;
   }
   pickedBody = btRigidBody::upcast(dynamicsWorld->getCollisionObjectArray()[pickedObjectIndex]);
   btVector3 pickPos = rayTo;
   btVector3 localPivot = pickedBody->getCenterOfMassTransform().inverse() * pickPos;
   pickConstraint = new btPoint2PointConstraint(*pickedBody,localPivot);
   pickedBody->setActivationState(DISABLE_DEACTIVATION);
   dynamicsWorld->addConstraint(pickConstraint,true);
   pickingDistance = (rayFrom-rayTo).length();
   pickConstraint->m_setting.m_impulseClamp = 3.0f;
   pickConstraint->m_setting.m_tau = 0.001f;
 }

开发者ID:fedemarino31，项目名称:leaptower，代码行数:18，代码来源:NaClAMBullet.cpp

示例2: feedback

void  HapticDevice::feedback(btDynamicsWorld &dynamic)
{
	for(unsigned int i=0;i<m_nbDevices;i++)
	{
		bool ground_collide = false;
		// free move
		if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0 )// (m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_2))
		{
			m_hss[i].m_free.m_done = true;	
			//m_hss[i].m_free.m_force = hduVector3Dd(0,0,0);
		}		
		
		if(m_constraints[i] != NULL)
		{
			btRigidBody * myBody = &m_constraints[i]->getRigidBodyB();
		
			btTransform myTrans = myBody->getWorldTransform();			

			m_effRenderPos = myTrans.getOrigin();
			//Check collision  
			if(m_constraints[i]->getUserConstraintPtr() != NULL)
			{  
				//std::cout<< " se cas la " <<std::endl;
				m_hss[i].m_free.m_nbCollision = 1;
				//if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0 && (m_oldButtons[i] & HD_DEVICE_BUTTON_1) == 0)
				btCollisionObject * object = static_cast<btCollisionObject *>(m_constraints[i]->getUserConstraintPtr());
				
				if(object->getInternalType()== btCollisionObject::CO_RIGID_BODY)
				{
					btRigidBody * collideBody = static_cast<btRigidBody *>(object);	
					// collide with ground
					if(collideBody == m_ground)
					{
						m_hss[i].m_free.m_nbCollision = 2;
						ground_collide = true;
					}
					// collide with other object
					if(collideBody->getInvMass()!=0 && collideBody != m_ground)
					{
							if(m_itsConstraints[i] == NULL )
							{

								// catch it if colide with it
								if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) == 0 )
								{						
											//create constraint
											btTransform bodyTrans = collideBody->getWorldTransform();
											m_itsConstraints[i]   = createConstraint(*myBody,*collideBody);
											dynamic.addConstraint(m_itsConstraints[i],true);
											m_newConstraint(m_ptr,collideBody,i);
											m_caught = collideBody;
											m_coll = true;	
											m_devine = false;
											showTarget(collideBody);
											deactivateMove();
								}
							}else
								// realise it when button 1 pressed
								if(m_freeT || (m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0)
								{
						
										//remove constraint
										dynamic.removeConstraint(m_itsConstraints[i]);
										delete m_itsConstraints[i];
										m_itsConstraints[i]=NULL;
										m_deleteConstraint(m_ptr,collideBody,i);
										//m_hss[i].setThrown(NULL);								
										m_hss[i].m_free.m_done = true;
										showTarget(collideBody);
										m_variator = 0;
										m_coll = false;										
										deactivateMove();
								}
							
					}
					
				}
				

			}
			else
			{
				m_hss[i].m_free.m_nbCollision = 0;
				//if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0 && (m_oldButtons[i] & HD_DEVICE_BUTTON_1) == 0)
				if(m_freeT || (m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0)
				{
					if(m_itsConstraints[i] != NULL )
					{
						//remove constraint
						m_deleteConstraint(m_ptr,&m_itsConstraints[i]->getRigidBodyB(),i);
						dynamic.removeConstraint(m_itsConstraints[i]);
						delete m_itsConstraints[i];
						m_itsConstraints[i]=NULL;
						m_hss[i].m_free.m_done = true;
						if(m_caught != NULL)
							showTarget(m_caught);	
						m_coll = false;						
						deactivateMove();
					}						
					
//.........这里部分代码省略.........

开发者ID:NassimAMGHAR，项目名称:secondxp，代码行数:101，代码来源:HapticDevice.cpp

示例3: btCapsuleShape

	RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset)
		: m_ownerWorld (ownerWorld)
	{
        
        
        // Setup the geometry
		m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15), btScalar(0.20));
		m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15), btScalar(0.28));
		m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.40), btScalar(0.20));
		m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
		m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
		m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
		m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
		m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
		m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
		m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
		m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));

		// Setup all the rigid bodies
		btTransform offset; offset.setIdentity();
		offset.setOrigin(positionOffset);

		btTransform transform;
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
		m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.2), btScalar(0.)));
		m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.6), btScalar(0.)));
		m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.)));
		m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.)));
		m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.)));
		m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.)));
		m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,M_PI_2);
		m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,M_PI_2);
		m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);

		// Setup some damping on the m_bodies
		for (int i = 0; i < BODYPART_COUNT; ++i)
		{
			m_bodies[i]->setDamping(0.05, 0.85);
			m_bodies[i]->setDeactivationTime(0.8);
			m_bodies[i]->setSleepingThresholds(1.6, 2.5);
		}

		// Now setup the constraints
		btHingeConstraint* hingeC;
		btConeTwistConstraint* coneC;

		btTransform localA, localB;

		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
		hingeC =  new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
		hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_2));
		m_joints[JOINT_PELVIS_SPINE] = hingeC;
		hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

		m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);


		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
		coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
//.........这里部分代码省略.........

开发者ID:bmcomber，项目名称:Evolutionary_Robotics，代码行数:101，代码来源:RagdollDemo.cpp

示例4: vUp

	TestRig (btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
		: m_ownerWorld (ownerWorld)
	{
		btVector3 vUp(0, 1, 0);

		//
		// Setup geometry
		//
		float fBodySize  = 0.25f;
		float fLegLength = 0.45f;
		float fForeLegLength = 0.75f;
		m_shapes[0] = new btCapsuleShape(btScalar(fBodySize), btScalar(0.10));
		int i;
		for ( i=0; i<NUM_LEGS; i++)
		{
			m_shapes[1 + 2*i] = new btCapsuleShape(btScalar(0.10), btScalar(fLegLength));
			m_shapes[2 + 2*i] = new btCapsuleShape(btScalar(0.08), btScalar(fForeLegLength));
		}

		//
		// Setup rigid bodies
		//
		float fHeight = 0.5;
		btTransform offset; offset.setIdentity();
		offset.setOrigin(positionOffset);		

		// root
		btVector3 vRoot = btVector3(btScalar(0.), btScalar(fHeight), btScalar(0.));
		btTransform transform;
		transform.setIdentity();
		transform.setOrigin(vRoot);
		if (bFixed)
		{
			m_bodies[0] = localCreateRigidBody(btScalar(0.), offset*transform, m_shapes[0]);
		} else
		{
			m_bodies[0] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[0]);
		}
		// legs
		for ( i=0; i<NUM_LEGS; i++)
		{
			float fAngle = 2 * M_PI * i / NUM_LEGS;
			float fSin = sin(fAngle);
			float fCos = cos(fAngle);

			transform.setIdentity();
			btVector3 vBoneOrigin = btVector3(btScalar(fCos*(fBodySize+0.5*fLegLength)), btScalar(fHeight), btScalar(fSin*(fBodySize+0.5*fLegLength)));
			transform.setOrigin(vBoneOrigin);

			// thigh
			btVector3 vToBone = (vBoneOrigin - vRoot).normalize();
			btVector3 vAxis = vToBone.cross(vUp);			
			transform.setRotation(btQuaternion(vAxis, M_PI_2));
			m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[1+2*i]);

			// shin
			transform.setIdentity();
			transform.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(fHeight-0.5*fForeLegLength), btScalar(fSin*(fBodySize+fLegLength))));
			m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[2+2*i]);
		}

		// Setup some damping on the m_bodies
		for (i = 0; i < BODYPART_COUNT; ++i)
		{
			m_bodies[i]->setDamping(0.05, 0.85);
			m_bodies[i]->setDeactivationTime(0.8);
			//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
			m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
		}


		//
		// Setup the constraints
		//
		btHingeConstraint* hingeC;
		//btConeTwistConstraint* coneC;

		btTransform localA, localB, localC;

		for ( i=0; i<NUM_LEGS; i++)
		{
			float fAngle = 2 * M_PI * i / NUM_LEGS;
			float fSin = sin(fAngle);
			float fCos = cos(fAngle);

			// hip joints
			localA.setIdentity(); localB.setIdentity();
			localA.getBasis().setEulerZYX(0,-fAngle,0);	localA.setOrigin(btVector3(btScalar(fCos*fBodySize), btScalar(0.), btScalar(fSin*fBodySize)));
			localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
			hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
			hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8));
			//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
			m_joints[2*i] = hingeC;
			m_ownerWorld->addConstraint(m_joints[2*i], true);

			// knee joints
			localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
			localA.getBasis().setEulerZYX(0,-fAngle,0);	localA.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(0.), btScalar(fSin*(fBodySize+fLegLength))));
			localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
			localC = m_bodies[2+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
//.........这里部分代码省略.........

开发者ID:henryeherman，项目名称:learninghexapod，代码行数:101，代码来源:MotorDemo.cpp

示例5: vel


//.........这里部分代码省略.........
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
		
		// Setup some damping on the m_bodies
		for (int i = 0; i < BODYPART_COUNT; ++i)
		{
			m_bodies[i]->setDamping(0.05, 0.85);
			m_bodies[i]->setDeactivationTime(0.8);
			m_bodies[i]->setSleepingThresholds(1.6, 2.5);
		}
#endif
#if 0
		// Now setup the constraints
		btHingeConstraint* hingeC;
		btConeTwistConstraint* coneC;
		
		btTransform localA, localB;
		
		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
		hingeC =  new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
		hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_2));
		m_joints[JOINT_PELVIS_SPINE] = hingeC;
		hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
		
		m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
		
		
		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
		coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
		coneC->setLimit(M_PI_4, M_PI_4, M_PI_2);
		m_joints[JOINT_SPINE_HEAD] = coneC;
		coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
		
		m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
		
		
		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,0,-M_PI_4*5); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
		coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
		coneC->setLimit(M_PI_4, M_PI_4, 0);
		m_joints[JOINT_LEFT_HIP] = coneC;
		coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
		
		m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
		
		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
		hingeC =  new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB);
		hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
		m_joints[JOINT_LEFT_KNEE] = hingeC;
		hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
		
		m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);

开发者ID:MattMcMullan，项目名称:bullet3，代码行数:67，代码来源:BulletMultiBodyDemos.cpp

注：本文中的btDynamicsWorld::addConstraint方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。