本文整理汇总了C++中btHingeConstraint::setLimit方法的典型用法代码示例。如果您正苦于以下问题：C++ btHingeConstraint::setLimit方法的具体用法？C++ btHingeConstraint::setLimit怎么用？C++ btHingeConstraint::setLimit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btHingeConstraint的用法示例。
在下文中一共展示了btHingeConstraint::setLimit方法的3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: specialKeyboard
void ForkLiftDemo::specialKeyboard(int key, int x, int y)
{
#if 0
if (key==GLUT_KEY_END)
return;
// printf("key = %i x=%i y=%i\n",key,x,y);
int state;
state=glutGetModifiers();
if (state & GLUT_ACTIVE_SHIFT)
{
switch (key)
{
case GLUT_KEY_LEFT :
{
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, -0.1, maxMotorImpulse);
break;
}
case GLUT_KEY_RIGHT :
{
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, 0.1, maxMotorImpulse);
break;
}
case GLUT_KEY_UP :
{
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(maxMotorImpulse);
m_forkSlider->setTargetLinMotorVelocity(1.0);
break;
}
case GLUT_KEY_DOWN :
{
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(maxMotorImpulse);
m_forkSlider->setTargetLinMotorVelocity(-1.0);
break;
}
default:
DemoApplication::specialKeyboard(key,x,y);
break;
}
} else
{
switch (key)
{
case GLUT_KEY_LEFT :
{
gVehicleSteering += steeringIncrement;
if ( gVehicleSteering > steeringClamp)
gVehicleSteering = steeringClamp;
break;
}
case GLUT_KEY_RIGHT :
{
gVehicleSteering -= steeringIncrement;
if ( gVehicleSteering < -steeringClamp)
gVehicleSteering = -steeringClamp;
break;
}
case GLUT_KEY_UP :
{
gEngineForce = maxEngineForce;
gBreakingForce = 0.f;
break;
}
case GLUT_KEY_DOWN :
{
gEngineForce = -maxEngineForce;
gBreakingForce = 0.f;
break;
}
case GLUT_KEY_F7:
{
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*)m_dynamicsWorld;
world->setLatencyMotionStateInterpolation(!world->getLatencyMotionStateInterpolation());
printf("world latencyMotionStateInterpolation = %d\n", world->getLatencyMotionStateInterpolation());
break;
}
case GLUT_KEY_F6:
{
//switch solver (needs demo restart)
useMCLPSolver = !useMCLPSolver;
printf("switching to useMLCPSolver = %d\n", useMCLPSolver);
delete m_constraintSolver;
if (useMCLPSolver)
//.........这里部分代码省略.........
示例2: initPhysics
//.........这里部分代码省略.........
m_guiHelper->createCollisionShapeGraphicsObject(m_wheelShape);
int wheelGraphicsIndex = m_wheelShape->getUserIndex();
const float position[4]={0,10,10,0};
const float quaternion[4]={0,0,0,1};
const float color[4]={0,1,0,1};
const float scaling[4] = {1,1,1,1};
for (int i=0;i<4;i++)
{
m_wheelInstances[i] = m_guiHelper->registerGraphicsInstance(wheelGraphicsIndex, position, quaternion, color, scaling);
}
{
btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f));
m_collisionShapes.push_back(liftShape);
btTransform liftTrans;
m_liftStartPos = btVector3(0.0f, 2.5f, 3.05f);
liftTrans.setIdentity();
liftTrans.setOrigin(m_liftStartPos);
m_liftBody = localCreateRigidBody(10,liftTrans, liftShape);
btTransform localA, localB;
localA.setIdentity();
localB.setIdentity();
localA.getBasis().setEulerZYX(0, M_PI_2, 0);
localA.setOrigin(btVector3(0.0, 1.0, 3.05));
localB.getBasis().setEulerZYX(0, M_PI_2, 0);
localB.setOrigin(btVector3(0.0, -1.5, -0.05));
m_liftHinge = new btHingeConstraint(*m_carChassis,*m_liftBody, localA, localB);
// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
m_liftHinge->setLimit(0.0f, 0.0f);
m_dynamicsWorld->addConstraint(m_liftHinge, true);
btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f));
m_collisionShapes.push_back(forkShapeA);
btCompoundShape* forkCompound = new btCompoundShape();
m_collisionShapes.push_back(forkCompound);
btTransform forkLocalTrans;
forkLocalTrans.setIdentity();
forkCompound->addChildShape(forkLocalTrans, forkShapeA);
btCollisionShape* forkShapeB = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
m_collisionShapes.push_back(forkShapeB);
forkLocalTrans.setIdentity();
forkLocalTrans.setOrigin(btVector3(-0.9f, -0.08f, 0.7f));
forkCompound->addChildShape(forkLocalTrans, forkShapeB);
btCollisionShape* forkShapeC = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
m_collisionShapes.push_back(forkShapeC);
forkLocalTrans.setIdentity();
forkLocalTrans.setOrigin(btVector3(0.9f, -0.08f, 0.7f));
forkCompound->addChildShape(forkLocalTrans, forkShapeC);
btTransform forkTrans;
m_forkStartPos = btVector3(0.0f, 0.6f, 3.2f);
forkTrans.setIdentity();
forkTrans.setOrigin(m_forkStartPos);
m_forkBody = localCreateRigidBody(5, forkTrans, forkCompound);
localA.setIdentity();
localB.setIdentity();
localA.getBasis().setEulerZYX(0, 0, M_PI_2);
localA.setOrigin(btVector3(0.0f, -1.9f, 0.05f));示例3: btDantzigSolver
bool ForkLiftDemo::keyboardCallback(int key, int state)
{
bool handled = false;
bool isShiftPressed = m_guiHelper->getAppInterface()->m_window->isModifierKeyPressed(B3G_SHIFT);
if (state)
{
if (isShiftPressed)
{
switch (key)
{
case B3G_LEFT_ARROW :
{
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, -0.1, maxMotorImpulse);
handled = true;
break;
}
case B3G_RIGHT_ARROW :
{
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, 0.1, maxMotorImpulse);
handled = true;
break;
}
case B3G_UP_ARROW :
{
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(maxMotorImpulse);
m_forkSlider->setTargetLinMotorVelocity(1.0);
handled = true;
break;
}
case B3G_DOWN_ARROW :
{
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(maxMotorImpulse);
m_forkSlider->setTargetLinMotorVelocity(-1.0);
handled = true;
break;
}
}
} else
{
switch (key)
{
case B3G_LEFT_ARROW :
{
handled = true;
gVehicleSteering += steeringIncrement;
if ( gVehicleSteering > steeringClamp)
gVehicleSteering = steeringClamp;
break;
}
case B3G_RIGHT_ARROW :
{
handled = true;
gVehicleSteering -= steeringIncrement;
if ( gVehicleSteering < -steeringClamp)
gVehicleSteering = -steeringClamp;
break;
}
case B3G_UP_ARROW :
{
handled = true;
gEngineForce = maxEngineForce;
gBreakingForce = 0.f;
break;
}
case B3G_DOWN_ARROW :
{
handled = true;
gEngineForce = -maxEngineForce;
gBreakingForce = 0.f;
break;
}
case B3G_F7:
{
handled = true;
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*)m_dynamicsWorld;
world->setLatencyMotionStateInterpolation(!world->getLatencyMotionStateInterpolation());
printf("world latencyMotionStateInterpolation = %d\n", world->getLatencyMotionStateInterpolation());
break;
}
case B3G_F6:
{
handled = true;
//switch solver (needs demo restart)
useMCLPSolver = !useMCLPSolver;
printf("switching to useMLCPSolver = %d\n", useMCLPSolver);
//.........这里部分代码省略.........