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Herleson
PostPosted: Sun Apr 22, 2012 5:11 am 
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Joined: Wed Mar 28, 2012 10:55 pm
Posts: 9
Hello,

(Sorry if this is a newbie question)

I´m creating an articulated object using Bullet. The main part of the code is below:

Code:
btScalar alturaCorpo = 77.5;

void GeraObjetoBullet()
{
   btTransform transOrigem;
   btVector3 inerciaPadrao(0,0,0);
   btScalar massaCorpo;

   fPlano = new btStaticPlaneShape(btVector3(0,1,0), 0);
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(0, 0, 0));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   cPlano = new btRigidBody(0, motionStatePadrao, fPlano, inerciaPadrao);

   fPelvis = new btCompoundShape;
   btCollisionShape* parte1 = new btCapsuleShape(btScalar(2.5), btScalar(10));
   btCollisionShape* parte2 = new btCapsuleShape(btScalar(2.5), btScalar(30));
   transOrigem.setIdentity();
   fPelvis -> addChildShape(transOrigem, parte1);
   transOrigem.setOrigin(btVector3(0, -5, 0));
   transOrigem.setRotation(btQuaternion(btVector3(0, 0, 1), pi/2));
   fPelvis -> addChildShape(transOrigem, parte2);
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(0, alturaCorpo, 0));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fPelvis -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cPelvis = new btRigidBody(massaCorpo, motionStatePadrao, fPelvis, inerciaPadrao);
   
   fTronco = new btCompoundShape;
   parte1 = new btCapsuleShape(btScalar(2.5), btScalar(30));
   parte2 = new btCapsuleShape(btScalar(2.5), btScalar(50));
   transOrigem.setIdentity();
   fTronco -> addChildShape(transOrigem, parte1);
   transOrigem.setOrigin(btVector3(0, 15, 0));
   transOrigem.setRotation(btQuaternion(btVector3(0, 0, 1), pi/2));
   fTronco -> addChildShape(transOrigem, parte2);
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(0), btScalar(alturaCorpo + 20), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fTronco -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cTronco = new btRigidBody(massaCorpo, motionStatePadrao, fTronco, inerciaPadrao);

   fCabeca = new btCompoundShape;
   parte1 = new btCapsuleShape(btScalar(2.5), btScalar(15));
   parte2 = new btSphereShape(btScalar(10));
   transOrigem.setIdentity();
   fCabeca -> addChildShape(transOrigem, parte1);
   transOrigem.setOrigin(btVector3(0, btScalar(7.5), 0));
   fCabeca -> addChildShape(transOrigem, parte2);
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(0), btScalar(alturaCorpo + 44.5), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fCabeca -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cCabeca = new btRigidBody(massaCorpo, motionStatePadrao, fCabeca, inerciaPadrao);

   fCoxaEsq = new btCapsuleShape(btScalar(2.5), btScalar(30));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(15), btScalar(alturaCorpo - 20), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fCoxaEsq -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cCoxaEsq = new btRigidBody(massaCorpo, motionStatePadrao, fCoxaEsq, inerciaPadrao);
   
   fCoxaDir = new btCapsuleShape(btScalar(2.5), btScalar(30));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(-15), btScalar(alturaCorpo - 20), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fCoxaDir -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cCoxaDir = new btRigidBody(massaCorpo, motionStatePadrao, fCoxaDir, inerciaPadrao);

   fCanelaEsq = new btCapsuleShape(btScalar(2.5), btScalar(40));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(15), btScalar(alturaCorpo - 55), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fCanelaEsq -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cCanelaEsq = new btRigidBody(massaCorpo, motionStatePadrao, fCanelaEsq, inerciaPadrao);

   fCanelaDir = new btCapsuleShape(btScalar(2.5), btScalar(40));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(-15), btScalar(alturaCorpo - 55), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fCanelaDir -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cCanelaDir = new btRigidBody(massaCorpo, motionStatePadrao, fCanelaDir, inerciaPadrao);

   fPeEsq = new btBoxShape(btVector3(btScalar(3.5), btScalar(2.5), btScalar(5)));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(15), btScalar(alturaCorpo - 72.5), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fPeEsq -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cPeEsq = new btRigidBody(massaCorpo, motionStatePadrao, fPeEsq, inerciaPadrao);

   fPeDir = new btBoxShape(btVector3(btScalar(3.5), btScalar(2.5), btScalar(5)));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(-15), btScalar(alturaCorpo - 72.5), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fPeDir -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cPeDir = new btRigidBody(massaCorpo, motionStatePadrao, fPeDir, inerciaPadrao);

   fAntebracoEsq = new btCapsuleShape(btScalar(2.5), btScalar(20));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(25), btScalar(alturaCorpo + 25), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fAntebracoEsq -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cAntebracoEsq = new btRigidBody(massaCorpo, motionStatePadrao, fAntebracoEsq, inerciaPadrao);
   
   fAntebracoDir = new btCapsuleShape(btScalar(2.5), btScalar(20));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(-25), btScalar(alturaCorpo + 25), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fAntebracoDir -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cAntebracoDir = new btRigidBody(massaCorpo, motionStatePadrao, fAntebracoDir, inerciaPadrao);

   fBracoEsq = new btCapsuleShape(btScalar(2.5), btScalar(25));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(25), btScalar(alturaCorpo + 2.5), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fBracoEsq -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cBracoEsq = new btRigidBody(massaCorpo, motionStatePadrao, fBracoEsq, inerciaPadrao);

   fBracoDir = new btCapsuleShape(btScalar(2.5), btScalar(25));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(-25), btScalar(alturaCorpo + 2.5), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fBracoDir -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cBracoDir = new btRigidBody(massaCorpo, motionStatePadrao, fBracoDir, inerciaPadrao);

   fMaoEsq = new btBoxShape(btVector3(btScalar(2.5), btScalar(3.5), btScalar(2.5)));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(25), btScalar(alturaCorpo - 13.5), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fMaoEsq -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cMaoEsq = new btRigidBody(massaCorpo, motionStatePadrao, fMaoEsq, inerciaPadrao);

   fMaoDir = new btBoxShape(btVector3(btScalar(2.5), btScalar(3.5), btScalar(2.5)));
   transOrigem.setIdentity();
   transOrigem.setOrigin(btVector3(btScalar(-25), btScalar(alturaCorpo - 13.5), btScalar(0)));
   motionStatePadrao = new btDefaultMotionState(transOrigem);
   massaCorpo = btScalar(1);
   fMaoDir -> calculateLocalInertia(massaCorpo, inerciaPadrao);
   cMaoDir = new btRigidBody(massaCorpo, motionStatePadrao, fMaoDir, inerciaPadrao);

   mundoDinamico -> addRigidBody(cPlano);
   mundoDinamico -> addRigidBody(cPelvis);
   mundoDinamico -> addRigidBody(cTronco);
   mundoDinamico -> addRigidBody(cCabeca);
   mundoDinamico -> addRigidBody(cCoxaEsq);
   mundoDinamico -> addRigidBody(cCoxaDir);
   mundoDinamico -> addRigidBody(cCanelaEsq);
   mundoDinamico -> addRigidBody(cCanelaDir);
   mundoDinamico -> addRigidBody(cPeEsq);
   mundoDinamico -> addRigidBody(cPeDir);
   mundoDinamico -> addRigidBody(cAntebracoEsq);
   mundoDinamico -> addRigidBody(cAntebracoDir);
   mundoDinamico -> addRigidBody(cBracoEsq);
   mundoDinamico -> addRigidBody(cBracoDir);
   mundoDinamico -> addRigidBody(cMaoEsq);
   mundoDinamico -> addRigidBody(cMaoDir);


   btTransform transArtA, transArtB;
   
   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(5),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(-15), btScalar(0)));
   btGeneric6DofConstraint* artPelvisTronco = new btGeneric6DofConstraint(*cPelvis, *cTronco, transArtA, transArtB, false);
   artPelvisTronco -> setAngularLowerLimit(btVector3(-pi/2, 0, 0));
   artPelvisTronco -> setAngularUpperLimit(btVector3(pi/4, 0, 0));
   mundoDinamico -> addConstraint(artPelvisTronco, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(15),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(-7.5), btScalar(0)));
   btGeneric6DofConstraint* artTroncoCabeca = new btGeneric6DofConstraint(*cTronco, *cCabeca, transArtA, transArtB, false);
   artTroncoCabeca -> setAngularLowerLimit(btVector3(-pi/2, 0, -pi/4));
   artTroncoCabeca -> setAngularUpperLimit(btVector3(pi/2, 0, pi/4));
   mundoDinamico -> addConstraint(artTroncoCabeca, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(15),btScalar(-5),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(15), btScalar(0)));
   btGeneric6DofConstraint* artPelvisCoxaEsq = new btGeneric6DofConstraint(*cPelvis, *cCoxaEsq, transArtA, transArtB, false);
   artPelvisCoxaEsq -> setAngularLowerLimit(btVector3(-pi/2, 0, -pi/2));
   artPelvisCoxaEsq -> setAngularUpperLimit(btVector3(pi/2, 0, 0));
   mundoDinamico -> addConstraint(artPelvisCoxaEsq, true);
   
   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(-15),btScalar(-5),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(15), btScalar(0)));
   btGeneric6DofConstraint* artPelvisCoxaDir = new btGeneric6DofConstraint(*cPelvis, *cCoxaDir, transArtA, transArtB, false);
   artPelvisCoxaDir -> setAngularLowerLimit(btVector3(-pi/2, 0, -pi/2));
   artPelvisCoxaDir -> setAngularUpperLimit(btVector3(pi/2, 0, 0));
   mundoDinamico -> addConstraint(artPelvisCoxaDir, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(-15),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(20), btScalar(0)));
   btGeneric6DofConstraint* artCoxaEsqCanelaEsq = new btGeneric6DofConstraint(*cCoxaEsq, *cCanelaEsq, transArtA, transArtB, false);
   artCoxaEsqCanelaEsq -> setAngularLowerLimit(btVector3(-pi/2, 0, 0));
   artCoxaEsqCanelaEsq -> setAngularUpperLimit(btVector3(pi/2, 0, 0));
   mundoDinamico -> addConstraint(artCoxaEsqCanelaEsq, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(-15),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(20), btScalar(0)));
   btGeneric6DofConstraint* artCoxaDirCanelaDir = new btGeneric6DofConstraint(*cCoxaDir, *cCanelaDir, transArtA, transArtB, false);
   artCoxaDirCanelaDir -> setAngularLowerLimit(btVector3(-pi/2, 0, 0));
   artCoxaDirCanelaDir -> setAngularUpperLimit(btVector3(pi/2, 0, 0));
   mundoDinamico -> addConstraint(artCoxaDirCanelaDir, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(-20),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(0), btScalar(0)));
   btGeneric6DofConstraint* artCanelaEsqPeEsq = new btGeneric6DofConstraint(*cCanelaEsq, *cPeEsq, transArtA, transArtB, false);
   artCanelaEsqPeEsq -> setAngularLowerLimit(btVector3(-pi/4, -pi/4, 0));
   artCanelaEsqPeEsq -> setAngularUpperLimit(btVector3(pi/4, pi/4, 0));
   mundoDinamico -> addConstraint(artCanelaEsqPeEsq, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(-20),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(0), btScalar(0)));
   btGeneric6DofConstraint* artCanelaDirPeDir = new btGeneric6DofConstraint(*cCanelaDir, *cPeDir, transArtA, transArtB, false);
   artCanelaDirPeDir -> setAngularLowerLimit(btVector3(-pi/4, -pi/4, 0));
   artCanelaDirPeDir -> setAngularUpperLimit(btVector3(pi/4, pi/4, 0));
   mundoDinamico -> addConstraint(artCanelaDirPeDir, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(25),btScalar(15),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(10), btScalar(0)));
   btGeneric6DofConstraint* artTroncoAntebracoEsq = new btGeneric6DofConstraint(*cTronco, *cAntebracoEsq, transArtA, transArtB, false);
   artTroncoAntebracoEsq -> setAngularLowerLimit(btVector3(-pi/4, 0, -pi/4));
   artTroncoAntebracoEsq -> setAngularUpperLimit(btVector3(pi/4, 0, pi/4));
   mundoDinamico -> addConstraint(artTroncoAntebracoEsq, true);
   
   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(-25),btScalar(15),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(10), btScalar(0)));
   btGeneric6DofConstraint* artTroncoAntebracoDir = new btGeneric6DofConstraint(*cTronco, *cAntebracoDir, transArtA, transArtB, false);
   artTroncoAntebracoDir -> setAngularLowerLimit(btVector3(-pi/4, 0, -pi/4));
   artTroncoAntebracoDir -> setAngularUpperLimit(btVector3(pi/4, 0, pi/4));
   mundoDinamico -> addConstraint(artTroncoAntebracoDir, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(-10),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(12.5), btScalar(0)));
   btGeneric6DofConstraint* artAntebracoEsqBracoEsq = new btGeneric6DofConstraint(*cAntebracoEsq, *cBracoEsq, transArtA, transArtB, false);
   artAntebracoEsqBracoEsq -> setAngularLowerLimit(btVector3(-pi/2, 0, 0));
   artAntebracoEsqBracoEsq -> setAngularUpperLimit(btVector3(pi/2, 0, 0));
   mundoDinamico -> addConstraint(artAntebracoEsqBracoEsq, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(-10),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(12.5), btScalar(0)));
   btGeneric6DofConstraint* artAntebracoDirBracoDir = new btGeneric6DofConstraint(*cAntebracoDir, *cBracoDir, transArtA, transArtB, false);
   artAntebracoDirBracoDir -> setAngularLowerLimit(btVector3(-pi/2, 0, 0));
   artAntebracoDirBracoDir -> setAngularUpperLimit(btVector3(pi/2, 0, 0));
   mundoDinamico -> addConstraint(artAntebracoDirBracoDir, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(-12.5),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(0), btScalar(0)));
   btGeneric6DofConstraint* artBracoEsqMaoEsq = new btGeneric6DofConstraint(*cBracoEsq, *cMaoEsq, transArtA, transArtB, false);
   artBracoEsqMaoEsq -> setAngularLowerLimit(btVector3(-pi/4, -pi/4, 0));
   artBracoEsqMaoEsq -> setAngularUpperLimit(btVector3(pi/4, pi/4, 0));
   mundoDinamico -> addConstraint(artBracoEsqMaoEsq, true);

   transArtA = btTransform::getIdentity();
   transArtB = btTransform::getIdentity();
   transArtA.setOrigin(btVector3(btScalar(0),btScalar(-12.5),btScalar(0)));
   transArtB.setOrigin(btVector3(btScalar(0),btScalar(0), btScalar(0)));
   btGeneric6DofConstraint* artBracoDirMaoDir = new btGeneric6DofConstraint(*cBracoDir, *cMaoDir, transArtA, transArtB, false);
   artBracoDirMaoDir -> setAngularLowerLimit(btVector3(-pi/4, -pi/4, 0));
   artBracoDirMaoDir -> setAngularUpperLimit(btVector3(pi/4, pi/4, 0));
   mundoDinamico -> addConstraint(artBracoDirMaoDir, true);
}


The alturaCorpo variable is at the center of the Pelvis, and it´s the referential for the rest of the body. The distance between this center and the floor is exactly 75. However, when I define a value of 75 to this variable, the object starts the simulation jumping. Only using the value of 77.5 this problem is solved, however the body does a little fall.

Even when using a simple cube on the floor, the same behavior happens.

I know that the collision engine is responsible for that, But I think it should exists a way to tell Bullet that a Dynamic Body is resting on the floor at the beggining of the simulation. Or am I doing something wrong?

Thanks for the attention.
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CookieMonster
PostPosted: Sun Apr 22, 2012 1:45 pm 
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Joined: Sun Jan 29, 2012 10:01 pm
Posts: 49
You must add any treshold for triangle shapes to the distance from the ground and tell the body to be island sleeping.
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Herleson
PostPosted: Mon Apr 23, 2012 4:06 am 
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Joined: Wed Mar 28, 2012 10:55 pm
Posts: 9
Thanks for the reply, CookieMoster!

However, what type of threshold should be implemented? And on which rigid body?

Also, I found no material about Island Management in Bullet. Do you have any link so I can learn more?

Thanks in advance!
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