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PostPosted: Thu Dec 29, 2016 9:03 pm 
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Joined: Thu Dec 08, 2016 11:46 pm
Posts: 5
I have Bullet2.84/Ogre3D2.1 trying to swing a pendulum, in the form of a small sphere under a box. It won't swing freely, though forcing the sphere up with another collidable lets it traverse and bounce up and down along the straight line of the slider constraint. How to I get this pendulum to swing upon collision using the box as its axis? I want to be able to hit this sphere with another collidable and have it swing about wildly.

I used code from Thread: simple pendulum sticks and Thread: Newton's cradle not transforming force properly. However, though the slider contraint seems to be working properly, I don't get the swing from supernewb's video. In fact, though supernewb sets btPoint2PointConstraint::setLowerAngLimit( btVector3() )- apparently controlling this swing- this method is gone from Bullet2.84.

P.S. Disregard the filled-in kinematic icosphere, which is used as a camera rotation cursor and collision tester.

My pendulum object:
Code:
class PendulumObj: public GameObj{
public:
   PendulumObj( OgreWinApp *ogre_app, BulletApp *bt_app ){

      btScalar x_pos = 0;
      btScalar y_pos = 0;
      btScalar length = 3;
      btScalar mass = 1;

      // Setup collision shapes
      btBoxShape *box_shape = new btBoxShape( btVector3( 0.5, 0.5, 0.5 ) );
      btSphereShape *sphere_shape = new btSphereShape( 0.5 );

      btTransform alpha_trans, beta_trans;
      alpha_trans.setOrigin( btVector3( btScalar( x_pos ), btScalar( 5 ), btScalar( 0 ) ) );
      alpha_trans.setRotation( btQuaternion( 0, 0, 1, 0 ) ); //we use -Y like up Axis
      beta_trans.setOrigin( btVector3( btScalar( x_pos ), btScalar( 1 ), btScalar( 0 ) ) );
      beta_trans.setRotation( btQuaternion( 0, 0, 1, 0 ) ); //we use -Y like up Axis

      btDefaultMotionState *alpha_motion_state = new btDefaultMotionState();
      btRigidBody::btRigidBodyConstructionInfo alpha_ci( mass, alpha_motion_state, box_shape );
      btRigidBody *alpha_rbody = new btRigidBody( alpha_ci );
      alpha_rbody->setCenterOfMassTransform( alpha_trans );
      bt_app->getWorld()->addRigidBody( alpha_rbody );
      alpha_rbody->setActivationState( DISABLE_DEACTIVATION );

      btDefaultMotionState *beta_motion_state = new btDefaultMotionState();
      btRigidBody::btRigidBodyConstructionInfo beta_ci( mass, beta_motion_state, sphere_shape );
      btRigidBody *beta_rbody = new btRigidBody( beta_ci );
      beta_rbody->setCenterOfMassTransform( beta_trans );
      bt_app->getWorld()->addRigidBody( beta_rbody );
      beta_rbody->setActivationState( DISABLE_DEACTIVATION );

      // Point 2 Point nailing alpha to world
      btVector3 pivot( btVector3( 0.0f, 0.0f, 0.0f ) );
      btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint( *alpha_rbody, pivot );
      p2pconst->setDbgDrawSize( btScalar( 2.f ) );
      bt_app->getWorld()->addConstraint( p2pconst, true );

      // Slider constraining beta's movement
      btTransform alpha_trans2, beta_trans2;
      alpha_trans2.setIdentity();
      beta_trans2.setIdentity();
      btQuaternion qt;
      qt.setEuler( 0, 0, SIMD_HALF_PI );
      alpha_trans2.setRotation( qt ); //we use -Y like up Axis
      beta_trans2.setRotation( qt ); //we use -Y like up Axis

      //Obtain the position of bottomSphere in local reference frame of topSphere
      btVector3 bottomSphereInTopSphereLRF = (alpha_rbody->getWorldTransform().inverse()(beta_rbody->getWorldTransform().getOrigin()));
      alpha_trans2.setOrigin( bottomSphereInTopSphereLRF );

      btSliderConstraint* sliderConst = new btSliderConstraint( *alpha_rbody, *beta_rbody, alpha_trans2, beta_trans2, true );
      sliderConst->setDbgDrawSize( btScalar( 0.5f ) );
      sliderConst->setLowerLinLimit( btScalar( -length ) );
      sliderConst->setUpperLinLimit( btScalar( 0 ) );
      sliderConst->setLowerAngLimit( btScalar( 0 ) );
      sliderConst->setUpperAngLimit( btScalar( 0 ) );

      // from http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=8674
      //sliderConst->setAngularLowerLimit( btVector3( -SIMD_EPSILON, -SIMD_EPSILON, -SIMD_EPSILON ) );   // Does not exist in 2.84
      //sliderConst->setAngularUpperLimit( btVector3( SIMD_EPSILON, SIMD_EPSILON, SIMD_EPSILON ) );
      sliderConst->setLowerAngLimit( btScalar( SIMD_EPSILON ) );   // Seems to do nothing
      sliderConst->setUpperAngLimit( btScalar( -SIMD_EPSILON ) );
      
      bt_app->getWorld()->addConstraint( sliderConst, true );
   }
};


edit: typo


Attachments:
pendulum.png
pendulum.png [ 34.28 KiB | Viewed 901 times ]
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PostPosted: Fri Dec 30, 2016 11:51 pm 
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Joined: Sat Jul 04, 2015 10:33 am
Posts: 349
Location: Bern, Switzerland
Hello skosh2,

Have you seen my pendulum example in the bullet example browser? There you can find a properly swinging pendulum, which is the final product of what you based some of your code on.


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PostPosted: Sat Dec 31, 2016 1:36 am 
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Joined: Thu Dec 08, 2016 11:46 pm
Posts: 5
benelot,

If you're talking about "SDK/examples/Constraints/ConstraintDemo.cpp", then yes I have. But you'll notice the code doesn't actually do anything much differently than I've been trying to do it. Is there anything I'm missing in my code or anything that I've made unclear?

This is maddeningly frustrating..

Code:
// "ConstraintDemo.cpp", lines 232-270
   //point to point constraint (ball socket)
   {
      btRigidBody* body0 = createRigidBody( mass,trans,shape);
      trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));

      mass = 1.f;
//      btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
//      btRigidBody* body1 = createRigidBody( 0.0,trans,0);
      //body1->setActivationState(DISABLE_DEACTIVATION);
      //body1->setDamping(0.3,0.3);

      btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
      btVector3 axisInA(0,0,1);

   //   btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
//      btVector3 axisInB = body1?
//         (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
      body0->getCenterOfMassTransform().getBasis() * axisInA;

#define P2P
#ifdef P2P
      btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
      //btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
      //btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
      m_dynamicsWorld->addConstraint(p2p);
      p2p->setDbgDrawSize(btScalar(5.f));
#else
      btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
      
      //use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
      //float   targetVelocity = 0.f;
      //float   maxMotorImpulse = 0.01;
      float   targetVelocity = 1.f;
      float   maxMotorImpulse = 1.0f;
      hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
      m_dynamicsWorld->addConstraint(hinge);
      hinge->setDbgDrawSize(btScalar(5.f));
#endif //P2P
   }


P.S. Do you know what btTypedConstraint::setBreakingImpulseThreshold( btScalar ) actually does? It's not very well documented and all I see it do is make my btPoint2PointConstraint'ed box (non-swinging, mind you) just fall into eternity when I collide with it (as if it fell off a hook). I ask because it's one of the only member functions to twiddle with on the btPoint2PointConstraint class; all of the examples all over the forums of using btPoint2PointConstraint::setAngularLowerLimit(), e.g do not work in 2.84.


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PostPosted: Mon Jan 02, 2017 8:40 am 
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Joined: Sat Jul 04, 2015 10:33 am
Posts: 349
Location: Bern, Switzerland
No, I mean this example consisting of multiple pendula, basically you only want one, that is a parameter of the example.

https://github.com/bulletphysics/bullet ... Cradle.cpp


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