Finally btGeneric6DofConstraint has been fixed!

[projectileman]

Hi everybody.

Please download the the improved class btGeneric6DofConstraint right here:
https://sourceforge.net/project/showfil ... _id=538129

Changes:

• Angular constraints work correctly. Now this class is capable to find the appropiate angular axis for each rotation.
• Angular limits must be in these ranges: X : [-INF, INF], Y : [-PI/2, PI/2], Z : [-INF, INF]
• Support for angular motors, like the btHingeConstraint class.

TODO:

• Support for translational motors. (Motorized sliders)
• Springs. (I'm not sure if that can be performed altering the constraint parameters)
• Updating 6DOF constraint in the COLLADA loader
• More demos, with robotics.

Att: Francisco León
http://gimpact.sf.net

[projectileman]

About the Constraint Demo, it needs a little modification for working as same as the 'original'.

At this time it behaves too softy and yields out too easy when you're pulling the box.
Some parameters need to be specified for making it a truly Rigid constraint:

Code: Select all

for (int i = 0;i<3 ;i++ )
{
	slider->getRotationalLimitMotor(i)->m_maxLimitForce = SIMD_INFINITY;
	slider->getRotationalLimitMotor(i)->m_ERP = btScalar(1.0);
	slider->getRotationalLimitMotor(i)->m_limitSoftness = btScalar(1.0);
}

But for Ragdolls is better to stablish softy contraints for avoiding some jerky movements that occur some times.
By default, m_ERP and m_limitSoftness are set to 0.5. You can alter these parameters depending of the situation.