added angular limits to the Generic D6 constraint. Works for small angles. Will add a check for different combinations, and use different extraction of ordering of rotation from the diff quaternion.

Improved vehicle interpolation of wheels, and added Z-up axis option for the Demo
made 'getWorldTransform' const method in btMotionState
added future 'deactivationCallback'(not used yet)

1 files changed, 13 insertions, 5 deletions

diff --git a/Demos/VehicleDemo/VehicleDemo.cpp b/Demos/VehicleDemo/VehicleDemo.cpp
index 575755029..f2e7f6983 100644
--- a/Demos/VehicleDemo/VehicleDemo.cpp
+++ b/Demos/VehicleDemo/VehicleDemo.cpp
@@ -301,7 +301,7 @@ void VehicleDemo::renderme()
 	for (i=0;i<m_vehicle->getNumWheels();i++)

 	{

 		//synchronize the wheels with the (interpolated) chassis worldtransform

-		m_vehicle->updateWheelTransform(i);

+		m_vehicle->updateWheelTransform(i,true);

 		//draw wheels (cylinders)

 		m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);

 		GL_ShapeDrawer::drawOpenGL(m,&wheelShape,wheelColor,getDebugMode());

@@ -323,11 +323,14 @@ void VehicleDemo::clientMoveAndDisplay()
 	if (m_dynamicsWorld)

 	{

 		//during idle mode, just run 1 simulation step maximum

-		int maxSimSubSteps = m_idle ? 1 : 1;

+		int maxSimSubSteps = m_idle ? 1 : 2;

 		if (m_idle)

 			dt = 1.0/420.f;

 

 		int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);

+

+#define VERBOSE_FEEDBACK

+#ifdef VERBOSE_FEEDBACK

 		if (!numSimSteps)

 			printf("Interpolated transforms\n");

 		else

@@ -341,6 +344,7 @@ void VehicleDemo::clientMoveAndDisplay()
 				printf("Simulated (%i) steps\n",numSimSteps);

 			}

 		}

+#endif //VERBOSE_FEEDBACK

 

 	}

 

@@ -384,16 +388,20 @@ void VehicleDemo::clientMoveAndDisplay()
 void VehicleDemo::displayCallback(void) 

 {

 

+	clientMoveAndDisplay();

+	return;

+

 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

 

 

 	

-	m_dynamicsWorld->updateAabbs();

+	//m_dynamicsWorld->updateAabbs();

+	

 	//draw contactpoints

 	//m_physicsEnvironmentPtr->CallbackTriggers();

 

 

-	renderme();

+	//renderme();

 

 

 	glFlush();

@@ -416,7 +424,7 @@ void VehicleDemo::clientResetScene()
 		for (int i=0;i<m_vehicle->getNumWheels();i++)

 		{

 			//synchronize the wheels with the (interpolated) chassis worldtransform

-			m_vehicle->updateWheelTransform(i);

+			m_vehicle->updateWheelTransform(i,true);

 		}

 	}