Finally I could fix the btGeneric6DofConstraint for making it more robust and versatile. The old one was working very bad.
Check it out, download this new add-on at:
https://sourceforge.net/project/showfil ... _id=245140
Now it supports Motors on each angular axis. The supported limit range is:
- For axis X: (-PI,PI) .
- For axis Y: (-PI/2,PI/2).
- For axis Z: (-PI,PI).
However, it is recomended to get limited the Y axis always between that range (-PI/2,PI/2). This code uses a method for find the relative Euler Angles between the bodies, which only gives the Y angle through the ArcSin function.
Also I've implemented support for Typed Joints in the ODE QuickStep solver.
In the zipped file you can find three demos, whose are a rewritten version of the Ragdoll demo. Press 'E' for spawn many ragdolls:
- I'm not kidding when saying that the old btGeneric6DofConstraint was working very bad. The demo appGenericJointDemo_old.exe shows the ragdolls working with the previous class; The body suffers an epileptic attack and then explodes!
- The demo appGenericJointDemo_seq.exe implements my new approach for Generic Constraints, which seems works pretty fine. It uses the btSequentialImpulseConstraintSolver class.
- The demo appGenericJointDemo_quickstep.exe implements Generic Joints using the ODE quickstep solver. May be it behaves more stable, may be not. Judge yourself.
Thanks,
Att: Francisco León