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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h')
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h84
1 files changed, 78 insertions, 6 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
index be795633fd..25112a6805 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
@@ -210,7 +210,13 @@ public:
void setBasePos(const btVector3 &pos)
{
m_basePos = pos;
- m_basePos_interpolate = pos;
+ if(!isBaseKinematic())
+ m_basePos_interpolate = pos;
+ }
+
+ void setInterpolateBasePos(const btVector3 &pos)
+ {
+ m_basePos_interpolate = pos;
}
void setBaseWorldTransform(const btTransform &tr)
@@ -227,17 +233,39 @@ public:
return tr;
}
+ void setInterpolateBaseWorldTransform(const btTransform &tr)
+ {
+ setInterpolateBasePos(tr.getOrigin());
+ setInterpolateWorldToBaseRot(tr.getRotation().inverse());
+ }
+
+ btTransform getInterpolateBaseWorldTransform() const
+ {
+ btTransform tr;
+ tr.setOrigin(getInterpolateBasePos());
+ tr.setRotation(getInterpolateWorldToBaseRot().inverse());
+ return tr;
+ }
+
void setBaseVel(const btVector3 &vel)
{
m_realBuf[3] = vel[0];
m_realBuf[4] = vel[1];
m_realBuf[5] = vel[2];
}
+
void setWorldToBaseRot(const btQuaternion &rot)
{
m_baseQuat = rot; //m_baseQuat asumed to ba alias!?
- m_baseQuat_interpolate = rot;
+ if(!isBaseKinematic())
+ m_baseQuat_interpolate = rot;
+ }
+
+ void setInterpolateWorldToBaseRot(const btQuaternion &rot)
+ {
+ m_baseQuat_interpolate = rot;
}
+
void setBaseOmega(const btVector3 &omega)
{
m_realBuf[0] = omega[0];
@@ -245,6 +273,8 @@ public:
m_realBuf[2] = omega[2];
}
+ void saveKinematicState(btScalar timeStep);
+
//
// get/set pos/vel for child m_links (i = 0 to num_links-1)
//
@@ -278,6 +308,11 @@ public:
{
return &m_deltaV[0];
}
+
+ const btScalar *getSplitVelocityVector() const
+ {
+ return &m_splitV[0];
+ }
/* btScalar * getVelocityVector()
{
return &real_buf[0];
@@ -397,6 +432,26 @@ public:
m_deltaV[dof] += delta_vee[dof] * multiplier;
}
}
+ void applyDeltaSplitVeeMultiDof(const btScalar *delta_vee, btScalar multiplier)
+ {
+ for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
+ {
+ m_splitV[dof] += delta_vee[dof] * multiplier;
+ }
+ }
+ void addSplitV()
+ {
+ applyDeltaVeeMultiDof(&m_splitV[0], 1);
+ }
+ void substractSplitV()
+ {
+ applyDeltaVeeMultiDof(&m_splitV[0], -1);
+
+ for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
+ {
+ m_splitV[dof] = 0.f;
+ }
+ }
void processDeltaVeeMultiDof2()
{
applyDeltaVeeMultiDof(&m_deltaV[0], 1);
@@ -495,14 +550,22 @@ public:
void goToSleep();
void checkMotionAndSleepIfRequired(btScalar timestep);
- bool hasFixedBase() const
- {
- return m_fixedBase;
- }
+ bool hasFixedBase() const;
+
+ bool isBaseKinematic() const;
+
+ bool isBaseStaticOrKinematic() const;
+
+ // set the dynamic type in the base's collision flags.
+ void setBaseDynamicType(int dynamicType);
void setFixedBase(bool fixedBase)
{
m_fixedBase = fixedBase;
+ if(m_fixedBase)
+ setBaseDynamicType(btCollisionObject::CF_STATIC_OBJECT);
+ else
+ setBaseDynamicType(btCollisionObject::CF_DYNAMIC_OBJECT);
}
int getCompanionId() const
@@ -653,7 +716,15 @@ public:
btVector3 &top_out, // top part of output vector
btVector3 &bottom_out); // bottom part of output vector
+ void setLinkDynamicType(const int i, int type);
+
+ bool isLinkStaticOrKinematic(const int i) const;
+
+ bool isLinkKinematic(const int i) const;
+
+ bool isLinkAndAllAncestorsStaticOrKinematic(const int i) const;
+ bool isLinkAndAllAncestorsKinematic(const int i) const;
private:
btMultiBody(const btMultiBody &); // not implemented
@@ -711,6 +782,7 @@ private:
// offset size array
// 0 num_links+1 rot_from_parent
//
+ btAlignedObjectArray<btScalar> m_splitV;
btAlignedObjectArray<btScalar> m_deltaV;
btAlignedObjectArray<btScalar> m_realBuf;
btAlignedObjectArray<btVector3> m_vectorBuf;