diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp | 221 |
1 files changed, 111 insertions, 110 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp index 43f26f9833..e025302ce6 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp @@ -25,29 +25,29 @@ subject to the following restrictions: #define EPSILON 0.000001 btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis) - :btMultiBodyConstraint(body,0,link,-1,BTMBSLIDERCONSTRAINT_DIM,false), - m_rigidBodyA(0), - m_rigidBodyB(bodyB), - m_pivotInA(pivotInA), - m_pivotInB(pivotInB), - m_frameInA(frameInA), - m_frameInB(frameInB), - m_jointAxis(jointAxis) + : btMultiBodyConstraint(body, 0, link, -1, BTMBSLIDERCONSTRAINT_DIM, false), + m_rigidBodyA(0), + m_rigidBodyB(bodyB), + m_pivotInA(pivotInA), + m_pivotInB(pivotInB), + m_frameInA(frameInA), + m_frameInB(frameInB), + m_jointAxis(jointAxis) { - m_data.resize(BTMBSLIDERCONSTRAINT_DIM);//at least store the applied impulses + m_data.resize(BTMBSLIDERCONSTRAINT_DIM); //at least store the applied impulses } btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis) - :btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBSLIDERCONSTRAINT_DIM,false), - m_rigidBodyA(0), - m_rigidBodyB(0), - m_pivotInA(pivotInA), - m_pivotInB(pivotInB), - m_frameInA(frameInA), - m_frameInB(frameInB), - m_jointAxis(jointAxis) + : btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBSLIDERCONSTRAINT_DIM, false), + m_rigidBodyA(0), + m_rigidBodyB(0), + m_pivotInA(pivotInA), + m_pivotInB(pivotInB), + m_frameInA(frameInA), + m_frameInB(frameInB), + m_jointAxis(jointAxis) { - m_data.resize(BTMBSLIDERCONSTRAINT_DIM);//at least store the applied impulses + m_data.resize(BTMBSLIDERCONSTRAINT_DIM); //at least store the applied impulses } void btMultiBodySliderConstraint::finalizeMultiDof() @@ -60,7 +60,6 @@ btMultiBodySliderConstraint::~btMultiBodySliderConstraint() { } - int btMultiBodySliderConstraint::getIslandIdA() const { if (m_rigidBodyA) @@ -105,98 +104,100 @@ int btMultiBodySliderConstraint::getIslandIdB() const } void btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal) { - // Convert local points back to world - btVector3 pivotAworld = m_pivotInA; - btMatrix3x3 frameAworld = m_frameInA; - btVector3 jointAxis = m_jointAxis; - if (m_rigidBodyA) - { - pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA; - frameAworld = m_frameInA.transpose()*btMatrix3x3(m_rigidBodyA->getOrientation()); - jointAxis = quatRotate(m_rigidBodyA->getOrientation(),m_jointAxis); - - } else if (m_bodyA) { - pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA); - frameAworld = m_bodyA->localFrameToWorld(m_linkA, m_frameInA); - jointAxis = m_bodyA->localDirToWorld(m_linkA, m_jointAxis); - } - btVector3 pivotBworld = m_pivotInB; - btMatrix3x3 frameBworld = m_frameInB; - if (m_rigidBodyB) - { - pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB; - frameBworld = m_frameInB.transpose()*btMatrix3x3(m_rigidBodyB->getOrientation()); - - } else if (m_bodyB) { - pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB); - frameBworld = m_bodyB->localFrameToWorld(m_linkB, m_frameInB); - } - - btVector3 constraintAxis[2]; - for (int i = 0; i < 3; ++i) - { - constraintAxis[0] = frameAworld.getColumn(i).cross(jointAxis); - if (constraintAxis[0].safeNorm() > EPSILON) - { - constraintAxis[0] = constraintAxis[0].normalized(); - constraintAxis[1] = jointAxis.cross(constraintAxis[0]); - constraintAxis[1] = constraintAxis[1].normalized(); - break; - } - } - - btMatrix3x3 relRot = frameAworld.inverse()*frameBworld; - btVector3 angleDiff; - btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot,angleDiff); - - int numDim = BTMBSLIDERCONSTRAINT_DIM; - for (int i=0;i<numDim;i++) + // Convert local points back to world + btVector3 pivotAworld = m_pivotInA; + btMatrix3x3 frameAworld = m_frameInA; + btVector3 jointAxis = m_jointAxis; + if (m_rigidBodyA) + { + pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA; + frameAworld = m_frameInA.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation()); + jointAxis = quatRotate(m_rigidBodyA->getOrientation(), m_jointAxis); + } + else if (m_bodyA) { - btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing(); - constraintRow.m_orgConstraint = this; - constraintRow.m_orgDofIndex = i; - constraintRow.m_relpos1CrossNormal.setValue(0,0,0); - constraintRow.m_contactNormal1.setValue(0,0,0); - constraintRow.m_relpos2CrossNormal.setValue(0,0,0); - constraintRow.m_contactNormal2.setValue(0,0,0); - constraintRow.m_angularComponentA.setValue(0,0,0); - constraintRow.m_angularComponentB.setValue(0,0,0); - - constraintRow.m_solverBodyIdA = data.m_fixedBodyId; - constraintRow.m_solverBodyIdB = data.m_fixedBodyId; - - if (m_rigidBodyA) - { - constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId(); - } - if (m_rigidBodyB) - { - constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId(); - } - - btVector3 constraintNormalLin(0,0,0); - btVector3 constraintNormalAng(0,0,0); - btScalar posError = 0.0; - if (i < 2) { - constraintNormalLin = constraintAxis[i]; - posError = (pivotAworld-pivotBworld).dot(constraintNormalLin); - fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng, - constraintNormalLin, pivotAworld, pivotBworld, - posError, - infoGlobal, - -m_maxAppliedImpulse, m_maxAppliedImpulse - ); - } - else { //i>=2 - constraintNormalAng = frameAworld.getColumn(i%3); - posError = angleDiff[i%3]; - fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng, - constraintNormalLin, pivotAworld, pivotBworld, - posError, - infoGlobal, - -m_maxAppliedImpulse, m_maxAppliedImpulse, true - ); - } + pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA); + frameAworld = m_bodyA->localFrameToWorld(m_linkA, m_frameInA); + jointAxis = m_bodyA->localDirToWorld(m_linkA, m_jointAxis); + } + btVector3 pivotBworld = m_pivotInB; + btMatrix3x3 frameBworld = m_frameInB; + if (m_rigidBodyB) + { + pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB; + frameBworld = m_frameInB.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation()); + } + else if (m_bodyB) + { + pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB); + frameBworld = m_bodyB->localFrameToWorld(m_linkB, m_frameInB); + } + + btVector3 constraintAxis[2]; + for (int i = 0; i < 3; ++i) + { + constraintAxis[0] = frameAworld.getColumn(i).cross(jointAxis); + if (constraintAxis[0].safeNorm() > EPSILON) + { + constraintAxis[0] = constraintAxis[0].normalized(); + constraintAxis[1] = jointAxis.cross(constraintAxis[0]); + constraintAxis[1] = constraintAxis[1].normalized(); + break; + } + } + + btMatrix3x3 relRot = frameAworld.inverse() * frameBworld; + btVector3 angleDiff; + btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot, angleDiff); + + int numDim = BTMBSLIDERCONSTRAINT_DIM; + for (int i = 0; i < numDim; i++) + { + btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing(); + constraintRow.m_orgConstraint = this; + constraintRow.m_orgDofIndex = i; + constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0); + constraintRow.m_contactNormal1.setValue(0, 0, 0); + constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0); + constraintRow.m_contactNormal2.setValue(0, 0, 0); + constraintRow.m_angularComponentA.setValue(0, 0, 0); + constraintRow.m_angularComponentB.setValue(0, 0, 0); + + constraintRow.m_solverBodyIdA = data.m_fixedBodyId; + constraintRow.m_solverBodyIdB = data.m_fixedBodyId; + + if (m_rigidBodyA) + { + constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId(); + } + if (m_rigidBodyB) + { + constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId(); + } + + btVector3 constraintNormalLin(0, 0, 0); + btVector3 constraintNormalAng(0, 0, 0); + btScalar posError = 0.0; + if (i < 2) + { + constraintNormalLin = constraintAxis[i]; + posError = (pivotAworld - pivotBworld).dot(constraintNormalLin); + fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng, + constraintNormalLin, pivotAworld, pivotBworld, + posError, + infoGlobal, + -m_maxAppliedImpulse, m_maxAppliedImpulse); + } + else + { //i>=2 + constraintNormalAng = frameAworld.getColumn(i % 3); + posError = angleDiff[i % 3]; + fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng, + constraintNormalLin, pivotAworld, pivotBworld, + posError, + infoGlobal, + -m_maxAppliedImpulse, m_maxAppliedImpulse, true); + } } } |