diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics')
9 files changed, 101 insertions, 23 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index 7cb92fa3b4..d7588aedc8 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -33,8 +33,8 @@ namespace { -const btScalar SLEEP_EPSILON = btScalar(0.05); // this is a squared velocity (m^2 s^-2) -const btScalar SLEEP_TIMEOUT = btScalar(2); // in seconds +const btScalar INITIAL_SLEEP_EPSILON = btScalar(0.05); // this is a squared velocity (m^2 s^-2) +const btScalar INITIAL_SLEEP_TIMEOUT = btScalar(2); // in seconds } // namespace void btMultiBody::spatialTransform(const btMatrix3x3 &rotation_matrix, // rotates vectors in 'from' frame to vectors in 'to' frame @@ -110,6 +110,9 @@ btMultiBody::btMultiBody(int n_links, m_canSleep(canSleep), m_canWakeup(true), m_sleepTimer(0), + m_sleepEpsilon(INITIAL_SLEEP_EPSILON), + m_sleepTimeout(INITIAL_SLEEP_TIMEOUT), + m_userObjectPointer(0), m_userIndex2(-1), m_userIndex(-1), @@ -1411,7 +1414,7 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV } } -void btMultiBody::mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const +void btMultiBody::mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const { for (int row = 0; row < rowsA; row++) { @@ -2104,10 +2107,10 @@ void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep) motion += m_realBuf[i] * m_realBuf[i]; } - if (motion < SLEEP_EPSILON) + if (motion < m_sleepEpsilon) { m_sleepTimer += timestep; - if (m_sleepTimer > SLEEP_TIMEOUT) + if (m_sleepTimer > m_sleepTimeout) { goToSleep(); } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h index 5a3efc9414..345970d261 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h @@ -545,7 +545,10 @@ public: { m_canWakeup = canWakeup; } - bool isAwake() const { return m_awake; } + bool isAwake() const + { + return m_awake; + } void wakeUp(); void goToSleep(); void checkMotionAndSleepIfRequired(btScalar timestep); @@ -726,6 +729,17 @@ public: bool isLinkAndAllAncestorsKinematic(const int i) const; + void setSleepThreshold(btScalar sleepThreshold) + { + m_sleepEpsilon = sleepThreshold; + } + + void setSleepTimeout(btScalar sleepTimeout) + { + this->m_sleepTimeout = sleepTimeout; + } + + private: btMultiBody(const btMultiBody &); // not implemented void operator=(const btMultiBody &); // not implemented @@ -745,7 +759,7 @@ private: } } - void mulMatrix(btScalar * pA, btScalar * pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const; + void mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const; private: btMultiBodyLinkCollider *m_baseCollider; //can be NULL @@ -801,6 +815,8 @@ private: bool m_canSleep; bool m_canWakeup; btScalar m_sleepTimer; + btScalar m_sleepEpsilon; + btScalar m_sleepTimeout; void *m_userObjectPointer; int m_userIndex2; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index 1ba5861145..00d5fd5609 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -61,7 +61,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra btScalar lowerLimit, btScalar upperLimit, bool angConstraint, btScalar relaxation, - bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) + bool isFriction, btScalar desiredVelocity, btScalar cfmSlip, + btScalar damping) { solverConstraint.m_multiBodyA = m_bodyA; solverConstraint.m_multiBodyB = m_bodyB; @@ -348,7 +349,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra { btScalar positionalError = 0.f; - btScalar velocityError = desiredVelocity - rel_vel; // * damping; + btScalar velocityError = (desiredVelocity - rel_vel) * damping; btScalar erp = infoGlobal.m_erp2; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h index 4a6007ee3e..1aaa07b69e 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h @@ -94,7 +94,7 @@ protected: bool angConstraint = false, btScalar relaxation = 1.f, - bool isFriction = false, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + bool isFriction = false, btScalar desiredVelocity = 0, btScalar cfmSlip = 0, btScalar damping = 1.0); public: BT_DECLARE_ALIGNED_ALLOCATOR(); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index fef95f0c4e..e7af332eb3 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -137,7 +137,14 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) btMultiBodyLinkCollider* col = body->getBaseCollider(); if (col && col->getActivationState() == ACTIVE_TAG) { - col->setActivationState(WANTS_DEACTIVATION); + if (body->hasFixedBase()) + { + col->setActivationState(FIXED_BASE_MULTI_BODY); + } else + { + col->setActivationState(WANTS_DEACTIVATION); + } + col->setDeactivationTime(0.f); } for (int b = 0; b < body->getNumLinks(); b++) diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index 4372489fa1..fec9b03213 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -43,6 +43,7 @@ void btMultiBodyJointMotor::finalizeMultiDof() unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF); // row 0: the lower bound + // row 0: the lower bound jacobianA(0)[offset] = 1; m_numDofsFinalized = m_jacSizeBoth; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp index 5c20d2a0d4..00a7ef3579 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp @@ -26,10 +26,13 @@ btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor(btMultiBody* body : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 3, true, MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR), m_desiredVelocity(0, 0, 0), m_desiredPosition(0,0,0,1), - m_kd(1.), - m_kp(0.2), + m_use_multi_dof_params(false), + m_kd(1., 1., 1.), + m_kp(0.2, 0.2, 0.2), m_erp(1), - m_rhsClamp(SIMD_INFINITY) + m_rhsClamp(SIMD_INFINITY), + m_maxAppliedImpulseMultiDof(maxMotorImpulse, maxMotorImpulse, maxMotorImpulse), + m_damping(1.0, 1.0, 1.0) { m_maxAppliedImpulse = maxMotorImpulse; @@ -45,6 +48,7 @@ void btMultiBodySphericalJointMotor::finalizeMultiDof() unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF); // row 0: the lower bound + // row 0: the lower bound jacobianA(0)[offset] = 1; m_numDofsFinalized = m_jacSizeBoth; @@ -138,7 +142,8 @@ btQuaternion relRot = currentQuat.inverse() * desiredQuat; btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; btScalar desiredVelocity = this->m_desiredVelocity[row]; - btScalar velocityError = desiredVelocity - currentVelocity; + double kd = m_use_multi_dof_params ? m_kd[row % 3] : m_kd[0]; + btScalar velocityError = (desiredVelocity - currentVelocity) * kd; btMatrix3x3 frameAworld; frameAworld.setIdentity(); @@ -151,12 +156,16 @@ btQuaternion relRot = currentQuat.inverse() * desiredQuat; case btMultibodyLink::eSpherical: { btVector3 constraintNormalAng = frameAworld.getColumn(row % 3); - posError = m_kp*angleDiff[row % 3]; + double kp = m_use_multi_dof_params ? m_kp[row % 3] : m_kp[0]; + posError = kp*angleDiff[row % 3]; + double max_applied_impulse = m_use_multi_dof_params ? m_maxAppliedImpulseMultiDof[row % 3] : m_maxAppliedImpulse; fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng, btVector3(0,0,0), dummy, dummy, posError, infoGlobal, - -m_maxAppliedImpulse, m_maxAppliedImpulse, true); + -max_applied_impulse, max_applied_impulse, true, + 1.0, false, 0, 0, + m_damping[row % 3]); constraintRow.m_orgConstraint = this; constraintRow.m_orgDofIndex = row; break; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h index 621beab5a4..bdeccc2e24 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h @@ -26,10 +26,13 @@ class btMultiBodySphericalJointMotor : public btMultiBodyConstraint protected: btVector3 m_desiredVelocity; btQuaternion m_desiredPosition; - btScalar m_kd; - btScalar m_kp; + bool m_use_multi_dof_params; + btVector3 m_kd; + btVector3 m_kp; btScalar m_erp; btScalar m_rhsClamp; //maximum error + btVector3 m_maxAppliedImpulseMultiDof; + btVector3 m_damping; public: btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse); @@ -44,16 +47,32 @@ public: btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal); - virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.f) + virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.0) + { + m_desiredVelocity = velTarget; + m_kd = btVector3(kd, kd, kd); + m_use_multi_dof_params = false; + } + + virtual void setVelocityTargetMultiDof(const btVector3& velTarget, const btVector3& kd = btVector3(1.0, 1.0, 1.0)) { m_desiredVelocity = velTarget; m_kd = kd; + m_use_multi_dof_params = true; } - virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp = 1.f) + virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp =1.f) + { + m_desiredPosition = posTarget; + m_kp = btVector3(kp, kp, kp); + m_use_multi_dof_params = false; + } + + virtual void setPositionTargetMultiDof(const btQuaternion& posTarget, const btVector3& kp = btVector3(1.f, 1.f, 1.f)) { m_desiredPosition = posTarget; m_kp = kp; + m_use_multi_dof_params = true; } virtual void setErp(btScalar erp) @@ -68,6 +87,28 @@ public: { m_rhsClamp = rhsClamp; } + + btScalar getMaxAppliedImpulseMultiDof(int i) const + { + return m_maxAppliedImpulseMultiDof[i]; + } + + void setMaxAppliedImpulseMultiDof(const btVector3& maxImp) + { + m_maxAppliedImpulseMultiDof = maxImp; + m_use_multi_dof_params = true; + } + + btScalar getDamping(int i) const + { + return m_damping[i]; + } + + void setDamping(const btVector3& damping) + { + m_damping = damping; + } + virtual void debugDraw(class btIDebugDraw* drawer) { //todo(erwincoumans) diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp index 5d864f2757..ed4e0b686d 100644 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp @@ -532,7 +532,7 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal) J_transpose = J.transpose(); btMatrixXu& tmp = m_scratchTmp; - + //Minv.printMatrix("Minv="); { { BT_PROFILE("J*Minv"); @@ -543,7 +543,7 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal) m_A = tmp * J_transpose; } } - + //J.printMatrix("J"); if (1) { // add cfm to the diagonal of m_A |