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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBody.h')
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1 files changed, 814 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBody.h new file mode 100644 index 0000000000..655165ac18 --- /dev/null +++ b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBody.h @@ -0,0 +1,814 @@ +/* + * PURPOSE: + * Class representing an articulated rigid body. Stores the body's + * current state, allows forces and torques to be set, handles + * timestepping and implements Featherstone's algorithm. + * + * COPYRIGHT: + * Copyright (C) Stephen Thompson, <stephen@solarflare.org.uk>, 2011-2013 + * Portions written By Erwin Coumans: connection to LCP solver, various multibody constraints, replacing Eigen math library by Bullet LinearMath and a dedicated 6x6 matrix inverse (solveImatrix) + * Portions written By Jakub Stepien: support for multi-DOF constraints, introduction of spatial algebra and several other improvements + + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + + */ + + +#ifndef BT_MULTIBODY_H +#define BT_MULTIBODY_H + +#include "LinearMath/btScalar.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btAlignedObjectArray.h" + + +///serialization data, don't change them if you are not familiar with the details of the serialization mechanisms +#ifdef BT_USE_DOUBLE_PRECISION + #define btMultiBodyData btMultiBodyDoubleData + #define btMultiBodyDataName "btMultiBodyDoubleData" + #define btMultiBodyLinkData btMultiBodyLinkDoubleData + #define btMultiBodyLinkDataName "btMultiBodyLinkDoubleData" +#else + #define btMultiBodyData btMultiBodyFloatData + #define btMultiBodyDataName "btMultiBodyFloatData" + #define btMultiBodyLinkData btMultiBodyLinkFloatData + #define btMultiBodyLinkDataName "btMultiBodyLinkFloatData" +#endif //BT_USE_DOUBLE_PRECISION + +#include "btMultiBodyLink.h" +class btMultiBodyLinkCollider; + +ATTRIBUTE_ALIGNED16(class) btMultiBody +{ +public: + + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + // + // initialization + // + + btMultiBody(int n_links, // NOT including the base + btScalar mass, // mass of base + const btVector3 &inertia, // inertia of base, in base frame; assumed diagonal + bool fixedBase, // whether the base is fixed (true) or can move (false) + bool canSleep, bool deprecatedMultiDof=true); + + + virtual ~btMultiBody(); + + //note: fixed link collision with parent is always disabled + void setupFixed(int linkIndex, + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &rotParentToThis, + const btVector3 &parentComToThisPivotOffset, + const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true); + + + void setupPrismatic(int i, + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &rotParentToThis, + const btVector3 &jointAxis, + const btVector3 &parentComToThisPivotOffset, + const btVector3 &thisPivotToThisComOffset, + bool disableParentCollision); + + void setupRevolute(int linkIndex, // 0 to num_links-1 + btScalar mass, + const btVector3 &inertia, + int parentIndex, + const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0 + const btVector3 &jointAxis, // in my frame + const btVector3 &parentComToThisPivotOffset, // vector from parent COM to joint axis, in PARENT frame + const btVector3 &thisPivotToThisComOffset, // vector from joint axis to my COM, in MY frame + bool disableParentCollision=false); + + void setupSpherical(int linkIndex, // 0 to num_links-1 + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0 + const btVector3 &parentComToThisPivotOffset, // vector from parent COM to joint axis, in PARENT frame + const btVector3 &thisPivotToThisComOffset, // vector from joint axis to my COM, in MY frame + bool disableParentCollision=false); + + void setupPlanar(int i, // 0 to num_links-1 + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0 + const btVector3 &rotationAxis, + const btVector3 &parentComToThisComOffset, // vector from parent COM to this COM, in PARENT frame + bool disableParentCollision=false); + + const btMultibodyLink& getLink(int index) const + { + return m_links[index]; + } + + btMultibodyLink& getLink(int index) + { + return m_links[index]; + } + + + void setBaseCollider(btMultiBodyLinkCollider* collider)//collider can be NULL to disable collision for the base + { + m_baseCollider = collider; + } + const btMultiBodyLinkCollider* getBaseCollider() const + { + return m_baseCollider; + } + btMultiBodyLinkCollider* getBaseCollider() + { + return m_baseCollider; + } + + btMultiBodyLinkCollider* getLinkCollider(int index) + { + if (index >= 0 && index < getNumLinks()) + { + return getLink(index).m_collider; + } + return 0; + } + + // + // get parent + // input: link num from 0 to num_links-1 + // output: link num from 0 to num_links-1, OR -1 to mean the base. + // + int getParent(int link_num) const; + + + // + // get number of m_links, masses, moments of inertia + // + + int getNumLinks() const { return m_links.size(); } + int getNumDofs() const { return m_dofCount; } + int getNumPosVars() const { return m_posVarCnt; } + btScalar getBaseMass() const { return m_baseMass; } + const btVector3 & getBaseInertia() const { return m_baseInertia; } + btScalar getLinkMass(int i) const; + const btVector3 & getLinkInertia(int i) const; + + + + // + // change mass (incomplete: can only change base mass and inertia at present) + // + + void setBaseMass(btScalar mass) { m_baseMass = mass; } + void setBaseInertia(const btVector3 &inertia) { m_baseInertia = inertia; } + + + // + // get/set pos/vel/rot/omega for the base link + // + + const btVector3 & getBasePos() const { return m_basePos; } // in world frame + const btVector3 getBaseVel() const + { + return btVector3(m_realBuf[3],m_realBuf[4],m_realBuf[5]); + } // in world frame + const btQuaternion & getWorldToBaseRot() const + { + return m_baseQuat; + } // rotates world vectors into base frame + btVector3 getBaseOmega() const { return btVector3(m_realBuf[0],m_realBuf[1],m_realBuf[2]); } // in world frame + + void setBasePos(const btVector3 &pos) + { + m_basePos = pos; + } + + void setBaseWorldTransform(const btTransform& tr) + { + setBasePos(tr.getOrigin()); + setWorldToBaseRot(tr.getRotation().inverse()); + + } + + btTransform getBaseWorldTransform() const + { + btTransform tr; + tr.setOrigin(getBasePos()); + tr.setRotation(getWorldToBaseRot().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!? + } + void setBaseOmega(const btVector3 &omega) + { + m_realBuf[0]=omega[0]; + m_realBuf[1]=omega[1]; + m_realBuf[2]=omega[2]; + } + + + // + // get/set pos/vel for child m_links (i = 0 to num_links-1) + // + + btScalar getJointPos(int i) const; + btScalar getJointVel(int i) const; + + btScalar * getJointVelMultiDof(int i); + btScalar * getJointPosMultiDof(int i); + + const btScalar * getJointVelMultiDof(int i) const ; + const btScalar * getJointPosMultiDof(int i) const ; + + void setJointPos(int i, btScalar q); + void setJointVel(int i, btScalar qdot); + void setJointPosMultiDof(int i, btScalar *q); + void setJointVelMultiDof(int i, btScalar *qdot); + + + + // + // direct access to velocities as a vector of 6 + num_links elements. + // (omega first, then v, then joint velocities.) + // + const btScalar * getVelocityVector() const + { + return &m_realBuf[0]; + } +/* btScalar * getVelocityVector() + { + return &real_buf[0]; + } + */ + + // + // get the frames of reference (positions and orientations) of the child m_links + // (i = 0 to num_links-1) + // + + const btVector3 & getRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords + const btQuaternion & getParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. + + + // + // transform vectors in local frame of link i to world frame (or vice versa) + // + btVector3 localPosToWorld(int i, const btVector3 &vec) const; + btVector3 localDirToWorld(int i, const btVector3 &vec) const; + btVector3 worldPosToLocal(int i, const btVector3 &vec) const; + btVector3 worldDirToLocal(int i, const btVector3 &vec) const; + + // + // transform a frame in local coordinate to a frame in world coordinate + // + btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &mat) const; + + // + // calculate kinetic energy and angular momentum + // useful for debugging. + // + + btScalar getKineticEnergy() const; + btVector3 getAngularMomentum() const; + + + // + // set external forces and torques. Note all external forces/torques are given in the WORLD frame. + // + + void clearForcesAndTorques(); + void clearConstraintForces(); + + void clearVelocities(); + + void addBaseForce(const btVector3 &f) + { + m_baseForce += f; + } + void addBaseTorque(const btVector3 &t) { m_baseTorque += t; } + void addLinkForce(int i, const btVector3 &f); + void addLinkTorque(int i, const btVector3 &t); + + void addBaseConstraintForce(const btVector3 &f) + { + m_baseConstraintForce += f; + } + void addBaseConstraintTorque(const btVector3 &t) { m_baseConstraintTorque += t; } + void addLinkConstraintForce(int i, const btVector3 &f); + void addLinkConstraintTorque(int i, const btVector3 &t); + + +void addJointTorque(int i, btScalar Q); + void addJointTorqueMultiDof(int i, int dof, btScalar Q); + void addJointTorqueMultiDof(int i, const btScalar *Q); + + const btVector3 & getBaseForce() const { return m_baseForce; } + const btVector3 & getBaseTorque() const { return m_baseTorque; } + const btVector3 & getLinkForce(int i) const; + const btVector3 & getLinkTorque(int i) const; + btScalar getJointTorque(int i) const; + btScalar * getJointTorqueMultiDof(int i); + + + // + // dynamics routines. + // + + // timestep the velocities (given the external forces/torques set using addBaseForce etc). + // also sets up caches for calcAccelerationDeltas. + // + // Note: the caller must provide three vectors which are used as + // temporary scratch space. The idea here is to reduce dynamic + // memory allocation: the same scratch vectors can be re-used + // again and again for different Multibodies, instead of each + // btMultiBody allocating (and then deallocating) their own + // individual scratch buffers. This gives a considerable speed + // improvement, at least on Windows (where dynamic memory + // allocation appears to be fairly slow). + // + + + void computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt, + btAlignedObjectArray<btScalar> &scratch_r, + btAlignedObjectArray<btVector3> &scratch_v, + btAlignedObjectArray<btMatrix3x3> &scratch_m, + bool isConstraintPass=false + ); + +///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead + void stepVelocitiesMultiDof(btScalar dt, + btAlignedObjectArray<btScalar> &scratch_r, + btAlignedObjectArray<btVector3> &scratch_v, + btAlignedObjectArray<btMatrix3x3> &scratch_m, + bool isConstraintPass=false) + { + computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt,scratch_r,scratch_v,scratch_m,isConstraintPass); + } + + // calcAccelerationDeltasMultiDof + // input: force vector (in same format as jacobian, i.e.: + // 3 torque values, 3 force values, num_links joint torque values) + // output: 3 omegadot values, 3 vdot values, num_links q_double_dot values + // (existing contents of output array are replaced) + // calcAccelerationDeltasMultiDof must have been called first. + void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output, + btAlignedObjectArray<btScalar> &scratch_r, + btAlignedObjectArray<btVector3> &scratch_v) const; + + + void applyDeltaVeeMultiDof2(const btScalar * delta_vee, btScalar multiplier) + { + for (int dof = 0; dof < 6 + getNumDofs(); ++dof) + { + m_deltaV[dof] += delta_vee[dof] * multiplier; + } + } + void processDeltaVeeMultiDof2() + { + applyDeltaVeeMultiDof(&m_deltaV[0],1); + + for (int dof = 0; dof < 6 + getNumDofs(); ++dof) + { + m_deltaV[dof] = 0.f; + } + } + + void applyDeltaVeeMultiDof(const btScalar * delta_vee, btScalar multiplier) + { + //for (int dof = 0; dof < 6 + getNumDofs(); ++dof) + // printf("%.4f ", delta_vee[dof]*multiplier); + //printf("\n"); + + //btScalar sum = 0; + //for (int dof = 0; dof < 6 + getNumDofs(); ++dof) + //{ + // sum += delta_vee[dof]*multiplier*delta_vee[dof]*multiplier; + //} + //btScalar l = btSqrt(sum); + + //if (l>m_maxAppliedImpulse) + //{ + // multiplier *= m_maxAppliedImpulse/l; + //} + + for (int dof = 0; dof < 6 + getNumDofs(); ++dof) + { + m_realBuf[dof] += delta_vee[dof] * multiplier; + btClamp(m_realBuf[dof],-m_maxCoordinateVelocity,m_maxCoordinateVelocity); + } + } + + + + // timestep the positions (given current velocities). + void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0); + + + // + // contacts + // + + // This routine fills out a contact constraint jacobian for this body. + // the 'normal' supplied must be -n for body1 or +n for body2 of the contact. + // 'normal' & 'contact_point' are both given in world coordinates. + + void fillContactJacobianMultiDof(int link, + const btVector3 &contact_point, + const btVector3 &normal, + btScalar *jac, + btAlignedObjectArray<btScalar> &scratch_r, + btAlignedObjectArray<btVector3> &scratch_v, + btAlignedObjectArray<btMatrix3x3> &scratch_m) const { fillConstraintJacobianMultiDof(link, contact_point, btVector3(0, 0, 0), normal, jac, scratch_r, scratch_v, scratch_m); } + + //a more general version of fillContactJacobianMultiDof which does not assume.. + //.. that the constraint in question is contact or, to be more precise, constrains linear velocity only + void fillConstraintJacobianMultiDof(int link, + const btVector3 &contact_point, + const btVector3 &normal_ang, + const btVector3 &normal_lin, + btScalar *jac, + btAlignedObjectArray<btScalar> &scratch_r, + btAlignedObjectArray<btVector3> &scratch_v, + btAlignedObjectArray<btMatrix3x3> &scratch_m) const; + + + // + // sleeping + // + void setCanSleep(bool canSleep) + { + m_canSleep = canSleep; + } + + bool getCanSleep()const + { + return m_canSleep; + } + + bool isAwake() const { return m_awake; } + void wakeUp(); + void goToSleep(); + void checkMotionAndSleepIfRequired(btScalar timestep); + + bool hasFixedBase() const + { + return m_fixedBase; + } + + int getCompanionId() const + { + return m_companionId; + } + void setCompanionId(int id) + { + //printf("for %p setCompanionId(%d)\n",this, id); + m_companionId = id; + } + + void setNumLinks(int numLinks)//careful: when changing the number of m_links, make sure to re-initialize or update existing m_links + { + m_links.resize(numLinks); + } + + btScalar getLinearDamping() const + { + return m_linearDamping; + } + void setLinearDamping( btScalar damp) + { + m_linearDamping = damp; + } + btScalar getAngularDamping() const + { + return m_angularDamping; + } + void setAngularDamping( btScalar damp) + { + m_angularDamping = damp; + } + + bool getUseGyroTerm() const + { + return m_useGyroTerm; + } + void setUseGyroTerm(bool useGyro) + { + m_useGyroTerm = useGyro; + } + btScalar getMaxCoordinateVelocity() const + { + return m_maxCoordinateVelocity ; + } + void setMaxCoordinateVelocity(btScalar maxVel) + { + m_maxCoordinateVelocity = maxVel; + } + + btScalar getMaxAppliedImpulse() const + { + return m_maxAppliedImpulse; + } + void setMaxAppliedImpulse(btScalar maxImp) + { + m_maxAppliedImpulse = maxImp; + } + void setHasSelfCollision(bool hasSelfCollision) + { + m_hasSelfCollision = hasSelfCollision; + } + bool hasSelfCollision() const + { + return m_hasSelfCollision; + } + + + void finalizeMultiDof(); + + void useRK4Integration(bool use) { m_useRK4 = use; } + bool isUsingRK4Integration() const { return m_useRK4; } + void useGlobalVelocities(bool use) { m_useGlobalVelocities = use; } + bool isUsingGlobalVelocities() const { return m_useGlobalVelocities; } + + bool isPosUpdated() const + { + return __posUpdated; + } + void setPosUpdated(bool updated) + { + __posUpdated = updated; + } + + //internalNeedsJointFeedback is for internal use only + bool internalNeedsJointFeedback() const + { + return m_internalNeedsJointFeedback; + } + void forwardKinematics(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m); + + void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const; + + void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m); + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + + const char* getBaseName() const + { + return m_baseName; + } + ///memory of setBaseName needs to be manager by user + void setBaseName(const char* name) + { + m_baseName = name; + } + + ///users can point to their objects, userPointer is not used by Bullet + void* getUserPointer() const + { + return m_userObjectPointer; + } + + int getUserIndex() const + { + return m_userIndex; + } + + int getUserIndex2() const + { + return m_userIndex2; + } + ///users can point to their objects, userPointer is not used by Bullet + void setUserPointer(void* userPointer) + { + m_userObjectPointer = userPointer; + } + + ///users can point to their objects, userPointer is not used by Bullet + void setUserIndex(int index) + { + m_userIndex = index; + } + + void setUserIndex2(int index) + { + m_userIndex2 = index; + } + +private: + btMultiBody(const btMultiBody &); // not implemented + void operator=(const btMultiBody &); // not implemented + + + void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, btScalar result[6]) const; + void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const; + + void updateLinksDofOffsets() + { + int dofOffset = 0, cfgOffset = 0; + for(int bidx = 0; bidx < m_links.size(); ++bidx) + { + m_links[bidx].m_dofOffset = dofOffset; m_links[bidx].m_cfgOffset = cfgOffset; + dofOffset += m_links[bidx].m_dofCount; cfgOffset += m_links[bidx].m_posVarCount; + } + } + + void mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const; + + +private: + + btMultiBodyLinkCollider* m_baseCollider;//can be NULL + const char* m_baseName;//memory needs to be manager by user! + + btVector3 m_basePos; // position of COM of base (world frame) + btQuaternion m_baseQuat; // rotates world points into base frame + + btScalar m_baseMass; // mass of the base + btVector3 m_baseInertia; // inertia of the base (in local frame; diagonal) + + btVector3 m_baseForce; // external force applied to base. World frame. + btVector3 m_baseTorque; // external torque applied to base. World frame. + + btVector3 m_baseConstraintForce; // external force applied to base. World frame. + btVector3 m_baseConstraintTorque; // external torque applied to base. World frame. + + btAlignedObjectArray<btMultibodyLink> m_links; // array of m_links, excluding the base. index from 0 to num_links-1. + + + // + // realBuf: + // offset size array + // 0 6 + num_links v (base_omega; base_vel; joint_vels) MULTIDOF [sysdof x sysdof for D matrices (TOO MUCH!) + pos_delta which is sys-cfg sized] + // 6+num_links num_links D + // + // vectorBuf: + // offset size array + // 0 num_links h_top + // num_links num_links h_bottom + // + // matrixBuf: + // offset size array + // 0 num_links+1 rot_from_parent + // + btAlignedObjectArray<btScalar> m_deltaV; + btAlignedObjectArray<btScalar> m_realBuf; + btAlignedObjectArray<btVector3> m_vectorBuf; + btAlignedObjectArray<btMatrix3x3> m_matrixBuf; + + + btMatrix3x3 m_cachedInertiaTopLeft; + btMatrix3x3 m_cachedInertiaTopRight; + btMatrix3x3 m_cachedInertiaLowerLeft; + btMatrix3x3 m_cachedInertiaLowerRight; + bool m_cachedInertiaValid; + + bool m_fixedBase; + + // Sleep parameters. + bool m_awake; + bool m_canSleep; + btScalar m_sleepTimer; + + void* m_userObjectPointer; + int m_userIndex2; + int m_userIndex; + + int m_companionId; + btScalar m_linearDamping; + btScalar m_angularDamping; + bool m_useGyroTerm; + btScalar m_maxAppliedImpulse; + btScalar m_maxCoordinateVelocity; + bool m_hasSelfCollision; + + bool __posUpdated; + int m_dofCount, m_posVarCnt; + bool m_useRK4, m_useGlobalVelocities; + + ///the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only + bool m_internalNeedsJointFeedback; +}; + +struct btMultiBodyLinkDoubleData +{ + btQuaternionDoubleData m_zeroRotParentToThis; + btVector3DoubleData m_parentComToThisComOffset; + btVector3DoubleData m_thisPivotToThisComOffset; + btVector3DoubleData m_jointAxisTop[6]; + btVector3DoubleData m_jointAxisBottom[6]; + + btVector3DoubleData m_linkInertia; // inertia of the base (in local frame; diagonal) + double m_linkMass; + int m_parentIndex; + int m_jointType; + + int m_dofCount; + int m_posVarCount; + double m_jointPos[7]; + double m_jointVel[6]; + double m_jointTorque[6]; + + double m_jointDamping; + double m_jointFriction; + double m_jointLowerLimit; + double m_jointUpperLimit; + double m_jointMaxForce; + double m_jointMaxVelocity; + + char *m_linkName; + char *m_jointName; + btCollisionObjectDoubleData *m_linkCollider; + char *m_paddingPtr; + +}; + +struct btMultiBodyLinkFloatData +{ + btQuaternionFloatData m_zeroRotParentToThis; + btVector3FloatData m_parentComToThisComOffset; + btVector3FloatData m_thisPivotToThisComOffset; + btVector3FloatData m_jointAxisTop[6]; + btVector3FloatData m_jointAxisBottom[6]; + btVector3FloatData m_linkInertia; // inertia of the base (in local frame; diagonal) + int m_dofCount; + float m_linkMass; + int m_parentIndex; + int m_jointType; + + + + float m_jointPos[7]; + float m_jointVel[6]; + float m_jointTorque[6]; + int m_posVarCount; + float m_jointDamping; + float m_jointFriction; + float m_jointLowerLimit; + float m_jointUpperLimit; + float m_jointMaxForce; + float m_jointMaxVelocity; + + char *m_linkName; + char *m_jointName; + btCollisionObjectFloatData *m_linkCollider; + char *m_paddingPtr; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btMultiBodyDoubleData +{ + btTransformDoubleData m_baseWorldTransform; + btVector3DoubleData m_baseInertia; // inertia of the base (in local frame; diagonal) + double m_baseMass; + + char *m_baseName; + btMultiBodyLinkDoubleData *m_links; + btCollisionObjectDoubleData *m_baseCollider; + char *m_paddingPtr; + int m_numLinks; + char m_padding[4]; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btMultiBodyFloatData +{ + char *m_baseName; + btMultiBodyLinkFloatData *m_links; + btCollisionObjectFloatData *m_baseCollider; + btTransformFloatData m_baseWorldTransform; + btVector3FloatData m_baseInertia; // inertia of the base (in local frame; diagonal) + + float m_baseMass; + int m_numLinks; +}; + + + +#endif |