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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h | 195 |
1 files changed, 0 insertions, 195 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h deleted file mode 100644 index 83521b9501..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h +++ /dev/null @@ -1,195 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2013 Erwin Coumans http://bulletphysics.org - -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_CONSTRAINT_H -#define BT_MULTIBODY_CONSTRAINT_H - -#include "LinearMath/btScalar.h" -#include "LinearMath/btAlignedObjectArray.h" -#include "btMultiBody.h" - -class btMultiBody; -struct btSolverInfo; - -#include "btMultiBodySolverConstraint.h" - -struct btMultiBodyJacobianData -{ - btAlignedObjectArray<btScalar> m_jacobians; - btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse; //holds the joint-space response of the corresp. tree to the test impulse in each constraint space dimension - btAlignedObjectArray<btScalar> m_deltaVelocities; //holds joint-space vectors of all the constrained trees accumulating the effect of corrective impulses applied in SI - btAlignedObjectArray<btScalar> scratch_r; - btAlignedObjectArray<btVector3> scratch_v; - btAlignedObjectArray<btMatrix3x3> scratch_m; - btAlignedObjectArray<btSolverBody>* m_solverBodyPool; - int m_fixedBodyId; - -}; - - -ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraint -{ -protected: - - btMultiBody* m_bodyA; - btMultiBody* m_bodyB; - int m_linkA; - int m_linkB; - - int m_numRows; - int m_jacSizeA; - int m_jacSizeBoth; - int m_posOffset; - - bool m_isUnilateral; - int m_numDofsFinalized; - btScalar m_maxAppliedImpulse; - - - // warning: the data block lay out is not consistent for all constraints - // data block laid out as follows: - // cached impulses. (one per row.) - // jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc) - // positions. (one per row.) - btAlignedObjectArray<btScalar> m_data; - - void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof); - - btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint, - btMultiBodyJacobianData& data, - btScalar* jacOrgA, btScalar* jacOrgB, - const btVector3& constraintNormalAng, - - const btVector3& constraintNormalLin, - const btVector3& posAworld, const btVector3& posBworld, - btScalar posError, - const btContactSolverInfo& infoGlobal, - btScalar lowerLimit, btScalar upperLimit, - bool angConstraint = false, - - btScalar relaxation = 1.f, - bool isFriction = false, btScalar desiredVelocity=0, btScalar cfmSlip=0); - -public: - - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral); - virtual ~btMultiBodyConstraint(); - - void updateJacobianSizes(); - void allocateJacobiansMultiDof(); - - //many constraints have setFrameInB/setPivotInB. Will use 'getConstraintType' later. - virtual void setFrameInB(const btMatrix3x3& frameInB) {} - virtual void setPivotInB(const btVector3& pivotInB){} - - virtual void finalizeMultiDof()=0; - - virtual int getIslandIdA() const =0; - virtual int getIslandIdB() const =0; - - virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, - btMultiBodyJacobianData& data, - const btContactSolverInfo& infoGlobal)=0; - - int getNumRows() const - { - return m_numRows; - } - - btMultiBody* getMultiBodyA() - { - return m_bodyA; - } - btMultiBody* getMultiBodyB() - { - return m_bodyB; - } - - void internalSetAppliedImpulse(int dof, btScalar appliedImpulse) - { - btAssert(dof>=0); - btAssert(dof < getNumRows()); - m_data[dof] = appliedImpulse; - - } - - btScalar getAppliedImpulse(int dof) - { - btAssert(dof>=0); - btAssert(dof < getNumRows()); - return m_data[dof]; - } - // current constraint position - // constraint is pos >= 0 for unilateral, or pos = 0 for bilateral - // NOTE: ignored position for friction rows. - btScalar getPosition(int row) const - { - return m_data[m_posOffset + row]; - } - - void setPosition(int row, btScalar pos) - { - m_data[m_posOffset + row] = pos; - } - - - bool isUnilateral() const - { - return m_isUnilateral; - } - - // jacobian blocks. - // each of size 6 + num_links. (jacobian2 is null if no body2.) - // format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients. - btScalar* jacobianA(int row) - { - return &m_data[m_numRows + row * m_jacSizeBoth]; - } - const btScalar* jacobianA(int row) const - { - return &m_data[m_numRows + (row * m_jacSizeBoth)]; - } - btScalar* jacobianB(int row) - { - return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA]; - } - const btScalar* jacobianB(int row) const - { - return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA]; - } - - btScalar getMaxAppliedImpulse() const - { - return m_maxAppliedImpulse; - } - void setMaxAppliedImpulse(btScalar maxImp) - { - m_maxAppliedImpulse = maxImp; - } - - virtual void debugDraw(class btIDebugDraw* drawer)=0; - - virtual void setGearRatio(btScalar ratio) {} - virtual void setGearAuxLink(int gearAuxLink) {} - virtual void setRelativePositionTarget(btScalar relPosTarget){} - virtual void setErp(btScalar erp){} - - -}; - -#endif //BT_MULTIBODY_CONSTRAINT_H - |