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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h')
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1 files changed, 195 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h new file mode 100644 index 0000000000..83521b9501 --- /dev/null +++ b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h @@ -0,0 +1,195 @@ +/* +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 + |