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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp | 211 |
1 files changed, 211 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp new file mode 100644 index 0000000000..1f94117aa9 --- /dev/null +++ b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp @@ -0,0 +1,211 @@ +/* +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. +*/ + +///This file was written by Erwin Coumans + +#include "btMultiBodyFixedConstraint.h" +#include "btMultiBodyLinkCollider.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h" +#include "LinearMath/btIDebugDraw.h" + +#define BTMBFIXEDCONSTRAINT_DIM 6 + +btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB) + :btMultiBodyConstraint(body,0,link,-1,BTMBFIXEDCONSTRAINT_DIM,false), + m_rigidBodyA(0), + m_rigidBodyB(bodyB), + m_pivotInA(pivotInA), + m_pivotInB(pivotInB), + m_frameInA(frameInA), + m_frameInB(frameInB) +{ + m_data.resize(BTMBFIXEDCONSTRAINT_DIM);//at least store the applied impulses +} + +btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB) + :btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBFIXEDCONSTRAINT_DIM,false), + m_rigidBodyA(0), + m_rigidBodyB(0), + m_pivotInA(pivotInA), + m_pivotInB(pivotInB), + m_frameInA(frameInA), + m_frameInB(frameInB) +{ + m_data.resize(BTMBFIXEDCONSTRAINT_DIM);//at least store the applied impulses +} + +void btMultiBodyFixedConstraint::finalizeMultiDof() +{ + //not implemented yet + btAssert(0); +} + +btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint() +{ +} + + +int btMultiBodyFixedConstraint::getIslandIdA() const +{ + if (m_rigidBodyA) + return m_rigidBodyA->getIslandTag(); + + if (m_bodyA) + { + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + for (int i=0;i<m_bodyA->getNumLinks();i++) + { + if (m_bodyA->getLink(i).m_collider) + return m_bodyA->getLink(i).m_collider->getIslandTag(); + } + } + return -1; +} + +int btMultiBodyFixedConstraint::getIslandIdB() const +{ + if (m_rigidBodyB) + return m_rigidBodyB->getIslandTag(); + if (m_bodyB) + { + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); + if (col) + return col->getIslandTag(); + + for (int i=0;i<m_bodyB->getNumLinks();i++) + { + col = m_bodyB->getLink(i).m_collider; + if (col) + return col->getIslandTag(); + } + } + return -1; +} + +void btMultiBodyFixedConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal) +{ + int numDim = BTMBFIXEDCONSTRAINT_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; + + // Convert local points back to world + btVector3 pivotAworld = m_pivotInA; + btMatrix3x3 frameAworld = m_frameInA; + if (m_rigidBodyA) + { + + constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId(); + pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA; + frameAworld = frameAworld.transpose()*btMatrix3x3(m_rigidBodyA->getOrientation()); + + } else + { + if (m_bodyA) { + pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA); + frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld); + } + } + btVector3 pivotBworld = m_pivotInB; + btMatrix3x3 frameBworld = m_frameInB; + if (m_rigidBodyB) + { + constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId(); + pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB; + frameBworld = frameBworld.transpose()*btMatrix3x3(m_rigidBodyB->getOrientation()); + + } else + { + if (m_bodyB) { + pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB); + frameBworld = m_bodyB->localFrameToWorld(m_linkB, frameBworld); + } + } + + btMatrix3x3 relRot = frameAworld.inverse()*frameBworld; + btVector3 angleDiff; + btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot,angleDiff); + + btVector3 constraintNormalLin(0,0,0); + btVector3 constraintNormalAng(0,0,0); + btScalar posError = 0.0; + if (i < 3) { + constraintNormalLin[i] = 1; + posError = (pivotAworld-pivotBworld).dot(constraintNormalLin); + fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng, + constraintNormalLin, pivotAworld, pivotBworld, + posError, + infoGlobal, + -m_maxAppliedImpulse, m_maxAppliedImpulse + ); + } + else { //i>=3 + 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 + ); + } + } +} + +void btMultiBodyFixedConstraint::debugDraw(class btIDebugDraw* drawer) +{ + btTransform tr; + tr.setIdentity(); + + if (m_rigidBodyA) + { + btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA; + tr.setOrigin(pivot); + drawer->drawTransform(tr, 0.1); + } + if (m_bodyA) + { + btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA); + tr.setOrigin(pivotAworld); + drawer->drawTransform(tr, 0.1); + } + if (m_rigidBodyB) + { + // that ideally should draw the same frame + btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB; + tr.setOrigin(pivot); + drawer->drawTransform(tr, 0.1); + } + if (m_bodyB) + { + btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB); + tr.setOrigin(pivotBworld); + drawer->drawTransform(tr, 0.1); + } +} |