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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyLink.h')
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1 files changed, 0 insertions, 244 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyLink.h deleted file mode 100644 index 01828e5843..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyLink.h +++ /dev/null @@ -1,244 +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_LINK_H -#define BT_MULTIBODY_LINK_H - -#include "LinearMath/btQuaternion.h" -#include "LinearMath/btVector3.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" - -enum btMultiBodyLinkFlags -{ - BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1, - BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION = 2, -}; - -//both defines are now permanently enabled -#define BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS -#define TEST_SPATIAL_ALGEBRA_LAYER - -// -// Various spatial helper functions -// - -//namespace { - - -#include "LinearMath/btSpatialAlgebra.h" - -//} - -// -// Link struct -// - -struct btMultibodyLink -{ - - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btScalar m_mass; // mass of link - btVector3 m_inertiaLocal; // inertia of link (local frame; diagonal) - - int m_parent; // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link. - - btQuaternion m_zeroRotParentToThis; // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant. - - btVector3 m_dVector; // vector from the inboard joint pos to this link's COM. (local frame.) constant. - //this is set to zero for planar joint (see also m_eVector comment) - - // m_eVector is constant, but depends on the joint type: - // revolute, fixed, prismatic, spherical: vector from parent's COM to the pivot point, in PARENT's frame. - // planar: vector from COM of parent to COM of this link, WHEN Q = 0. (local frame.) - // todo: fix the planar so it is consistent with the other joints - - btVector3 m_eVector; - - btSpatialMotionVector m_absFrameTotVelocity, m_absFrameLocVelocity; - - enum eFeatherstoneJointType - { - eRevolute = 0, - ePrismatic = 1, - eSpherical = 2, - ePlanar = 3, - eFixed = 4, - eInvalid - }; - - - - // "axis" = spatial joint axis (Mirtich Defn 9 p104). (expressed in local frame.) constant. - // for prismatic: m_axesTop[0] = zero; - // m_axesBottom[0] = unit vector along the joint axis. - // for revolute: m_axesTop[0] = unit vector along the rotation axis (u); - // m_axesBottom[0] = u cross m_dVector (i.e. COM linear motion due to the rotation at the joint) - // - // for spherical: m_axesTop[0][1][2] (u1,u2,u3) form a 3x3 identity matrix (3 rotation axes) - // m_axesBottom[0][1][2] cross u1,u2,u3 (i.e. COM linear motion due to the rotation at the joint) - // - // for planar: m_axesTop[0] = unit vector along the rotation axis (u); defines the plane of motion - // m_axesTop[1][2] = zero - // m_axesBottom[0] = zero - // m_axesBottom[1][2] = unit vectors along the translational axes on that plane - btSpatialMotionVector m_axes[6]; - void setAxisTop(int dof, const btVector3 &axis) { m_axes[dof].m_topVec = axis; } - void setAxisBottom(int dof, const btVector3 &axis) - { - m_axes[dof].m_bottomVec = axis; - } - void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z) - { - m_axes[dof].m_topVec.setValue(x, y, z); - } - void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z) - { - m_axes[dof].m_bottomVec.setValue(x, y, z); - } - const btVector3 & getAxisTop(int dof) const { return m_axes[dof].m_topVec; } - const btVector3 & getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; } - - int m_dofOffset, m_cfgOffset; - - btQuaternion m_cachedRotParentToThis; // rotates vectors in parent frame to vectors in local frame - btVector3 m_cachedRVector; // vector from COM of parent to COM of this link, in local frame. - - btVector3 m_appliedForce; // In WORLD frame - btVector3 m_appliedTorque; // In WORLD frame - -btVector3 m_appliedConstraintForce; // In WORLD frame - btVector3 m_appliedConstraintTorque; // In WORLD frame - - btScalar m_jointPos[7]; - - //m_jointTorque is the joint torque applied by the user using 'addJointTorque'. - //It gets set to zero after each internal stepSimulation call - btScalar m_jointTorque[6]; - - class btMultiBodyLinkCollider* m_collider; - int m_flags; - - - int m_dofCount, m_posVarCount; //redundant but handy - - eFeatherstoneJointType m_jointType; - - struct btMultiBodyJointFeedback* m_jointFeedback; - - btTransform m_cachedWorldTransform;//this cache is updated when calling btMultiBody::forwardKinematics - - const char* m_linkName;//m_linkName memory needs to be managed by the developer/user! - const char* m_jointName;//m_jointName memory needs to be managed by the developer/user! - const void* m_userPtr;//m_userPtr ptr needs to be managed by the developer/user! - - btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping. - btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor. - btScalar m_jointLowerLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader. - btScalar m_jointUpperLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader. - btScalar m_jointMaxForce; //todo: implement this internally. It is unused for now, it is set by a URDF loader. - btScalar m_jointMaxVelocity;//todo: implement this internally. It is unused for now, it is set by a URDF loader. - - // ctor: set some sensible defaults - btMultibodyLink() - : m_mass(1), - m_parent(-1), - m_zeroRotParentToThis(0, 0, 0, 1), - m_cachedRotParentToThis(0, 0, 0, 1), - m_collider(0), - m_flags(0), - m_dofCount(0), - m_posVarCount(0), - m_jointType(btMultibodyLink::eInvalid), - m_jointFeedback(0), - m_linkName(0), - m_jointName(0), - m_userPtr(0), - m_jointDamping(0), - m_jointFriction(0), - m_jointLowerLimit(0), - m_jointUpperLimit(0), - m_jointMaxForce(0), - m_jointMaxVelocity(0) - { - - m_inertiaLocal.setValue(1, 1, 1); - setAxisTop(0, 0., 0., 0.); - setAxisBottom(0, 1., 0., 0.); - m_dVector.setValue(0, 0, 0); - m_eVector.setValue(0, 0, 0); - m_cachedRVector.setValue(0, 0, 0); - m_appliedForce.setValue( 0, 0, 0); - m_appliedTorque.setValue(0, 0, 0); - // - m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f; - m_jointPos[3] = 1.f; //"quat.w" - m_jointTorque[0] = m_jointTorque[1] = m_jointTorque[2] = m_jointTorque[3] = m_jointTorque[4] = m_jointTorque[5] = 0.f; - m_cachedWorldTransform.setIdentity(); - } - - // routine to update m_cachedRotParentToThis and m_cachedRVector - void updateCacheMultiDof(btScalar *pq = 0) - { - btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); - - switch(m_jointType) - { - case eRevolute: - { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector); - - break; - } - case ePrismatic: - { - // m_cachedRotParentToThis never changes, so no need to update - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector) + pJointPos[0] * getAxisBottom(0); - - break; - } - case eSpherical: - { - m_cachedRotParentToThis = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector); - - break; - } - case ePlanar: - { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0),-pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis,m_eVector); - - break; - } - case eFixed: - { - m_cachedRotParentToThis = m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector); - - break; - } - default: - { - //invalid type - btAssert(0); - } - } - } -}; - - -#endif //BT_MULTIBODY_LINK_H |