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Diffstat (limited to 'thirdparty/bullet/src/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp')
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1 files changed, 0 insertions, 283 deletions
diff --git a/thirdparty/bullet/src/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp b/thirdparty/bullet/src/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp deleted file mode 100644 index 3efe9d0492..0000000000 --- a/thirdparty/bullet/src/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp +++ /dev/null @@ -1,283 +0,0 @@ -// The structs and classes defined here provide a basic inverse fynamics implementation used -// by MultiBodyTree -// User interaction should be through MultiBodyTree - -#ifndef MULTI_BODY_REFERENCE_IMPL_HPP_ -#define MULTI_BODY_REFERENCE_IMPL_HPP_ - -#include "../IDConfig.hpp" -#include "../MultiBodyTree.hpp" - -namespace btInverseDynamics { - -/// Structure for for rigid body mass properties, connectivity and kinematic state -/// all vectors and matrices are in body-fixed frame, if not indicated otherwise. -/// The body-fixed frame is located in the joint connecting the body to its parent. -struct RigidBody { - ID_DECLARE_ALIGNED_ALLOCATOR(); - // 1 Inertial properties - /// Mass - idScalar m_mass; - /// Mass times center of gravity in body-fixed frame - vec3 m_body_mass_com; - /// Moment of inertia w.r.t. body-fixed frame - mat33 m_body_I_body; - - // 2 dynamic properties - /// Left-hand side of the body equation of motion, translational part - vec3 m_eom_lhs_translational; - /// Left-hand side of the body equation of motion, rotational part - vec3 m_eom_lhs_rotational; - /// Force acting at the joint when the body is cut from its parent; - /// includes impressed joint force in J_JT direction, - /// as well as constraint force, - /// in body-fixed frame - vec3 m_force_at_joint; - /// Moment acting at the joint when the body is cut from its parent; - /// includes impressed joint moment in J_JR direction, and constraint moment - /// in body-fixed frame - vec3 m_moment_at_joint; - /// external (user provided) force acting at the body-fixed frame's origin, written in that - /// frame - vec3 m_body_force_user; - /// external (user provided) moment acting at the body-fixed frame's origin, written in that - /// frame - vec3 m_body_moment_user; - // 3 absolute kinematic properties - /// Position of body-fixed frame relative to world frame - /// this is currently only for debugging purposes - vec3 m_body_pos; - /// Absolute velocity of body-fixed frame - vec3 m_body_vel; - /// Absolute acceleration of body-fixed frame - /// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational - /// acceleration! - vec3 m_body_acc; - /// Absolute angular velocity - vec3 m_body_ang_vel; - /// Absolute angular acceleration - /// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational - /// acceleration! - vec3 m_body_ang_acc; - - // 4 relative kinematic properties. - // these are in the parent body frame - /// Transform from world to body-fixed frame; - /// this is currently only for debugging purposes - mat33 m_body_T_world; - /// Transform from parent to body-fixed frame - mat33 m_body_T_parent; - /// Vector from parent to child frame in parent frame - vec3 m_parent_pos_parent_body; - /// Relative angular velocity - vec3 m_body_ang_vel_rel; - /// Relative linear velocity - vec3 m_parent_vel_rel; - /// Relative angular acceleration - vec3 m_body_ang_acc_rel; - /// Relative linear acceleration - vec3 m_parent_acc_rel; - - // 5 Data describing the joint type and geometry - /// Type of joint - JointType m_joint_type; - /// Position of joint frame (body-fixed frame at q=0) relative to the parent frame - /// Components are in body-fixed frame of the parent - vec3 m_parent_pos_parent_body_ref; - /// Orientation of joint frame (body-fixed frame at q=0) relative to the parent frame - mat33 m_body_T_parent_ref; - /// Joint rotational Jacobian, ie, the partial derivative of the body-fixed frames absolute - /// angular velocity w.r.t. the generalized velocity of this body's relative degree of freedom. - /// For revolute joints this is the joint axis, for prismatic joints it is a null matrix. - /// (NOTE: dimensions will have to be dynamic for additional joint types!) - vec3 m_Jac_JR; - /// Joint translational Jacobian, ie, the partial derivative of the body-fixed frames absolute - /// linear velocity w.r.t. the generalized velocity of this body's relative degree of freedom. - /// For prismatic joints this is the joint axis, for revolute joints it is a null matrix. - /// (NOTE: dimensions might have to be dynamic for additional joint types!) - vec3 m_Jac_JT; - /// m_Jac_JT in the parent frame, it, m_body_T_parent_ref.transpose()*m_Jac_JT - vec3 m_parent_Jac_JT; - /// Start of index range for the position degree(s) of freedom describing this body's motion - /// relative to - /// its parent. The indices are wrt the multibody system's q-vector of generalized coordinates. - int m_q_index; - - // 6 Scratch data for mass matrix computation using "composite rigid body algorithm" - /// mass of the subtree rooted in this body - idScalar m_subtree_mass; - /// center of mass * mass for subtree rooted in this body, in body-fixed frame - vec3 m_body_subtree_mass_com; - /// moment of inertia of subtree rooted in this body, w.r.t. body origin, in body-fixed frame - mat33 m_body_subtree_I_body; - -#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS) - /// translational jacobian in body-fixed frame d(m_body_vel)/du - mat3x m_body_Jac_T; - /// rotationsl jacobian in body-fixed frame d(m_body_ang_vel)/du - mat3x m_body_Jac_R; - /// components of linear acceleration depending on u - /// (same as is d(m_Jac_T)/dt*u) - vec3 m_body_dot_Jac_T_u; - /// components of angular acceleration depending on u - /// (same as is d(m_Jac_T)/dt*u) - vec3 m_body_dot_Jac_R_u; -#endif -}; - -/// The MBS implements a tree structured multibody system -class MultiBodyTree::MultiBodyImpl { - friend class MultiBodyTree; - -public: - ID_DECLARE_ALIGNED_ALLOCATOR(); - - enum KinUpdateType { - POSITION_ONLY, - POSITION_VELOCITY, - POSITION_VELOCITY_ACCELERATION - }; - - /// constructor - /// @param num_bodies the number of bodies in the system - /// @param num_dofs number of degrees of freedom in the system - MultiBodyImpl(int num_bodies_, int num_dofs_); - - /// \copydoc MultiBodyTree::calculateInverseDynamics - int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u, - vecx* joint_forces); - ///\copydoc MultiBodyTree::calculateMassMatrix - int calculateMassMatrix(const vecx& q, const bool update_kinematics, - const bool initialize_matrix, const bool set_lower_triangular_matrix, - matxx* mass_matrix); - /// calculate kinematics (vector quantities) - /// Depending on type, update positions only, positions & velocities, or positions, velocities - /// and accelerations. - int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u, const KinUpdateType type); -#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS) - /// calculate jacobians and (if type == POSITION_VELOCITY), also velocity-dependent accelration terms. - int calculateJacobians(const vecx& q, const vecx& u, const KinUpdateType type); - /// \copydoc MultiBodyTree::getBodyDotJacobianTransU - int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const ; - /// \copydoc MultiBodyTree::getBodyDotJacobianRotU - int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const; - /// \copydoc MultiBodyTree::getBodyJacobianTrans - int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const ; - /// \copydoc MultiBodyTree::getBodyJacobianRot - int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const; - /// Add relative Jacobian component from motion relative to parent body - /// @param body the body to add the Jacobian component for - void addRelativeJacobianComponent(RigidBody&body); -#endif - /// generate additional index sets from the parent_index array - /// @return -1 on error, 0 on success - int generateIndexSets(); - /// set gravity acceleration in world frame - /// @param gravity gravity vector in the world frame - /// @return 0 on success, -1 on error - int setGravityInWorldFrame(const vec3& gravity); - /// pretty print tree - void printTree(); - /// print tree data - void printTreeData(); - /// initialize fixed data - void calculateStaticData(); - /// \copydoc MultiBodyTree::getBodyFrame - int getBodyFrame(const int index, vec3* world_origin, mat33* body_T_world) const; - /// \copydoc MultiBodyTree::getParentIndex - int getParentIndex(const int body_index, int* m_parent_index); - /// \copydoc MultiBodyTree::getJointType - int getJointType(const int body_index, JointType* joint_type) const; - /// \copydoc MultiBodyTree::getJointTypeStr - int getJointTypeStr(const int body_index, const char** joint_type) const; - /// \copydoc MultiBodyTree::getParentRParentBodyRef - int getParentRParentBodyRef(const int body_index, vec3* r) const; - /// \copydoc MultiBodyTree::getBodyTParentRef - int getBodyTParentRef(const int body_index, mat33* T) const; - /// \copydoc MultiBodyTree::getBodyAxisOfMotion - int getBodyAxisOfMotion(const int body_index, vec3* axis) const; - /// \copydoc MultiBodyTree:getDoFOffset - int getDoFOffset(const int body_index, int* q_index) const; - /// \copydoc MultiBodyTree::getBodyOrigin - int getBodyOrigin(const int body_index, vec3* world_origin) const; - /// \copydoc MultiBodyTree::getBodyCoM - int getBodyCoM(const int body_index, vec3* world_com) const; - /// \copydoc MultiBodyTree::getBodyTransform - int getBodyTransform(const int body_index, mat33* world_T_body) const; - /// \copydoc MultiBodyTree::getBodyAngularVelocity - int getBodyAngularVelocity(const int body_index, vec3* world_omega) const; - /// \copydoc MultiBodyTree::getBodyLinearVelocity - int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const; - /// \copydoc MultiBodyTree::getBodyLinearVelocityCoM - int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const; - /// \copydoc MultiBodyTree::getBodyAngularAcceleration - int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const; - /// \copydoc MultiBodyTree::getBodyLinearAcceleration - int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const; - /// \copydoc MultiBodyTree::getUserInt - int getUserInt(const int body_index, int* user_int) const; - /// \copydoc MultiBodyTree::getUserPtr - int getUserPtr(const int body_index, void** user_ptr) const; - /// \copydoc MultiBodyTree::setUserInt - int setUserInt(const int body_index, const int user_int); - /// \copydoc MultiBodyTree::setUserPtr - int setUserPtr(const int body_index, void* const user_ptr); - ///\copydoc MultiBodytTree::setBodyMass - int setBodyMass(const int body_index, const idScalar mass); - ///\copydoc MultiBodytTree::setBodyFirstMassMoment - int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment); - ///\copydoc MultiBodytTree::setBodySecondMassMoment - int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment); - ///\copydoc MultiBodytTree::getBodyMass - int getBodyMass(const int body_index, idScalar* mass) const; - ///\copydoc MultiBodytTree::getBodyFirstMassMoment - int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const; - ///\copydoc MultiBodytTree::getBodySecondMassMoment - int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const; - /// \copydoc MultiBodyTree::clearAllUserForcesAndMoments - void clearAllUserForcesAndMoments(); - /// \copydoc MultiBodyTree::addUserForce - int addUserForce(const int body_index, const vec3& body_force); - /// \copydoc MultiBodyTree::addUserMoment - int addUserMoment(const int body_index, const vec3& body_moment); - -private: - // debug function. print tree structure to stdout - void printTree(int index, int indentation); - // get string representation of JointType (for debugging) - const char* jointTypeToString(const JointType& type) const; - // get number of degrees of freedom from joint type - int bodyNumDoFs(const JointType& type) const; - // number of bodies in the system - int m_num_bodies; - // number of degrees of freedom - int m_num_dofs; - // Gravitational acceleration (in world frame) - vec3 m_world_gravity; - // vector of bodies in the system - // body 0 is used as an environment body and is allways fixed. - // The bodies are ordered such that a parent body always has an index - // smaller than its child. - idArray<RigidBody>::type m_body_list; - // Parent_index[i] is the index for i's parent body in body_list. - // This fully describes the tree. - idArray<int>::type m_parent_index; - // child_indices[i] contains a vector of indices of - // all children of the i-th body - idArray<idArray<int>::type>::type m_child_indices; - // Indices of rotary joints - idArray<int>::type m_body_revolute_list; - // Indices of prismatic joints - idArray<int>::type m_body_prismatic_list; - // Indices of floating joints - idArray<int>::type m_body_floating_list; - // a user-provided integer - idArray<int>::type m_user_int; - // a user-provided pointer - idArray<void*>::type m_user_ptr; -#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS) - mat3x m_m3x; -#endif -}; -} -#endif |