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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///This file was written by Erwin Coumans
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#include "btMultiBodyPoint2Point.h"
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#include "btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btIDebugDraw.h"
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#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
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#define BTMBP2PCONSTRAINT_DIM 3
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#else
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#define BTMBP2PCONSTRAINT_DIM 6
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#endif
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btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
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:btMultiBodyConstraint(body,0,link,-1,BTMBP2PCONSTRAINT_DIM,false),
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m_rigidBodyA(0),
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m_rigidBodyB(bodyB),
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m_pivotInA(pivotInA),
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m_pivotInB(pivotInB)
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{
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m_data.resize(BTMBP2PCONSTRAINT_DIM);//at least store the applied impulses
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}
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btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)
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:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBP2PCONSTRAINT_DIM,false),
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m_rigidBodyA(0),
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m_rigidBodyB(0),
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m_pivotInA(pivotInA),
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m_pivotInB(pivotInB)
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{
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m_data.resize(BTMBP2PCONSTRAINT_DIM);//at least store the applied impulses
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}
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void btMultiBodyPoint2Point::finalizeMultiDof()
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{
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//not implemented yet
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btAssert(0);
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}
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btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
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{
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}
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int btMultiBodyPoint2Point::getIslandIdA() const
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{
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if (m_rigidBodyA)
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return m_rigidBodyA->getIslandTag();
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if (m_bodyA)
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{
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btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
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if (col)
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return col->getIslandTag();
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for (int i=0;i<m_bodyA->getNumLinks();i++)
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{
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if (m_bodyA->getLink(i).m_collider)
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return m_bodyA->getLink(i).m_collider->getIslandTag();
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}
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}
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return -1;
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}
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int btMultiBodyPoint2Point::getIslandIdB() const
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{
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if (m_rigidBodyB)
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return m_rigidBodyB->getIslandTag();
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if (m_bodyB)
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{
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btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
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if (col)
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return col->getIslandTag();
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for (int i=0;i<m_bodyB->getNumLinks();i++)
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{
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col = m_bodyB->getLink(i).m_collider;
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if (col)
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return col->getIslandTag();
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}
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}
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return -1;
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}
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void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
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btMultiBodyJacobianData& data,
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const btContactSolverInfo& infoGlobal)
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{
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// int i=1;
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int numDim = BTMBP2PCONSTRAINT_DIM;
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for (int i=0;i<numDim;i++)
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{
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btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
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//memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
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constraintRow.m_orgConstraint = this;
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constraintRow.m_orgDofIndex = i;
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constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
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constraintRow.m_contactNormal1.setValue(0,0,0);
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constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
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constraintRow.m_contactNormal2.setValue(0,0,0);
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constraintRow.m_angularComponentA.setValue(0,0,0);
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constraintRow.m_angularComponentB.setValue(0,0,0);
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constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
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constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
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btVector3 contactNormalOnB(0,0,0);
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#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
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contactNormalOnB[i] = -1;
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#else
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contactNormalOnB[i%3] = -1;
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#endif
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// Convert local points back to world
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btVector3 pivotAworld = m_pivotInA;
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if (m_rigidBodyA)
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{
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constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
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pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
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} else
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{
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if (m_bodyA)
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pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
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}
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btVector3 pivotBworld = m_pivotInB;
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if (m_rigidBodyB)
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{
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constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
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pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
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} else
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{
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if (m_bodyB)
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pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
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}
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btScalar posError = i < 3 ? (pivotAworld-pivotBworld).dot(contactNormalOnB) : 0;
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#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
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fillMultiBodyConstraint(constraintRow, data, 0, 0, btVector3(0,0,0),
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contactNormalOnB, pivotAworld, pivotBworld, //sucks but let it be this way "for the time being"
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posError,
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infoGlobal,
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-m_maxAppliedImpulse, m_maxAppliedImpulse
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);
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//@todo: support the case of btMultiBody versus btRigidBody,
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//see btPoint2PointConstraint::getInfo2NonVirtual
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#else
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const btVector3 dummy(0, 0, 0);
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btAssert(m_bodyA->isMultiDof());
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btScalar* jac1 = jacobianA(i);
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const btVector3 &normalAng = i >= 3 ? contactNormalOnB : dummy;
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const btVector3 &normalLin = i < 3 ? contactNormalOnB : dummy;
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m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
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fillMultiBodyConstraint(constraintRow, data, jac1, 0,
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dummy, dummy, dummy, //sucks but let it be this way "for the time being"
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posError,
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infoGlobal,
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-m_maxAppliedImpulse, m_maxAppliedImpulse
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);
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#endif
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}
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}
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void btMultiBodyPoint2Point::debugDraw(class btIDebugDraw* drawer)
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{
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btTransform tr;
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tr.setIdentity();
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if (m_rigidBodyA)
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{
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btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
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tr.setOrigin(pivot);
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drawer->drawTransform(tr, 0.1);
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}
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if (m_bodyA)
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{
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btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
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tr.setOrigin(pivotAworld);
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drawer->drawTransform(tr, 0.1);
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}
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if (m_rigidBodyB)
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{
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// that ideally should draw the same frame
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btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
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tr.setOrigin(pivot);
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drawer->drawTransform(tr, 0.1);
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}
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if (m_bodyB)
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{
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btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
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tr.setOrigin(pivotBworld);
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drawer->drawTransform(tr, 0.1);
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}
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}
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