991 lines
32 KiB
C++
991 lines
32 KiB
C++
/*
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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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#include "btMultiBodyDynamicsWorld.h"
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#include "btMultiBodyConstraintSolver.h"
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#include "btMultiBody.h"
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#include "btMultiBodyLinkCollider.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
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#include "LinearMath/btQuickprof.h"
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#include "btMultiBodyConstraint.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "LinearMath/btSerializer.h"
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void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, int group, int mask)
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{
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m_multiBodies.push_back(body);
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}
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void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body)
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{
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m_multiBodies.remove(body);
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}
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void btMultiBodyDynamicsWorld::calculateSimulationIslands()
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{
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BT_PROFILE("calculateSimulationIslands");
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getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
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{
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//merge islands based on speculative contact manifolds too
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for (int i=0;i<this->m_predictiveManifolds.size();i++)
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{
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btPersistentManifold* manifold = m_predictiveManifolds[i];
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const btCollisionObject* colObj0 = manifold->getBody0();
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const btCollisionObject* colObj1 = manifold->getBody1();
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if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
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((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
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{
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getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
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}
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}
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}
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{
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int i;
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int numConstraints = int(m_constraints.size());
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for (i=0;i< numConstraints ; i++ )
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{
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btTypedConstraint* constraint = m_constraints[i];
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if (constraint->isEnabled())
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{
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const btRigidBody* colObj0 = &constraint->getRigidBodyA();
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const btRigidBody* colObj1 = &constraint->getRigidBodyB();
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if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
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((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
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{
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getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
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}
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}
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}
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}
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//merge islands linked by Featherstone link colliders
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for (int i=0;i<m_multiBodies.size();i++)
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{
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btMultiBody* body = m_multiBodies[i];
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{
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btMultiBodyLinkCollider* prev = body->getBaseCollider();
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for (int b=0;b<body->getNumLinks();b++)
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{
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btMultiBodyLinkCollider* cur = body->getLink(b).m_collider;
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if (((cur) && (!(cur)->isStaticOrKinematicObject())) &&
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((prev) && (!(prev)->isStaticOrKinematicObject())))
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{
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int tagPrev = prev->getIslandTag();
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int tagCur = cur->getIslandTag();
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getSimulationIslandManager()->getUnionFind().unite(tagPrev, tagCur);
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}
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if (cur && !cur->isStaticOrKinematicObject())
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prev = cur;
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}
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}
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}
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//merge islands linked by multibody constraints
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{
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for (int i=0;i<this->m_multiBodyConstraints.size();i++)
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{
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btMultiBodyConstraint* c = m_multiBodyConstraints[i];
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int tagA = c->getIslandIdA();
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int tagB = c->getIslandIdB();
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if (tagA>=0 && tagB>=0)
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getSimulationIslandManager()->getUnionFind().unite(tagA, tagB);
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}
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}
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//Store the island id in each body
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getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
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}
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void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
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{
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BT_PROFILE("btMultiBodyDynamicsWorld::updateActivationState");
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for ( int i=0;i<m_multiBodies.size();i++)
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{
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btMultiBody* body = m_multiBodies[i];
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if (body)
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{
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body->checkMotionAndSleepIfRequired(timeStep);
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if (!body->isAwake())
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{
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btMultiBodyLinkCollider* col = body->getBaseCollider();
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if (col && col->getActivationState() == ACTIVE_TAG)
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{
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col->setActivationState( WANTS_DEACTIVATION);
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col->setDeactivationTime(0.f);
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}
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for (int b=0;b<body->getNumLinks();b++)
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{
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btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
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if (col && col->getActivationState() == ACTIVE_TAG)
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{
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col->setActivationState( WANTS_DEACTIVATION);
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col->setDeactivationTime(0.f);
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}
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}
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} else
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{
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btMultiBodyLinkCollider* col = body->getBaseCollider();
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if (col && col->getActivationState() != DISABLE_DEACTIVATION)
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col->setActivationState( ACTIVE_TAG );
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for (int b=0;b<body->getNumLinks();b++)
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{
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btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
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if (col && col->getActivationState() != DISABLE_DEACTIVATION)
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col->setActivationState( ACTIVE_TAG );
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}
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}
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}
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}
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btDiscreteDynamicsWorld::updateActivationState(timeStep);
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}
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SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs)
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{
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int islandId;
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const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
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const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
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islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag();
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return islandId;
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}
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class btSortConstraintOnIslandPredicate2
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{
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public:
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bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) const
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{
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int rIslandId0,lIslandId0;
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rIslandId0 = btGetConstraintIslandId2(rhs);
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lIslandId0 = btGetConstraintIslandId2(lhs);
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return lIslandId0 < rIslandId0;
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}
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};
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SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs)
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{
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int islandId;
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int islandTagA = lhs->getIslandIdA();
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int islandTagB = lhs->getIslandIdB();
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islandId= islandTagA>=0?islandTagA:islandTagB;
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return islandId;
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}
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class btSortMultiBodyConstraintOnIslandPredicate
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{
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public:
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bool operator() ( const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs ) const
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{
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int rIslandId0,lIslandId0;
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rIslandId0 = btGetMultiBodyConstraintIslandId(rhs);
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lIslandId0 = btGetMultiBodyConstraintIslandId(lhs);
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return lIslandId0 < rIslandId0;
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}
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};
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struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
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{
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btContactSolverInfo* m_solverInfo;
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btMultiBodyConstraintSolver* m_solver;
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btMultiBodyConstraint** m_multiBodySortedConstraints;
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int m_numMultiBodyConstraints;
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btTypedConstraint** m_sortedConstraints;
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int m_numConstraints;
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btIDebugDraw* m_debugDrawer;
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btDispatcher* m_dispatcher;
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btAlignedObjectArray<btCollisionObject*> m_bodies;
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btAlignedObjectArray<btPersistentManifold*> m_manifolds;
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btAlignedObjectArray<btTypedConstraint*> m_constraints;
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btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
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MultiBodyInplaceSolverIslandCallback( btMultiBodyConstraintSolver* solver,
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btDispatcher* dispatcher)
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:m_solverInfo(NULL),
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m_solver(solver),
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m_multiBodySortedConstraints(NULL),
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m_numConstraints(0),
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m_debugDrawer(NULL),
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m_dispatcher(dispatcher)
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{
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}
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MultiBodyInplaceSolverIslandCallback& operator=(MultiBodyInplaceSolverIslandCallback& other)
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{
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btAssert(0);
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(void)other;
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return *this;
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}
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SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer)
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{
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btAssert(solverInfo);
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m_solverInfo = solverInfo;
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m_multiBodySortedConstraints = sortedMultiBodyConstraints;
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m_numMultiBodyConstraints = numMultiBodyConstraints;
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m_sortedConstraints = sortedConstraints;
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m_numConstraints = numConstraints;
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m_debugDrawer = debugDrawer;
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m_bodies.resize (0);
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m_manifolds.resize (0);
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m_constraints.resize (0);
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m_multiBodyConstraints.resize(0);
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}
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virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId)
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{
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if (islandId<0)
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{
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///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
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m_solver->solveMultiBodyGroup( bodies,numBodies,manifolds, numManifolds,m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
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} else
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{
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//also add all non-contact constraints/joints for this island
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btTypedConstraint** startConstraint = 0;
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btMultiBodyConstraint** startMultiBodyConstraint = 0;
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int numCurConstraints = 0;
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int numCurMultiBodyConstraints = 0;
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int i;
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//find the first constraint for this island
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for (i=0;i<m_numConstraints;i++)
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{
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if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
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{
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startConstraint = &m_sortedConstraints[i];
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break;
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}
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}
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//count the number of constraints in this island
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for (;i<m_numConstraints;i++)
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{
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if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
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{
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numCurConstraints++;
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}
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}
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for (i=0;i<m_numMultiBodyConstraints;i++)
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{
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if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
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{
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startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
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break;
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}
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}
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//count the number of multi body constraints in this island
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for (;i<m_numMultiBodyConstraints;i++)
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{
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if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
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{
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numCurMultiBodyConstraints++;
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}
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}
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//if (m_solverInfo->m_minimumSolverBatchSize<=1)
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//{
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// m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
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//} else
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{
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for (i=0;i<numBodies;i++)
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m_bodies.push_back(bodies[i]);
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for (i=0;i<numManifolds;i++)
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m_manifolds.push_back(manifolds[i]);
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for (i=0;i<numCurConstraints;i++)
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m_constraints.push_back(startConstraint[i]);
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for (i=0;i<numCurMultiBodyConstraints;i++)
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m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
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if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
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{
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processConstraints();
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} else
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{
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//printf("deferred\n");
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}
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}
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}
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}
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void processConstraints()
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{
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btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
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btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
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btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
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btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
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//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
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m_solver->solveMultiBodyGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo,m_debugDrawer,m_dispatcher);
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m_bodies.resize(0);
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m_manifolds.resize(0);
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m_constraints.resize(0);
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m_multiBodyConstraints.resize(0);
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}
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};
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btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
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:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
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m_multiBodyConstraintSolver(constraintSolver)
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{
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//split impulse is not yet supported for Featherstone hierarchies
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// getSolverInfo().m_splitImpulse = false;
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getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS;
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m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver,dispatcher);
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}
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btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld ()
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{
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delete m_solverMultiBodyIslandCallback;
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}
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void btMultiBodyDynamicsWorld::forwardKinematics()
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{
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for (int b=0;b<m_multiBodies.size();b++)
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{
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btMultiBody* bod = m_multiBodies[b];
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bod->forwardKinematics(m_scratch_world_to_local,m_scratch_local_origin);
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}
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}
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void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
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{
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forwardKinematics();
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BT_PROFILE("solveConstraints");
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m_sortedConstraints.resize( m_constraints.size());
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int i;
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for (i=0;i<getNumConstraints();i++)
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{
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m_sortedConstraints[i] = m_constraints[i];
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}
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m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2());
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btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
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m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size());
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for (i=0;i<m_multiBodyConstraints.size();i++)
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{
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m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i];
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}
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m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate());
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btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
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m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer());
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m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
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/// solve all the constraints for this island
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m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback);
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#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
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{
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BT_PROFILE("btMultiBody addForce");
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for (int i=0;i<this->m_multiBodies.size();i++)
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{
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btMultiBody* bod = m_multiBodies[i];
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bool isSleeping = false;
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if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
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{
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isSleeping = true;
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}
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for (int b=0;b<bod->getNumLinks();b++)
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{
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if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
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isSleeping = true;
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}
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if (!isSleeping)
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{
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//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
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m_scratch_r.resize(bod->getNumLinks()+1); //multidof? ("Y"s use it and it is used to store qdd)
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m_scratch_v.resize(bod->getNumLinks()+1);
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m_scratch_m.resize(bod->getNumLinks()+1);
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bod->addBaseForce(m_gravity * bod->getBaseMass());
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for (int j = 0; j < bod->getNumLinks(); ++j)
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{
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bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
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}
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}//if (!isSleeping)
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}
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}
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#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
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{
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BT_PROFILE("btMultiBody stepVelocities");
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for (int i=0;i<this->m_multiBodies.size();i++)
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{
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btMultiBody* bod = m_multiBodies[i];
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bool isSleeping = false;
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if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
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{
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isSleeping = true;
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}
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for (int b=0;b<bod->getNumLinks();b++)
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{
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if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
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isSleeping = true;
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}
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|
|
if (!isSleeping)
|
|
{
|
|
//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
|
|
m_scratch_r.resize(bod->getNumLinks()+1); //multidof? ("Y"s use it and it is used to store qdd)
|
|
m_scratch_v.resize(bod->getNumLinks()+1);
|
|
m_scratch_m.resize(bod->getNumLinks()+1);
|
|
bool doNotUpdatePos = false;
|
|
|
|
{
|
|
if(!bod->isUsingRK4Integration())
|
|
{
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m);
|
|
}
|
|
else
|
|
{
|
|
//
|
|
int numDofs = bod->getNumDofs() + 6;
|
|
int numPosVars = bod->getNumPosVars() + 7;
|
|
btAlignedObjectArray<btScalar> scratch_r2; scratch_r2.resize(2*numPosVars + 8*numDofs);
|
|
//convenience
|
|
btScalar *pMem = &scratch_r2[0];
|
|
btScalar *scratch_q0 = pMem; pMem += numPosVars;
|
|
btScalar *scratch_qx = pMem; pMem += numPosVars;
|
|
btScalar *scratch_qd0 = pMem; pMem += numDofs;
|
|
btScalar *scratch_qd1 = pMem; pMem += numDofs;
|
|
btScalar *scratch_qd2 = pMem; pMem += numDofs;
|
|
btScalar *scratch_qd3 = pMem; pMem += numDofs;
|
|
btScalar *scratch_qdd0 = pMem; pMem += numDofs;
|
|
btScalar *scratch_qdd1 = pMem; pMem += numDofs;
|
|
btScalar *scratch_qdd2 = pMem; pMem += numDofs;
|
|
btScalar *scratch_qdd3 = pMem; pMem += numDofs;
|
|
btAssert((pMem - (2*numPosVars + 8*numDofs)) == &scratch_r2[0]);
|
|
|
|
/////
|
|
//copy q0 to scratch_q0 and qd0 to scratch_qd0
|
|
scratch_q0[0] = bod->getWorldToBaseRot().x();
|
|
scratch_q0[1] = bod->getWorldToBaseRot().y();
|
|
scratch_q0[2] = bod->getWorldToBaseRot().z();
|
|
scratch_q0[3] = bod->getWorldToBaseRot().w();
|
|
scratch_q0[4] = bod->getBasePos().x();
|
|
scratch_q0[5] = bod->getBasePos().y();
|
|
scratch_q0[6] = bod->getBasePos().z();
|
|
//
|
|
for(int link = 0; link < bod->getNumLinks(); ++link)
|
|
{
|
|
for(int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof)
|
|
scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof];
|
|
}
|
|
//
|
|
for(int dof = 0; dof < numDofs; ++dof)
|
|
scratch_qd0[dof] = bod->getVelocityVector()[dof];
|
|
////
|
|
struct
|
|
{
|
|
btMultiBody *bod;
|
|
btScalar *scratch_qx, *scratch_q0;
|
|
|
|
void operator()()
|
|
{
|
|
for(int dof = 0; dof < bod->getNumPosVars() + 7; ++dof)
|
|
scratch_qx[dof] = scratch_q0[dof];
|
|
}
|
|
} pResetQx = {bod, scratch_qx, scratch_q0};
|
|
//
|
|
struct
|
|
{
|
|
void operator()(btScalar dt, const btScalar *pDer, const btScalar *pCurVal, btScalar *pVal, int size)
|
|
{
|
|
for(int i = 0; i < size; ++i)
|
|
pVal[i] = pCurVal[i] + dt * pDer[i];
|
|
}
|
|
|
|
} pEulerIntegrate;
|
|
//
|
|
struct
|
|
{
|
|
void operator()(btMultiBody *pBody, const btScalar *pData)
|
|
{
|
|
btScalar *pVel = const_cast<btScalar*>(pBody->getVelocityVector());
|
|
|
|
for(int i = 0; i < pBody->getNumDofs() + 6; ++i)
|
|
pVel[i] = pData[i];
|
|
|
|
}
|
|
} pCopyToVelocityVector;
|
|
//
|
|
struct
|
|
{
|
|
void operator()(const btScalar *pSrc, btScalar *pDst, int start, int size)
|
|
{
|
|
for(int i = 0; i < size; ++i)
|
|
pDst[i] = pSrc[start + i];
|
|
}
|
|
} pCopy;
|
|
//
|
|
|
|
btScalar h = solverInfo.m_timeStep;
|
|
#define output &m_scratch_r[bod->getNumDofs()]
|
|
//calc qdd0 from: q0 & qd0
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
|
|
pCopy(output, scratch_qdd0, 0, numDofs);
|
|
//calc q1 = q0 + h/2 * qd0
|
|
pResetQx();
|
|
bod->stepPositionsMultiDof(btScalar(.5)*h, scratch_qx, scratch_qd0);
|
|
//calc qd1 = qd0 + h/2 * qdd0
|
|
pEulerIntegrate(btScalar(.5)*h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs);
|
|
//
|
|
//calc qdd1 from: q1 & qd1
|
|
pCopyToVelocityVector(bod, scratch_qd1);
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
|
|
pCopy(output, scratch_qdd1, 0, numDofs);
|
|
//calc q2 = q0 + h/2 * qd1
|
|
pResetQx();
|
|
bod->stepPositionsMultiDof(btScalar(.5)*h, scratch_qx, scratch_qd1);
|
|
//calc qd2 = qd0 + h/2 * qdd1
|
|
pEulerIntegrate(btScalar(.5)*h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs);
|
|
//
|
|
//calc qdd2 from: q2 & qd2
|
|
pCopyToVelocityVector(bod, scratch_qd2);
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
|
|
pCopy(output, scratch_qdd2, 0, numDofs);
|
|
//calc q3 = q0 + h * qd2
|
|
pResetQx();
|
|
bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2);
|
|
//calc qd3 = qd0 + h * qdd2
|
|
pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs);
|
|
//
|
|
//calc qdd3 from: q3 & qd3
|
|
pCopyToVelocityVector(bod, scratch_qd3);
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
|
|
pCopy(output, scratch_qdd3, 0, numDofs);
|
|
|
|
//
|
|
//calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3)
|
|
//calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3)
|
|
btAlignedObjectArray<btScalar> delta_q; delta_q.resize(numDofs);
|
|
btAlignedObjectArray<btScalar> delta_qd; delta_qd.resize(numDofs);
|
|
for(int i = 0; i < numDofs; ++i)
|
|
{
|
|
delta_q[i] = h/btScalar(6.)*(scratch_qd0[i] + 2*scratch_qd1[i] + 2*scratch_qd2[i] + scratch_qd3[i]);
|
|
delta_qd[i] = h/btScalar(6.)*(scratch_qdd0[i] + 2*scratch_qdd1[i] + 2*scratch_qdd2[i] + scratch_qdd3[i]);
|
|
//delta_q[i] = h*scratch_qd0[i];
|
|
//delta_qd[i] = h*scratch_qdd0[i];
|
|
}
|
|
//
|
|
pCopyToVelocityVector(bod, scratch_qd0);
|
|
bod->applyDeltaVeeMultiDof(&delta_qd[0], 1);
|
|
//
|
|
if(!doNotUpdatePos)
|
|
{
|
|
btScalar *pRealBuf = const_cast<btScalar *>(bod->getVelocityVector());
|
|
pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs()*bod->getNumDofs();
|
|
|
|
for(int i = 0; i < numDofs; ++i)
|
|
pRealBuf[i] = delta_q[i];
|
|
|
|
//bod->stepPositionsMultiDof(1, 0, &delta_q[0]);
|
|
bod->setPosUpdated(true);
|
|
}
|
|
|
|
//ugly hack which resets the cached data to t0 (needed for constraint solver)
|
|
{
|
|
for(int link = 0; link < bod->getNumLinks(); ++link)
|
|
bod->getLink(link).updateCacheMultiDof();
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m);
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
bod->clearForcesAndTorques();
|
|
#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
}//if (!isSleeping)
|
|
}
|
|
}
|
|
|
|
clearMultiBodyConstraintForces();
|
|
|
|
m_solverMultiBodyIslandCallback->processConstraints();
|
|
|
|
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
|
|
|
|
{
|
|
BT_PROFILE("btMultiBody stepVelocities");
|
|
for (int i=0;i<this->m_multiBodies.size();i++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
|
|
bool isSleeping = false;
|
|
|
|
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
isSleeping = true;
|
|
}
|
|
for (int b=0;b<bod->getNumLinks();b++)
|
|
{
|
|
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
|
|
isSleeping = true;
|
|
}
|
|
|
|
if (!isSleeping)
|
|
{
|
|
//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
|
|
m_scratch_r.resize(bod->getNumLinks()+1); //multidof? ("Y"s use it and it is used to store qdd)
|
|
m_scratch_v.resize(bod->getNumLinks()+1);
|
|
m_scratch_m.resize(bod->getNumLinks()+1);
|
|
|
|
|
|
{
|
|
if(!bod->isUsingRK4Integration())
|
|
{
|
|
bool isConstraintPass = true;
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i=0;i<this->m_multiBodies.size();i++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
bod->processDeltaVeeMultiDof2();
|
|
}
|
|
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
|
|
{
|
|
btDiscreteDynamicsWorld::integrateTransforms(timeStep);
|
|
|
|
{
|
|
BT_PROFILE("btMultiBody stepPositions");
|
|
//integrate and update the Featherstone hierarchies
|
|
|
|
for (int b=0;b<m_multiBodies.size();b++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[b];
|
|
bool isSleeping = false;
|
|
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
isSleeping = true;
|
|
}
|
|
for (int b=0;b<bod->getNumLinks();b++)
|
|
{
|
|
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
|
|
isSleeping = true;
|
|
}
|
|
|
|
|
|
if (!isSleeping)
|
|
{
|
|
int nLinks = bod->getNumLinks();
|
|
|
|
///base + num m_links
|
|
|
|
|
|
{
|
|
if(!bod->isPosUpdated())
|
|
bod->stepPositionsMultiDof(timeStep);
|
|
else
|
|
{
|
|
btScalar *pRealBuf = const_cast<btScalar *>(bod->getVelocityVector());
|
|
pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs()*bod->getNumDofs();
|
|
|
|
bod->stepPositionsMultiDof(1, 0, pRealBuf);
|
|
bod->setPosUpdated(false);
|
|
}
|
|
}
|
|
|
|
m_scratch_world_to_local.resize(nLinks+1);
|
|
m_scratch_local_origin.resize(nLinks+1);
|
|
|
|
bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local,m_scratch_local_origin);
|
|
|
|
} else
|
|
{
|
|
bod->clearVelocities();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void btMultiBodyDynamicsWorld::addMultiBodyConstraint( btMultiBodyConstraint* constraint)
|
|
{
|
|
m_multiBodyConstraints.push_back(constraint);
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::removeMultiBodyConstraint( btMultiBodyConstraint* constraint)
|
|
{
|
|
m_multiBodyConstraints.remove(constraint);
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint)
|
|
{
|
|
constraint->debugDraw(getDebugDrawer());
|
|
}
|
|
|
|
|
|
void btMultiBodyDynamicsWorld::debugDrawWorld()
|
|
{
|
|
BT_PROFILE("btMultiBodyDynamicsWorld debugDrawWorld");
|
|
|
|
btDiscreteDynamicsWorld::debugDrawWorld();
|
|
|
|
bool drawConstraints = false;
|
|
if (getDebugDrawer())
|
|
{
|
|
int mode = getDebugDrawer()->getDebugMode();
|
|
if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
|
|
{
|
|
drawConstraints = true;
|
|
}
|
|
|
|
if (drawConstraints)
|
|
{
|
|
BT_PROFILE("btMultiBody debugDrawWorld");
|
|
|
|
|
|
for (int c=0;c<m_multiBodyConstraints.size();c++)
|
|
{
|
|
btMultiBodyConstraint* constraint = m_multiBodyConstraints[c];
|
|
debugDrawMultiBodyConstraint(constraint);
|
|
}
|
|
|
|
for (int b = 0; b<m_multiBodies.size(); b++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[b];
|
|
bod->forwardKinematics(m_scratch_world_to_local1,m_scratch_local_origin1);
|
|
|
|
getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
|
|
|
|
|
|
for (int m = 0; m<bod->getNumLinks(); m++)
|
|
{
|
|
|
|
const btTransform& tr = bod->getLink(m).m_cachedWorldTransform;
|
|
|
|
getDebugDrawer()->drawTransform(tr, 0.1);
|
|
|
|
//draw the joint axis
|
|
if (bod->getLink(m).m_jointType==btMultibodyLink::eRevolute)
|
|
{
|
|
btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec);
|
|
|
|
btVector4 color(0,0,0,1);//1,1,1);
|
|
btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
|
|
btVector3 to = tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
|
|
getDebugDrawer()->drawLine(from,to,color);
|
|
}
|
|
if (bod->getLink(m).m_jointType==btMultibodyLink::eFixed)
|
|
{
|
|
btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);
|
|
|
|
btVector4 color(0,0,0,1);//1,1,1);
|
|
btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
|
|
btVector3 to = tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
|
|
getDebugDrawer()->drawLine(from,to,color);
|
|
}
|
|
if (bod->getLink(m).m_jointType==btMultibodyLink::ePrismatic)
|
|
{
|
|
btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);
|
|
|
|
btVector4 color(0,0,0,1);//1,1,1);
|
|
btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
|
|
btVector3 to = tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
|
|
getDebugDrawer()->drawLine(from,to,color);
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
void btMultiBodyDynamicsWorld::applyGravity()
|
|
{
|
|
btDiscreteDynamicsWorld::applyGravity();
|
|
#ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
BT_PROFILE("btMultiBody addGravity");
|
|
for (int i=0;i<this->m_multiBodies.size();i++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
|
|
bool isSleeping = false;
|
|
|
|
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
isSleeping = true;
|
|
}
|
|
for (int b=0;b<bod->getNumLinks();b++)
|
|
{
|
|
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
|
|
isSleeping = true;
|
|
}
|
|
|
|
if (!isSleeping)
|
|
{
|
|
bod->addBaseForce(m_gravity * bod->getBaseMass());
|
|
|
|
for (int j = 0; j < bod->getNumLinks(); ++j)
|
|
{
|
|
bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
|
|
}
|
|
}//if (!isSleeping)
|
|
}
|
|
#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces()
|
|
{
|
|
for (int i=0;i<this->m_multiBodies.size();i++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
bod->clearConstraintForces();
|
|
}
|
|
}
|
|
void btMultiBodyDynamicsWorld::clearMultiBodyForces()
|
|
{
|
|
{
|
|
// BT_PROFILE("clearMultiBodyForces");
|
|
for (int i=0;i<this->m_multiBodies.size();i++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
|
|
bool isSleeping = false;
|
|
|
|
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
isSleeping = true;
|
|
}
|
|
for (int b=0;b<bod->getNumLinks();b++)
|
|
{
|
|
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
|
|
isSleeping = true;
|
|
}
|
|
|
|
if (!isSleeping)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
bod->clearForcesAndTorques();
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
void btMultiBodyDynamicsWorld::clearForces()
|
|
{
|
|
btDiscreteDynamicsWorld::clearForces();
|
|
|
|
#ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
clearMultiBodyForces();
|
|
#endif
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}
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void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
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{
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serializer->startSerialization();
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serializeDynamicsWorldInfo( serializer);
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serializeMultiBodies(serializer);
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serializeRigidBodies(serializer);
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serializeCollisionObjects(serializer);
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serializer->finishSerialization();
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}
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void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
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{
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int i;
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//serialize all collision objects
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for (i=0;i<m_multiBodies.size();i++)
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{
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btMultiBody* mb = m_multiBodies[i];
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{
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int len = mb->calculateSerializeBufferSize();
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btChunk* chunk = serializer->allocate(len,1);
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const char* structType = mb->serialize(chunk->m_oldPtr, serializer);
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serializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb);
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}
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}
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} |