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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 "btMultiBodySliderConstraint.h"
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#include "btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
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#include "LinearMath/btIDebugDraw.h"
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#define BTMBSLIDERCONSTRAINT_DIM 5
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#define EPSILON 0.000001
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btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)
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:btMultiBodyConstraint(body,0,link,-1,BTMBSLIDERCONSTRAINT_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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m_frameInA(frameInA),
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m_frameInB(frameInB),
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m_jointAxis(jointAxis)
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{
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m_data.resize(BTMBSLIDERCONSTRAINT_DIM);//at least store the applied impulses
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}
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btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)
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:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBSLIDERCONSTRAINT_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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m_frameInA(frameInA),
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m_frameInB(frameInB),
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m_jointAxis(jointAxis)
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{
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m_data.resize(BTMBSLIDERCONSTRAINT_DIM);//at least store the applied impulses
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}
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void btMultiBodySliderConstraint::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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btMultiBodySliderConstraint::~btMultiBodySliderConstraint()
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{
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}
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int btMultiBodySliderConstraint::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 btMultiBodySliderConstraint::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 btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
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{
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// Convert local points back to world
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btVector3 pivotAworld = m_pivotInA;
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btMatrix3x3 frameAworld = m_frameInA;
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btVector3 jointAxis = m_jointAxis;
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if (m_rigidBodyA)
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{
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pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
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frameAworld = m_frameInA.transpose()*btMatrix3x3(m_rigidBodyA->getOrientation());
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jointAxis = quatRotate(m_rigidBodyA->getOrientation(),m_jointAxis);
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} else if (m_bodyA) {
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pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
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frameAworld = m_bodyA->localFrameToWorld(m_linkA, m_frameInA);
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jointAxis = m_bodyA->localDirToWorld(m_linkA, m_jointAxis);
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}
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btVector3 pivotBworld = m_pivotInB;
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btMatrix3x3 frameBworld = m_frameInB;
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if (m_rigidBodyB)
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{
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pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
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frameBworld = m_frameInB.transpose()*btMatrix3x3(m_rigidBodyB->getOrientation());
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} else if (m_bodyB) {
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pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
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frameBworld = m_bodyB->localFrameToWorld(m_linkB, m_frameInB);
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}
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btVector3 constraintAxis[2];
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for (int i = 0; i < 3; ++i)
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{
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constraintAxis[0] = frameAworld.getColumn(i).cross(jointAxis);
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if (constraintAxis[0].safeNorm() > EPSILON)
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{
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constraintAxis[0] = constraintAxis[0].normalized();
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constraintAxis[1] = jointAxis.cross(constraintAxis[0]);
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constraintAxis[1] = constraintAxis[1].normalized();
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break;
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}
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}
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btMatrix3x3 relRot = frameAworld.inverse()*frameBworld;
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btVector3 angleDiff;
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btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot,angleDiff);
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int numDim = BTMBSLIDERCONSTRAINT_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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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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if (m_rigidBodyA)
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{
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constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
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}
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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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}
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btVector3 constraintNormalLin(0,0,0);
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btVector3 constraintNormalAng(0,0,0);
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btScalar posError = 0.0;
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if (i < 2) {
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constraintNormalLin = constraintAxis[i];
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posError = (pivotAworld-pivotBworld).dot(constraintNormalLin);
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fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
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constraintNormalLin, pivotAworld, pivotBworld,
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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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}
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else { //i>=2
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constraintNormalAng = frameAworld.getColumn(i%3);
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posError = angleDiff[i%3];
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fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
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constraintNormalLin, pivotAworld, pivotBworld,
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posError,
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infoGlobal,
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-m_maxAppliedImpulse, m_maxAppliedImpulse, true
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);
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}
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}
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}
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void btMultiBodySliderConstraint::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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