diff options
Diffstat (limited to 'src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp')
-rw-r--r-- | src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp | 366 |
1 files changed, 183 insertions, 183 deletions
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index cc7156c64..5c816c498 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -1,183 +1,183 @@ -/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodyJointMotor.h"
-#include "btMultiBody.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
- : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true),
- m_desiredVelocity(desiredVelocity),
- m_desiredPosition(0),
- m_kd(1.),
- m_kp(0),
- m_erp(1),
- m_rhsClamp(SIMD_INFINITY)
-{
- m_maxAppliedImpulse = maxMotorImpulse;
- // the data.m_jacobians never change, so may as well
- // initialize them here
-}
-
-void btMultiBodyJointMotor::finalizeMultiDof()
-{
- allocateJacobiansMultiDof();
- // note: we rely on the fact that data.m_jacobians are
- // always initialized to zero by the Constraint ctor
- int linkDoF = 0;
- unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
-
- // row 0: the lower bound
- // row 0: the lower bound
- jacobianA(0)[offset] = 1;
-
- m_numDofsFinalized = m_jacSizeBoth;
-}
-
-btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse)
- //:btMultiBodyConstraint(body,0,link,-1,1,true),
- : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true),
- m_desiredVelocity(desiredVelocity),
- m_desiredPosition(0),
- m_kd(1.),
- m_kp(0),
- m_erp(1),
- m_rhsClamp(SIMD_INFINITY)
-{
- btAssert(linkDoF < body->getLink(link).m_dofCount);
-
- m_maxAppliedImpulse = maxMotorImpulse;
-}
-btMultiBodyJointMotor::~btMultiBodyJointMotor()
-{
-}
-
-int btMultiBodyJointMotor::getIslandIdA() const
-{
- if (this->m_linkA < 0)
- {
- btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
- if (col)
- return col->getIslandTag();
- }
- else
- {
- if (m_bodyA->getLink(m_linkA).m_collider)
- {
- return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
- }
- }
- return -1;
-}
-
-int btMultiBodyJointMotor::getIslandIdB() const
-{
- if (m_linkB < 0)
- {
- btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
- if (col)
- return col->getIslandTag();
- }
- else
- {
- if (m_bodyB->getLink(m_linkB).m_collider)
- {
- return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
- }
- }
- return -1;
-}
-
-void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
- btMultiBodyJacobianData& data,
- const btContactSolverInfo& infoGlobal)
-{
- // only positions need to be updated -- data.m_jacobians and force
- // directions were set in the ctor and never change.
-
- if (m_numDofsFinalized != m_jacSizeBoth)
- {
- finalizeMultiDof();
- }
-
- //don't crash
- if (m_numDofsFinalized != m_jacSizeBoth)
- return;
-
- if (m_maxAppliedImpulse == 0.f)
- return;
-
- const btScalar posError = 0;
- const btVector3 dummy(0, 0, 0);
-
- for (int row = 0; row < getNumRows(); row++)
- {
- btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-
- int dof = 0;
- btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
- btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
- btScalar positionStabiliationTerm = m_erp * (m_desiredPosition - currentPosition) / infoGlobal.m_timeStep;
-
- btScalar velocityError = (m_desiredVelocity - currentVelocity);
- btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity + m_kd * velocityError;
- if (rhs > m_rhsClamp)
- {
- rhs = m_rhsClamp;
- }
- if (rhs < -m_rhsClamp)
- {
- rhs = -m_rhsClamp;
- }
-
- fillMultiBodyConstraint(constraintRow, data, jacobianA(row), jacobianB(row), dummy, dummy, dummy, dummy, posError, infoGlobal, -m_maxAppliedImpulse, m_maxAppliedImpulse, false, 1, false, rhs);
- constraintRow.m_orgConstraint = this;
- constraintRow.m_orgDofIndex = row;
- {
- //expect either prismatic or revolute joint type for now
- btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute) || (m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
- switch (m_bodyA->getLink(m_linkA).m_jointType)
- {
- case btMultibodyLink::eRevolute:
- {
- constraintRow.m_contactNormal1.setZero();
- constraintRow.m_contactNormal2.setZero();
- btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
- constraintRow.m_relpos1CrossNormal = revoluteAxisInWorld;
- constraintRow.m_relpos2CrossNormal = -revoluteAxisInWorld;
-
- break;
- }
- case btMultibodyLink::ePrismatic:
- {
- btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
- constraintRow.m_contactNormal1 = prismaticAxisInWorld;
- constraintRow.m_contactNormal2 = -prismaticAxisInWorld;
- constraintRow.m_relpos1CrossNormal.setZero();
- constraintRow.m_relpos2CrossNormal.setZero();
-
- break;
- }
- default:
- {
- btAssert(0);
- }
- };
- }
- }
-}
+/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +///This file was written by Erwin Coumans + +#include "btMultiBodyJointMotor.h" +#include "btMultiBody.h" +#include "btMultiBodyLinkCollider.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse) + : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true), + m_desiredVelocity(desiredVelocity), + m_desiredPosition(0), + m_kd(1.), + m_kp(0), + m_erp(1), + m_rhsClamp(SIMD_INFINITY) +{ + m_maxAppliedImpulse = maxMotorImpulse; + // the data.m_jacobians never change, so may as well + // initialize them here +} + +void btMultiBodyJointMotor::finalizeMultiDof() +{ + allocateJacobiansMultiDof(); + // note: we rely on the fact that data.m_jacobians are + // always initialized to zero by the Constraint ctor + int linkDoF = 0; + unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF); + + // row 0: the lower bound + // row 0: the lower bound + jacobianA(0)[offset] = 1; + + m_numDofsFinalized = m_jacSizeBoth; +} + +btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse) + //:btMultiBodyConstraint(body,0,link,-1,1,true), + : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true), + m_desiredVelocity(desiredVelocity), + m_desiredPosition(0), + m_kd(1.), + m_kp(0), + m_erp(1), + m_rhsClamp(SIMD_INFINITY) +{ + btAssert(linkDoF < body->getLink(link).m_dofCount); + + m_maxAppliedImpulse = maxMotorImpulse; +} +btMultiBodyJointMotor::~btMultiBodyJointMotor() +{ +} + +int btMultiBodyJointMotor::getIslandIdA() const +{ + if (this->m_linkA < 0) + { + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + { + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); + } + } + return -1; +} + +int btMultiBodyJointMotor::getIslandIdB() const +{ + if (m_linkB < 0) + { + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + { + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } + } + return -1; +} + +void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal) +{ + // only positions need to be updated -- data.m_jacobians and force + // directions were set in the ctor and never change. + + if (m_numDofsFinalized != m_jacSizeBoth) + { + finalizeMultiDof(); + } + + //don't crash + if (m_numDofsFinalized != m_jacSizeBoth) + return; + + if (m_maxAppliedImpulse == 0.f) + return; + + const btScalar posError = 0; + const btVector3 dummy(0, 0, 0); + + for (int row = 0; row < getNumRows(); row++) + { + btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing(); + + int dof = 0; + btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof]; + btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; + btScalar positionStabiliationTerm = m_erp * (m_desiredPosition - currentPosition) / infoGlobal.m_timeStep; + + btScalar velocityError = (m_desiredVelocity - currentVelocity); + btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity + m_kd * velocityError; + if (rhs > m_rhsClamp) + { + rhs = m_rhsClamp; + } + if (rhs < -m_rhsClamp) + { + rhs = -m_rhsClamp; + } + + fillMultiBodyConstraint(constraintRow, data, jacobianA(row), jacobianB(row), dummy, dummy, dummy, dummy, posError, infoGlobal, -m_maxAppliedImpulse, m_maxAppliedImpulse, false, 1, false, rhs); + constraintRow.m_orgConstraint = this; + constraintRow.m_orgDofIndex = row; + { + //expect either prismatic or revolute joint type for now + btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute) || (m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic)); + switch (m_bodyA->getLink(m_linkA).m_jointType) + { + case btMultibodyLink::eRevolute: + { + constraintRow.m_contactNormal1.setZero(); + constraintRow.m_contactNormal2.setZero(); + btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_topVec); + constraintRow.m_relpos1CrossNormal = revoluteAxisInWorld; + constraintRow.m_relpos2CrossNormal = -revoluteAxisInWorld; + + break; + } + case btMultibodyLink::ePrismatic: + { + btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec); + constraintRow.m_contactNormal1 = prismaticAxisInWorld; + constraintRow.m_contactNormal2 = -prismaticAxisInWorld; + constraintRow.m_relpos1CrossNormal.setZero(); + constraintRow.m_relpos2CrossNormal.setZero(); + + break; + } + default: + { + btAssert(0); + } + }; + } + } +} |