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-rw-r--r--src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp432
1 files changed, 216 insertions, 216 deletions
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
index b61ae1d77..37d3aede3 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
@@ -1,216 +1,216 @@
-/*
-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 "btMultiBodyPoint2Point.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btIDebugDraw.h"
-
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-#define BTMBP2PCONSTRAINT_DIM 3
-#else
-#define BTMBP2PCONSTRAINT_DIM 6
-#endif
-
-btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
- : btMultiBodyConstraint(body, 0, link, -1, BTMBP2PCONSTRAINT_DIM, false),
- m_rigidBodyA(0),
- m_rigidBodyB(bodyB),
- m_pivotInA(pivotInA),
- m_pivotInB(pivotInB)
-{
- m_data.resize(BTMBP2PCONSTRAINT_DIM); //at least store the applied impulses
-}
-
-btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)
- : btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBP2PCONSTRAINT_DIM, false),
- m_rigidBodyA(0),
- m_rigidBodyB(0),
- m_pivotInA(pivotInA),
- m_pivotInB(pivotInB)
-{
- m_data.resize(BTMBP2PCONSTRAINT_DIM); //at least store the applied impulses
-}
-
-void btMultiBodyPoint2Point::finalizeMultiDof()
-{
- //not implemented yet
- btAssert(0);
-}
-
-btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
-{
-}
-
-int btMultiBodyPoint2Point::getIslandIdA() const
-{
- if (m_rigidBodyA)
- return m_rigidBodyA->getIslandTag();
-
- if (m_bodyA)
- {
- if (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 btMultiBodyPoint2Point::getIslandIdB() const
-{
- if (m_rigidBodyB)
- return m_rigidBodyB->getIslandTag();
- if (m_bodyB)
- {
- 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 btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
- btMultiBodyJacobianData& data,
- const btContactSolverInfo& infoGlobal)
-{
- // int i=1;
- int numDim = BTMBP2PCONSTRAINT_DIM;
- for (int i = 0; i < numDim; i++)
- {
- btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
- //memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
- constraintRow.m_orgConstraint = this;
- constraintRow.m_orgDofIndex = i;
- constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
- constraintRow.m_contactNormal1.setValue(0, 0, 0);
- constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
- constraintRow.m_contactNormal2.setValue(0, 0, 0);
- constraintRow.m_angularComponentA.setValue(0, 0, 0);
- constraintRow.m_angularComponentB.setValue(0, 0, 0);
-
- constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
- constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-
- btVector3 contactNormalOnB(0, 0, 0);
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
- contactNormalOnB[i] = -1;
-#else
- contactNormalOnB[i % 3] = -1;
-#endif
-
- // Convert local points back to world
- btVector3 pivotAworld = m_pivotInA;
- if (m_rigidBodyA)
- {
- constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
- pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
- }
- else
- {
- if (m_bodyA)
- pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
- }
- btVector3 pivotBworld = m_pivotInB;
- if (m_rigidBodyB)
- {
- constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
- pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
- }
- else
- {
- if (m_bodyB)
- pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
- }
-
- btScalar posError = i < 3 ? (pivotAworld - pivotBworld).dot(contactNormalOnB) : 0;
-
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-
- fillMultiBodyConstraint(constraintRow, data, 0, 0, btVector3(0, 0, 0),
- contactNormalOnB, pivotAworld, pivotBworld, //sucks but let it be this way "for the time being"
- posError,
- infoGlobal,
- -m_maxAppliedImpulse, m_maxAppliedImpulse);
- //@todo: support the case of btMultiBody versus btRigidBody,
- //see btPoint2PointConstraint::getInfo2NonVirtual
-#else
- const btVector3 dummy(0, 0, 0);
-
- btAssert(m_bodyA->isMultiDof());
-
- btScalar* jac1 = jacobianA(i);
- const btVector3& normalAng = i >= 3 ? contactNormalOnB : dummy;
- const btVector3& normalLin = i < 3 ? contactNormalOnB : dummy;
-
- m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
-
- fillMultiBodyConstraint(constraintRow, data, jac1, 0,
- dummy, dummy, dummy, //sucks but let it be this way "for the time being"
- posError,
- infoGlobal,
- -m_maxAppliedImpulse, m_maxAppliedImpulse);
-#endif
- }
-}
-
-void btMultiBodyPoint2Point::debugDraw(class btIDebugDraw* drawer)
-{
- btTransform tr;
- tr.setIdentity();
-
- if (m_rigidBodyA)
- {
- btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
- tr.setOrigin(pivot);
- drawer->drawTransform(tr, 0.1);
- }
- if (m_bodyA)
- {
- btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
- tr.setOrigin(pivotAworld);
- drawer->drawTransform(tr, 0.1);
- }
- if (m_rigidBodyB)
- {
- // that ideally should draw the same frame
- btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
- tr.setOrigin(pivot);
- drawer->drawTransform(tr, 0.1);
- }
- if (m_bodyB)
- {
- btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
- tr.setOrigin(pivotBworld);
- drawer->drawTransform(tr, 0.1);
- }
-}
+/*
+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 "btMultiBodyPoint2Point.h"
+#include "btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btIDebugDraw.h"
+
+#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
+#define BTMBP2PCONSTRAINT_DIM 3
+#else
+#define BTMBP2PCONSTRAINT_DIM 6
+#endif
+
+btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
+ : btMultiBodyConstraint(body, 0, link, -1, BTMBP2PCONSTRAINT_DIM, false),
+ m_rigidBodyA(0),
+ m_rigidBodyB(bodyB),
+ m_pivotInA(pivotInA),
+ m_pivotInB(pivotInB)
+{
+ m_data.resize(BTMBP2PCONSTRAINT_DIM); //at least store the applied impulses
+}
+
+btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)
+ : btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBP2PCONSTRAINT_DIM, false),
+ m_rigidBodyA(0),
+ m_rigidBodyB(0),
+ m_pivotInA(pivotInA),
+ m_pivotInB(pivotInB)
+{
+ m_data.resize(BTMBP2PCONSTRAINT_DIM); //at least store the applied impulses
+}
+
+void btMultiBodyPoint2Point::finalizeMultiDof()
+{
+ //not implemented yet
+ btAssert(0);
+}
+
+btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
+{
+}
+
+int btMultiBodyPoint2Point::getIslandIdA() const
+{
+ if (m_rigidBodyA)
+ return m_rigidBodyA->getIslandTag();
+
+ if (m_bodyA)
+ {
+ if (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 btMultiBodyPoint2Point::getIslandIdB() const
+{
+ if (m_rigidBodyB)
+ return m_rigidBodyB->getIslandTag();
+ if (m_bodyB)
+ {
+ 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 btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
+ btMultiBodyJacobianData& data,
+ const btContactSolverInfo& infoGlobal)
+{
+ // int i=1;
+ int numDim = BTMBP2PCONSTRAINT_DIM;
+ for (int i = 0; i < numDim; i++)
+ {
+ btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
+ //memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
+ constraintRow.m_orgConstraint = this;
+ constraintRow.m_orgDofIndex = i;
+ constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
+ constraintRow.m_contactNormal1.setValue(0, 0, 0);
+ constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
+ constraintRow.m_contactNormal2.setValue(0, 0, 0);
+ constraintRow.m_angularComponentA.setValue(0, 0, 0);
+ constraintRow.m_angularComponentB.setValue(0, 0, 0);
+
+ constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
+ constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
+
+ btVector3 contactNormalOnB(0, 0, 0);
+#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
+ contactNormalOnB[i] = -1;
+#else
+ contactNormalOnB[i % 3] = -1;
+#endif
+
+ // Convert local points back to world
+ btVector3 pivotAworld = m_pivotInA;
+ if (m_rigidBodyA)
+ {
+ constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
+ pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
+ }
+ else
+ {
+ if (m_bodyA)
+ pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
+ }
+ btVector3 pivotBworld = m_pivotInB;
+ if (m_rigidBodyB)
+ {
+ constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
+ pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
+ }
+ else
+ {
+ if (m_bodyB)
+ pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
+ }
+
+ btScalar posError = i < 3 ? (pivotAworld - pivotBworld).dot(contactNormalOnB) : 0;
+
+#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
+
+ fillMultiBodyConstraint(constraintRow, data, 0, 0, btVector3(0, 0, 0),
+ contactNormalOnB, pivotAworld, pivotBworld, //sucks but let it be this way "for the time being"
+ posError,
+ infoGlobal,
+ -m_maxAppliedImpulse, m_maxAppliedImpulse);
+ //@todo: support the case of btMultiBody versus btRigidBody,
+ //see btPoint2PointConstraint::getInfo2NonVirtual
+#else
+ const btVector3 dummy(0, 0, 0);
+
+ btAssert(m_bodyA->isMultiDof());
+
+ btScalar* jac1 = jacobianA(i);
+ const btVector3& normalAng = i >= 3 ? contactNormalOnB : dummy;
+ const btVector3& normalLin = i < 3 ? contactNormalOnB : dummy;
+
+ m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
+
+ fillMultiBodyConstraint(constraintRow, data, jac1, 0,
+ dummy, dummy, dummy, //sucks but let it be this way "for the time being"
+ posError,
+ infoGlobal,
+ -m_maxAppliedImpulse, m_maxAppliedImpulse);
+#endif
+ }
+}
+
+void btMultiBodyPoint2Point::debugDraw(class btIDebugDraw* drawer)
+{
+ btTransform tr;
+ tr.setIdentity();
+
+ if (m_rigidBodyA)
+ {
+ btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
+ tr.setOrigin(pivot);
+ drawer->drawTransform(tr, 0.1);
+ }
+ if (m_bodyA)
+ {
+ btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
+ tr.setOrigin(pivotAworld);
+ drawer->drawTransform(tr, 0.1);
+ }
+ if (m_rigidBodyB)
+ {
+ // that ideally should draw the same frame
+ btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
+ tr.setOrigin(pivot);
+ drawer->drawTransform(tr, 0.1);
+ }
+ if (m_bodyB)
+ {
+ btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
+ tr.setOrigin(pivotBworld);
+ drawer->drawTransform(tr, 0.1);
+ }
+}
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