Blender  V3.3
btMultiBodyFixedConstraint.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
17 
23 
24 #define BTMBFIXEDCONSTRAINT_DIM 6
25 
28  m_rigidBodyA(0),
29  m_rigidBodyB(bodyB),
30  m_pivotInA(pivotInA),
31  m_pivotInB(pivotInB),
34 {
35  m_data.resize(BTMBFIXEDCONSTRAINT_DIM); //at least store the applied impulses
36 }
37 
38 btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
39  : btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBFIXEDCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_FIXED),
40  m_rigidBodyA(0),
41  m_rigidBodyB(0),
42  m_pivotInA(pivotInA),
43  m_pivotInB(pivotInB),
46 {
47  m_data.resize(BTMBFIXEDCONSTRAINT_DIM); //at least store the applied impulses
48 }
49 
51 {
52  //not implemented yet
53  btAssert(0);
54 }
55 
57 {
58 }
59 
61 {
62  if (m_rigidBodyA)
63  return m_rigidBodyA->getIslandTag();
64 
65  if (m_bodyA)
66  {
67  if (m_linkA < 0)
68  {
69  btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
70  if (col)
71  return col->getIslandTag();
72  }
73  else
74  {
75  if (m_bodyA->getLink(m_linkA).m_collider)
76  return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
77  }
78  }
79  return -1;
80 }
81 
83 {
84  if (m_rigidBodyB)
85  return m_rigidBodyB->getIslandTag();
86  if (m_bodyB)
87  {
88  if (m_linkB < 0)
89  {
90  btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
91  if (col)
92  return col->getIslandTag();
93  }
94  else
95  {
96  if (m_bodyB->getLink(m_linkB).m_collider)
97  return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
98  }
99  }
100  return -1;
101 }
102 
104 {
105  int numDim = BTMBFIXEDCONSTRAINT_DIM;
106  for (int i = 0; i < numDim; i++)
107  {
108  btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
109  constraintRow.m_orgConstraint = this;
110  constraintRow.m_orgDofIndex = i;
111  constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
112  constraintRow.m_contactNormal1.setValue(0, 0, 0);
113  constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
114  constraintRow.m_contactNormal2.setValue(0, 0, 0);
115  constraintRow.m_angularComponentA.setValue(0, 0, 0);
116  constraintRow.m_angularComponentB.setValue(0, 0, 0);
117 
118  constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
119  constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
120 
121  // Convert local points back to world
122  btVector3 pivotAworld = m_pivotInA;
123  btMatrix3x3 frameAworld = m_frameInA;
124  if (m_rigidBodyA)
125  {
126  constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
128  frameAworld = frameAworld.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation());
129  }
130  else
131  {
132  if (m_bodyA)
133  {
134  pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
135  frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
136  }
137  }
138  btVector3 pivotBworld = m_pivotInB;
139  btMatrix3x3 frameBworld = m_frameInB;
140  if (m_rigidBodyB)
141  {
142  constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
144  frameBworld = frameBworld.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation());
145  }
146  else
147  {
148  if (m_bodyB)
149  {
150  pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
151  frameBworld = m_bodyB->localFrameToWorld(m_linkB, frameBworld);
152  }
153  }
154 
155  btMatrix3x3 relRot = frameAworld.inverse() * frameBworld;
156  btVector3 angleDiff;
158 
159  btVector3 constraintNormalLin(0, 0, 0);
160  btVector3 constraintNormalAng(0, 0, 0);
161  btScalar posError = 0.0;
162  if (i < 3)
163  {
164  constraintNormalLin[i] = 1;
165  posError = (pivotAworld - pivotBworld).dot(constraintNormalLin);
166  fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
167  constraintNormalLin, pivotAworld, pivotBworld,
168  posError,
169  infoGlobal,
171  }
172  else
173  { //i>=3
174  constraintNormalAng = frameAworld.getColumn(i % 3);
175  posError = angleDiff[i % 3];
176  fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
177  constraintNormalLin, pivotAworld, pivotBworld,
178  posError,
179  infoGlobal,
181  }
182  }
183 }
184 
186 {
187  btTransform tr;
188  tr.setIdentity();
189 
190  if (m_rigidBodyA)
191  {
193  tr.setOrigin(pivot);
194  drawer->drawTransform(tr, 0.1);
195  }
196  if (m_bodyA)
197  {
198  btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
199  tr.setOrigin(pivotAworld);
200  drawer->drawTransform(tr, 0.1);
201  }
202  if (m_rigidBodyB)
203  {
204  // that ideally should draw the same frame
206  tr.setOrigin(pivot);
207  drawer->drawTransform(tr, 0.1);
208  }
209  if (m_bodyB)
210  {
211  btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
212  tr.setOrigin(pivotBworld);
213  drawer->drawTransform(tr, 0.1);
214  }
215 }
btFixedConstraint btRigidBody const btTransform & frameInA
btFixedConstraint btRigidBody const btTransform const btTransform & frameInB
bool matrixToEulerXYZ(const btMatrix3x3 &mat, btVector3 &xyz)
MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3....
btTransform m_frameInB
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
@ MULTIBODY_CONSTRAINT_FIXED
int m_linkB
btAlignedObjectArray< btScalar > m_data
btMultiBody * m_bodyB
int m_linkA
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
btScalar m_maxAppliedImpulse
btMultiBodyConstraint
#define BTMBFIXEDCONSTRAINT_DIM
This file was written by Erwin Coumans.
btRigidBody * m_rigidBodyB
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btMultiBody
Definition: btMultiBody.h:51
btVector3 m_pivotInA
btVector3 m_pivotInB
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define btAssert(x)
Definition: btScalar.h:295
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo & infoGlobal
btTransform m_frameInA
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
SIMD_FORCE_INLINE void resize(int newsize, const T &fillData=T())
SIMD_FORCE_INLINE T & expandNonInitializing()
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
Definition: btIDebugDraw.h:163
virtual void debugDraw(class btIDebugDraw *drawer)
btMultiBodyFixedConstraint(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
btQuaternion getOrientation() const
const btTransform & getCenterOfMassTransform() const
Definition: btRigidBody.h:429
uint col
T dot(const vec_base< T, Size > &a, const vec_base< T, Size > &b)