Bullet Collision Detection & Physics Library: btMultiBodyFixedConstraint.cpp Source File

Bullet Collision Detection & Physics Library

btMultiBodyFixedConstraint.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
17
18#include "btMultiBodyFixedConstraint.h"
19#include "btMultiBodyLinkCollider.h"
20#include "BulletDynamics/Dynamics/btRigidBody.h"
21#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
22#include "LinearMath/btIDebugDraw.h"
23
24#define BTMBFIXEDCONSTRAINT_DIM 6
25
26btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
27 : btMultiBodyConstraint(body, 0, link, -1, BTMBFIXEDCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_FIXED),
28 m_rigidBodyA(0),
29 m_rigidBodyB(bodyB),
30 m_pivotInA(pivotInA),
31 m_pivotInB(pivotInB),
32 m_frameInA(frameInA),
33 m_frameInB(frameInB)
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),
44 m_frameInA(frameInA),
45 m_frameInB(frameInB)
46{
47 m_data.resize(BTMBFIXEDCONSTRAINT_DIM); //at least store the applied impulses
48}
49
50 void btMultiBodyFixedConstraint::finalizeMultiDof()
51{
52 //not implemented yet
53 btAssert(0);
54}
55
56btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint()
57{
58}
59
60 int btMultiBodyFixedConstraint::getIslandIdA() const
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
82 int btMultiBodyFixedConstraint::getIslandIdB() const
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
103 void btMultiBodyFixedConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
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();
127 pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
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();
143 pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
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;
157 btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot, 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,
170 -m_maxAppliedImpulse, m_maxAppliedImpulse);
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,
180 -m_maxAppliedImpulse, m_maxAppliedImpulse, true);
181 }
182 }
183}
184
185 void btMultiBodyFixedConstraint::debugDraw(class btIDebugDraw* drawer)
186{
187 btTransform tr;
188 tr.setIdentity();
189
190 if (m_rigidBodyA)
191 {
192 btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
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
205 btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
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}
btGeneric6DofSpring2Constraint.h
btIDebugDraw.h
MULTIBODY_CONSTRAINT_FIXED
@ MULTIBODY_CONSTRAINT_FIXED
Definition btMultiBodyConstraint.h:33
BTMBFIXEDCONSTRAINT_DIM
#define BTMBFIXEDCONSTRAINT_DIM
This file was written by Erwin Coumans.
Definition btMultiBodyFixedConstraint.cpp:24
btMultiBodyFixedConstraint.h
btMultiBodyLinkCollider.h
btMultiBodyConstraintArray
btAlignedObjectArray< btMultiBodySolverConstraint > btMultiBodyConstraintArray
Definition btMultiBodySolverConstraint.h:88
dot
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
Definition btQuaternion.h:888
btRigidBody.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btAssert
#define btAssert(x)
Definition btScalar.h:153
btAlignedObjectArray::expandNonInitializing
T & expandNonInitializing()
Definition btAlignedObjectArray.h:230
btCollisionObject::getIslandTag
int getIslandTag() const
Definition btCollisionObject.h:448
btGeneric6DofSpring2Constraint::matrixToEulerXYZ
static bool matrixToEulerXYZ(const btMatrix3x3 &mat, btVector3 &xyz)
Definition btGeneric6DofSpring2Constraint.cpp:69
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btIDebugDraw::drawTransform
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
Definition btIDebugDraw.h:163
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition btMatrix3x3.h:50
btMatrix3x3::inverse
btMatrix3x3 inverse() const
Return the inverse of the matrix.
Definition btMatrix3x3.h:1093
btMatrix3x3::transpose
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition btMatrix3x3.h:1049
btMatrix3x3::getColumn
btVector3 getColumn(int i) const
Get a column of the matrix as a vector.
Definition btMatrix3x3.h:142
btMultiBodyConstraint::m_data
btAlignedObjectArray< btScalar > m_data
Definition btMultiBodyConstraint.h:80
btMultiBodyConstraint::m_bodyB
btMultiBody * m_bodyB
Definition btMultiBodyConstraint.h:60
btMultiBodyConstraint::btMultiBodyConstraint
btMultiBodyConstraint(btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
Definition btMultiBodyConstraint.cpp:5
btMultiBodyConstraint::m_maxAppliedImpulse
btScalar m_maxAppliedImpulse
Definition btMultiBodyConstraint.h:73
btMultiBodyConstraint::fillMultiBodyConstraint
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 damping=1.0)
Definition btMultiBodyConstraint.cpp:53
btMultiBodyConstraint::m_bodyA
btMultiBody * m_bodyA
Definition btMultiBodyConstraint.h:59
btMultiBodyConstraint::m_linkB
int m_linkB
Definition btMultiBodyConstraint.h:62
btMultiBodyConstraint::m_linkA
int m_linkA
Definition btMultiBodyConstraint.h:61
btMultiBodyFixedConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition btMultiBodyFixedConstraint.cpp:82
btMultiBodyFixedConstraint::m_frameInA
btMatrix3x3 m_frameInA
Definition btMultiBodyFixedConstraint.h:30
btMultiBodyFixedConstraint::finalizeMultiDof
virtual void finalizeMultiDof()
Definition btMultiBodyFixedConstraint.cpp:50
btMultiBodyFixedConstraint::m_frameInB
btMatrix3x3 m_frameInB
Definition btMultiBodyFixedConstraint.h:31
btMultiBodyFixedConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition btMultiBodyFixedConstraint.cpp:185
btMultiBodyFixedConstraint::btMultiBodyFixedConstraint
btMultiBodyFixedConstraint(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
Definition btMultiBodyFixedConstraint.cpp:26
btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint
virtual ~btMultiBodyFixedConstraint()
Definition btMultiBodyFixedConstraint.cpp:56
btMultiBodyFixedConstraint::m_pivotInA
btVector3 m_pivotInA
Definition btMultiBodyFixedConstraint.h:28
btMultiBodyFixedConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
Definition btMultiBodyFixedConstraint.cpp:103
btMultiBodyFixedConstraint::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition btMultiBodyFixedConstraint.h:26
btMultiBodyFixedConstraint::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition btMultiBodyFixedConstraint.h:27
btMultiBodyFixedConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition btMultiBodyFixedConstraint.cpp:60
btMultiBodyFixedConstraint::m_pivotInB
btVector3 m_pivotInB
Definition btMultiBodyFixedConstraint.h:29
btMultiBodyLinkCollider
Definition btMultiBodyLinkCollider.h:33
btMultiBody
Definition btMultiBody.h:51
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition btTransform.h:167
btTransform::setOrigin
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition btTransform.h:147
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition btVector3.h:640
btContactSolverInfo
Definition btContactSolverInfo.h:76
btMultiBodyJacobianData
Definition btMultiBodyConstraint.h:44
btMultiBodyJacobianData::m_fixedBodyId
int m_fixedBodyId
Definition btMultiBodyConstraint.h:52
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition btMultiBodySolverConstraint.h:30
btMultiBodySolverConstraint::m_orgConstraint
btMultiBodyConstraint * m_orgConstraint
Definition btMultiBodySolverConstraint.h:78
btMultiBodySolverConstraint::m_relpos1CrossNormal
btVector3 m_relpos1CrossNormal
Definition btMultiBodySolverConstraint.h:42
btMultiBodySolverConstraint::m_solverBodyIdA
int m_solverBodyIdA
Definition btMultiBodySolverConstraint.h:69
btMultiBodySolverConstraint::m_contactNormal2
btVector3 m_contactNormal2
Definition btMultiBodySolverConstraint.h:45
btMultiBodySolverConstraint::m_orgDofIndex
int m_orgDofIndex
Definition btMultiBodySolverConstraint.h:79
btMultiBodySolverConstraint::m_contactNormal1
btVector3 m_contactNormal1
Definition btMultiBodySolverConstraint.h:43
btMultiBodySolverConstraint::m_angularComponentA
btVector3 m_angularComponentA
Definition btMultiBodySolverConstraint.h:47
btMultiBodySolverConstraint::m_relpos2CrossNormal
btVector3 m_relpos2CrossNormal
Definition btMultiBodySolverConstraint.h:44
btMultiBodySolverConstraint::m_solverBodyIdB
int m_solverBodyIdB
Definition btMultiBodySolverConstraint.h:73
btMultiBodySolverConstraint::m_angularComponentB
btVector3 m_angularComponentB
Definition btMultiBodySolverConstraint.h:48