diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2007-08-05 21:44:32 +0400 |
---|---|---|
committer | Erwin Coumans <blender@erwincoumans.com> | 2007-08-05 21:44:32 +0400 |
commit | f0de3124cebc34d86a6bac44743f868be76630d2 (patch) | |
tree | 25d605fecd5ae07c59f08259b026200bfb1123a4 /extern | |
parent | d638f54c085025e82ca0d58f884b6abc6b4147f7 (diff) |
reverted to old hinge constraint, it breaks several tests/demos
Diffstat (limited to 'extern')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp | 252 | ||||
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h | 64 |
2 files changed, 51 insertions, 265 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp index ad7fc3a269e..27e30987549 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp @@ -17,176 +17,58 @@ subject to the following restrictions: #include "btHingeConstraint.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "LinearMath/btTransformUtil.h" -#include "LinearMath/btSimdMinMax.h" #include <new> - btHingeConstraint::btHingeConstraint(): m_enableAngularMotor(false) { } btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, - btVector3& axisInA,btVector3& axisInB) - :btTypedConstraint(rbA,rbB), - m_angularOnly(false), - m_enableAngularMotor(false) -{ - m_rbAFrame.getOrigin() = pivotInA; - - // since no frame is given, assume this to be zero angle and just pick rb transform axis - btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0); - btScalar projection = rbAxisA1.dot(axisInA); - if (projection > SIMD_EPSILON) - rbAxisA1 = rbAxisA1*projection - axisInA; - else - rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(1); - - btVector3 rbAxisA2 = rbAxisA1.cross(axisInA); - - m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(), - rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(), - rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() ); - - btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); - btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); - btVector3 rbAxisB2 = rbAxisB1.cross(axisInB); - - - m_rbBFrame.getOrigin() = pivotInB; - m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),-axisInB.getX(), - rbAxisB1.getY(),rbAxisB2.getY(),-axisInB.getY(), - rbAxisB1.getZ(),rbAxisB2.getZ(),-axisInB.getZ() ); - - //start with free - m_lowerLimit = btScalar(1e30); - m_upperLimit = btScalar(-1e30); - m_biasFactor = 0.3f; - m_relaxationFactor = 1.0f; - m_limitSoftness = 0.9f; - m_solveLimit = false; - -} - - -btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA) -:btTypedConstraint(rbA), m_angularOnly(false), m_enableAngularMotor(false) -{ - - // since no frame is given, assume this to be zero angle and just pick rb transform axis - // fixed axis in worldspace - btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0); - btScalar projection = rbAxisA1.dot(axisInA); - if (projection > SIMD_EPSILON) - rbAxisA1 = rbAxisA1*projection - axisInA; - else - rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(1); - - btVector3 rbAxisA2 = axisInA.cross(rbAxisA1); - - m_rbAFrame.getOrigin() = pivotInA; - m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(), - rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(), - rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() ); - - - btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * -axisInA; - - btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); - btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); - btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); - - - m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA); - m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(), - rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(), - rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() ); - - //start with free - m_lowerLimit = btScalar(1e30); - m_upperLimit = btScalar(-1e30); - m_biasFactor = 0.3f; - m_relaxationFactor = 1.0f; - m_limitSoftness = 0.9f; - m_solveLimit = false; -} - -btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, - const btTransform& rbAFrame, const btTransform& rbBFrame) -:btTypedConstraint(rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame), + btVector3& axisInA,btVector3& axisInB) +:btTypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB), +m_axisInA(axisInA), +m_axisInB(-axisInB), m_angularOnly(false), m_enableAngularMotor(false) { - // flip axis - m_rbBFrame.getBasis()[2][0] *= btScalar(-1.); - m_rbBFrame.getBasis()[2][1] *= btScalar(-1.); - m_rbBFrame.getBasis()[2][2] *= btScalar(-1.); - - //start with free - m_lowerLimit = btScalar(1e30); - m_upperLimit = btScalar(-1e30); - m_biasFactor = 0.3f; - m_relaxationFactor = 1.0f; - m_limitSoftness = 0.9f; - m_solveLimit = false; -} +} -btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame) -:btTypedConstraint(rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame), +btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA) +:btTypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), +m_axisInA(axisInA), +//fixed axis in worldspace +m_axisInB(rbA.getCenterOfMassTransform().getBasis() * -axisInA), m_angularOnly(false), m_enableAngularMotor(false) { - // flip axis - m_rbBFrame.getBasis()[2][0] *= btScalar(-1.); - m_rbBFrame.getBasis()[2][1] *= btScalar(-1.); - m_rbBFrame.getBasis()[2][2] *= btScalar(-1.); - - - //start with free - m_lowerLimit = btScalar(1e30); - m_upperLimit = btScalar(-1e30); - m_biasFactor = 0.3f; - m_relaxationFactor = 1.0f; - m_limitSoftness = 0.9f; - m_solveLimit = false; + } void btHingeConstraint::buildJacobian() { m_appliedImpulse = btScalar(0.); + btVector3 normal(0,0,0); + if (!m_angularOnly) { - btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin(); - btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin(); - btVector3 relPos = pivotBInW - pivotAInW; - - btVector3 normal[3]; - if (relPos.length2() > SIMD_EPSILON) - { - normal[0] = relPos.normalized(); - } - else - { - normal[0].setValue(btScalar(1.0),0,0); - } - - btPlaneSpace1(normal[0], normal[1], normal[2]); - for (int i=0;i<3;i++) { + normal[i] = 1; new (&m_jac[i]) btJacobianEntry( m_rbA.getCenterOfMassTransform().getBasis().transpose(), m_rbB.getCenterOfMassTransform().getBasis().transpose(), - pivotAInW - m_rbA.getCenterOfMassPosition(), - pivotBInW - m_rbB.getCenterOfMassPosition(), - normal[i], + m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(), + m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(), + normal, m_rbA.getInvInertiaDiagLocal(), m_rbA.getInvMass(), m_rbB.getInvInertiaDiagLocal(), m_rbB.getInvMass()); + normal[i] = 0; } } @@ -197,12 +79,12 @@ void btHingeConstraint::buildJacobian() btVector3 jointAxis0local; btVector3 jointAxis1local; - btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local); + btPlaneSpace1(m_axisInA,jointAxis0local,jointAxis1local); - getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); + getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA; btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local; btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local; - btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); + btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA; new (&m_jacAng[0]) btJacobianEntry(jointAxis0, m_rbA.getCenterOfMassTransform().getBasis().transpose(), @@ -223,71 +105,44 @@ void btHingeConstraint::buildJacobian() m_rbB.getInvInertiaDiagLocal()); - // Compute limit information - btScalar hingeAngle = getHingeAngle(); - - //set bias, sign, clear accumulator - m_correction = btScalar(0.); - m_limitSign = btScalar(0.); - m_solveLimit = false; - m_accLimitImpulse = btScalar(0.); - - if (m_lowerLimit < m_upperLimit) - { - if (hingeAngle <= m_lowerLimit*m_limitSoftness) - { - m_correction = (m_lowerLimit - hingeAngle); - m_limitSign = 1.0f; - m_solveLimit = true; - } - else if (hingeAngle >= m_upperLimit*m_limitSoftness) - { - m_correction = m_upperLimit - hingeAngle; - m_limitSign = -1.0f; - m_solveLimit = true; - } - } - - //Compute K = J*W*J' for hinge axis - btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); - m_kHinge = 1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) + - getRigidBodyB().computeAngularImpulseDenominator(axisA)); } void btHingeConstraint::solveConstraint(btScalar timeStep) { - btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin(); - btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin(); + btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA; + btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB; + btVector3 normal(0,0,0); btScalar tau = btScalar(0.3); btScalar damping = btScalar(1.); //linear part if (!m_angularOnly) { - btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); - btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); - - btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1); - btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2); - btVector3 vel = vel1 - vel2; - for (int i=0;i<3;i++) { - const btVector3& normal = m_jac[i].m_linearJointAxis; + normal[i] = 1; btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal(); + btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); + btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); + + btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1); + btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2); + btVector3 vel = vel1 - vel2; btScalar rel_vel; rel_vel = normal.dot(vel); //positional error (zeroth order error) btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal - btScalar impulse = depth*tau/timeStep * jacDiagABInv - rel_vel * jacDiagABInv; + btScalar impulse = depth*tau/timeStep * jacDiagABInv - damping * rel_vel * jacDiagABInv * damping; m_appliedImpulse += impulse; btVector3 impulse_vector = normal * impulse; m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition()); m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition()); + + normal[i] = 0; } } @@ -296,8 +151,8 @@ void btHingeConstraint::solveConstraint(btScalar timeStep) ///solve angular part // get axes in world space - btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); - btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(2); + btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA; + btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB; const btVector3& angVelA = getRigidBodyA().getAngularVelocity(); const btVector3& angVelB = getRigidBodyB().getAngularVelocity(); @@ -319,7 +174,7 @@ void btHingeConstraint::solveConstraint(btScalar timeStep) getRigidBodyB().computeAngularImpulseDenominator(normal); // scale for mass and relaxation //todo: expose this 0.9 factor to developer - velrelOrthog *= (btScalar(1.)/denom) * m_relaxationFactor; + velrelOrthog *= (btScalar(1.)/denom) * btScalar(0.9); } //solve angular positional correction @@ -335,28 +190,10 @@ void btHingeConstraint::solveConstraint(btScalar timeStep) m_rbA.applyTorqueImpulse(-velrelOrthog+angularError); m_rbB.applyTorqueImpulse(velrelOrthog-angularError); - - // solve limit - if (m_solveLimit) - { - btScalar amplitude = ( (angVelB - angVelA).dot( axisA )*m_relaxationFactor + m_correction* (btScalar(1.)/timeStep)*m_biasFactor ) * m_limitSign; - - btScalar impulseMag = amplitude * m_kHinge; - - // Clamp the accumulated impulse - btScalar temp = m_accLimitImpulse; - m_accLimitImpulse = btMax(m_accLimitImpulse + impulseMag, 0.0f ); - impulseMag = m_accLimitImpulse - temp; - - - btVector3 impulse = axisA * impulseMag * m_limitSign; - m_rbA.applyTorqueImpulse(impulse); - m_rbB.applyTorqueImpulse(-impulse); - } } //apply motor - if (m_enableAngularMotor) + if (m_enableAngularMotor) { //todo: add limits too btVector3 angularLimit(0,0,0); @@ -367,7 +204,10 @@ void btHingeConstraint::solveConstraint(btScalar timeStep) btScalar desiredMotorVel = m_motorTargetVelocity; btScalar motor_relvel = desiredMotorVel - projRelVel; - btScalar unclippedMotorImpulse = m_kHinge * motor_relvel;; + btScalar denom3 = getRigidBodyA().computeAngularImpulseDenominator(axisA) + + getRigidBodyB().computeAngularImpulseDenominator(axisA); + + btScalar unclippedMotorImpulse = (btScalar(1.)/denom3) * motor_relvel;; //todo: should clip against accumulated impulse btScalar clippedMotorImpulse = unclippedMotorImpulse > m_maxMotorImpulse ? m_maxMotorImpulse : unclippedMotorImpulse; clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse; @@ -387,11 +227,3 @@ void btHingeConstraint::updateRHS(btScalar timeStep) } -btScalar btHingeConstraint::getHingeAngle() -{ - const btVector3 refAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(0); - const btVector3 refAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(1); - const btVector3 swingAxis = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(1); - - return btAtan2Fast( swingAxis.dot(refAxis0), swingAxis.dot(refAxis1) ); -} diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index 4b42d3d2acd..5c1ceafbc5b 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -13,8 +13,6 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */ - #ifndef HINGECONSTRAINT_H #define HINGECONSTRAINT_H @@ -24,6 +22,7 @@ subject to the following restrictions: class btRigidBody; + /// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space /// axis defines the orientation of the hinge axis class btHingeConstraint : public btTypedConstraint @@ -31,40 +30,22 @@ class btHingeConstraint : public btTypedConstraint btJacobianEntry m_jac[3]; //3 orthogonal linear constraints btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor - btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis. - btTransform m_rbBFrame; - - btScalar m_motorTargetVelocity; - btScalar m_maxMotorImpulse; - - btScalar m_limitSoftness; - btScalar m_biasFactor; - btScalar m_relaxationFactor; - - btScalar m_lowerLimit; - btScalar m_upperLimit; - - btScalar m_kHinge; - - btScalar m_limitSign; - btScalar m_correction; - - btScalar m_accLimitImpulse; + btVector3 m_pivotInA; + btVector3 m_pivotInB; + btVector3 m_axisInA; + btVector3 m_axisInB; bool m_angularOnly; - bool m_enableAngularMotor; - bool m_solveLimit; + btScalar m_motorTargetVelocity; + btScalar m_maxMotorImpulse; + bool m_enableAngularMotor; public: - btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB); + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,btVector3& axisInA,btVector3& axisInB); btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA); - - btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame); - - btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame); btHingeConstraint(); @@ -95,33 +76,6 @@ public: m_maxMotorImpulse = maxMotorImpulse; } - void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) - { - m_lowerLimit = low; - m_upperLimit = high; - - m_limitSoftness = _softness; - m_biasFactor = _biasFactor; - m_relaxationFactor = _relaxationFactor; - - } - - btScalar getHingeAngle(); - - - const btTransform& getAFrame() { return m_rbAFrame; }; - const btTransform& getBFrame() { return m_rbBFrame; }; - - inline int getSolveLimit() - { - return m_solveLimit; - } - - inline btScalar getLimitSign() - { - return m_limitSign; - } - }; #endif //HINGECONSTRAINT_H |