diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h | 250 |
1 files changed, 226 insertions, 24 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index 0af655f4409..50e3f73cb6d 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -17,6 +17,8 @@ subject to the following restrictions: #ifndef HINGECONSTRAINT_H #define HINGECONSTRAINT_H +#define _BT_USE_CENTER_LIMIT_ 1 + #include "LinearMath/btVector3.h" #include "btJacobianEntry.h" @@ -24,9 +26,27 @@ subject to the following restrictions: class btRigidBody; +#ifdef BT_USE_DOUBLE_PRECISION +#define btHingeConstraintData btHingeConstraintDoubleData +#define btHingeConstraintDataName "btHingeConstraintDoubleData" +#else +#define btHingeConstraintData btHingeConstraintFloatData +#define btHingeConstraintDataName "btHingeConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + + +enum btHingeFlags +{ + BT_HINGE_FLAGS_CFM_STOP = 1, + BT_HINGE_FLAGS_ERP_STOP = 2, + BT_HINGE_FLAGS_CFM_NORM = 4 +}; + + /// 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 +ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint { #ifdef IN_PARALLELL_SOLVER public: @@ -40,48 +60,67 @@ public: btScalar m_motorTargetVelocity; btScalar m_maxMotorImpulse; + +#ifdef _BT_USE_CENTER_LIMIT_ + btAngularLimit m_limit; +#else + btScalar m_lowerLimit; + btScalar m_upperLimit; + btScalar m_limitSign; + btScalar m_correction; + btScalar m_limitSoftness; btScalar m_biasFactor; - btScalar m_relaxationFactor; + btScalar m_relaxationFactor; + + bool m_solveLimit; +#endif - btScalar m_lowerLimit; - btScalar m_upperLimit; - btScalar m_kHinge; - btScalar m_limitSign; - btScalar m_correction; btScalar m_accLimitImpulse; btScalar m_hingeAngle; - btScalar m_referenceSign; + btScalar m_referenceSign; bool m_angularOnly; bool m_enableAngularMotor; - bool m_solveLimit; bool m_useSolveConstraintObsolete; + bool m_useOffsetForConstraintFrame; bool m_useReferenceFrameA; + btScalar m_accMotorImpulse; + + int m_flags; + btScalar m_normalCFM; + btScalar m_stopCFM; + btScalar m_stopERP; + public: - btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA = false); + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false); - btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA = false); + btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false); btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false); btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false); - btHingeConstraint(); virtual void buildJacobian(); virtual void getInfo1 (btConstraintInfo1* info); + void getInfo1NonVirtual(btConstraintInfo1* info); + virtual void getInfo2 (btConstraintInfo2* info); - - virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep); + + void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + + void getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + void getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + void updateRHS(btScalar timeStep); @@ -102,7 +141,19 @@ public: btRigidBody& getRigidBodyB() { return m_rbB; - } + } + + btTransform& getFrameOffsetA() + { + return m_rbAFrame; + } + + btTransform& getFrameOffsetB() + { + return m_rbBFrame; + } + + void setFrames(const btTransform& frameA, const btTransform& frameB); void setAngularOnly(bool angularOnly) { @@ -116,44 +167,101 @@ public: m_maxMotorImpulse = maxMotorImpulse; } + // extra motor API, including ability to set a target rotation (as opposed to angular velocity) + // note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to + // maintain a given angular target. + void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; } + void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; } + void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B. + void setMotorTarget(btScalar targetAngle, btScalar dt); + + void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) { - m_lowerLimit = low; - m_upperLimit = high; - +#ifdef _BT_USE_CENTER_LIMIT_ + m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor); +#else + m_lowerLimit = btNormalizeAngle(low); + m_upperLimit = btNormalizeAngle(high); m_limitSoftness = _softness; m_biasFactor = _biasFactor; m_relaxationFactor = _relaxationFactor; +#endif + } + + void setAxis(btVector3& axisInA) + { + btVector3 rbAxisA1, rbAxisA2; + btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2); + btVector3 pivotInA = m_rbAFrame.getOrigin(); +// 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 = m_rbA.getCenterOfMassTransform().getBasis() * axisInA; + + btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); + btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); + btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); + + m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_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() ); + m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis(); } btScalar getLowerLimit() const { - return m_lowerLimit; +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getLow(); +#else + return m_lowerLimit; +#endif } btScalar getUpperLimit() const { - return m_upperLimit; +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getHigh(); +#else + return m_upperLimit; +#endif } btScalar getHingeAngle(); - void testLimit(); + btScalar getHingeAngle(const btTransform& transA,const btTransform& transB); + + void testLimit(const btTransform& transA,const btTransform& transB); + + const btTransform& getAFrame() const { return m_rbAFrame; }; + const btTransform& getBFrame() const { return m_rbBFrame; }; - const btTransform& getAFrame() { return m_rbAFrame; }; - const btTransform& getBFrame() { return m_rbBFrame; }; + btTransform& getAFrame() { return m_rbAFrame; }; + btTransform& getBFrame() { return m_rbBFrame; }; inline int getSolveLimit() { - return m_solveLimit; +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.isLimit(); +#else + return m_solveLimit; +#endif } inline btScalar getLimitSign() { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getSign(); +#else return m_limitSign; +#endif } inline bool getAngularOnly() @@ -172,7 +280,101 @@ public: { return m_maxMotorImpulse; } + // access for UseFrameOffset + bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } + void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } + + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btHingeConstraintDoubleData +{ + btTypedConstraintData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformDoubleData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + +}; +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btHingeConstraintFloatData +{ + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformFloatData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; }; + + +SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btHingeConstraintData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer; + btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer); + + m_rbAFrame.serialize(hingeData->m_rbAFrame); + m_rbBFrame.serialize(hingeData->m_rbBFrame); + + hingeData->m_angularOnly = m_angularOnly; + hingeData->m_enableAngularMotor = m_enableAngularMotor; + hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse); + hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity); + hingeData->m_useReferenceFrameA = m_useReferenceFrameA; +#ifdef _BT_USE_CENTER_LIMIT_ + hingeData->m_lowerLimit = float(m_limit.getLow()); + hingeData->m_upperLimit = float(m_limit.getHigh()); + hingeData->m_limitSoftness = float(m_limit.getSoftness()); + hingeData->m_biasFactor = float(m_limit.getBiasFactor()); + hingeData->m_relaxationFactor = float(m_limit.getRelaxationFactor()); +#else + hingeData->m_lowerLimit = float(m_lowerLimit); + hingeData->m_upperLimit = float(m_upperLimit); + hingeData->m_limitSoftness = float(m_limitSoftness); + hingeData->m_biasFactor = float(m_biasFactor); + hingeData->m_relaxationFactor = float(m_relaxationFactor); +#endif + + return btHingeConstraintDataName; +} + #endif //HINGECONSTRAINT_H |