diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp | 207 |
1 files changed, 155 insertions, 52 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp index 2b69ad90438..1da749517e8 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp @@ -21,33 +21,38 @@ subject to the following restrictions: btPoint2PointConstraint::btPoint2PointConstraint() -:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE) +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE), +m_useSolveConstraintObsolete(false) { } btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB) -:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB) +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB), +m_useSolveConstraintObsolete(false) { } btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA) -:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)) +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), +m_useSolveConstraintObsolete(false) { } void btPoint2PointConstraint::buildJacobian() { - m_appliedImpulse = btScalar(0.); + ///we need it for both methods + { + m_appliedImpulse = btScalar(0.); - btVector3 normal(0,0,0); + btVector3 normal(0,0,0); - for (int i=0;i<3;i++) - { - normal[i] = 1; - new (&m_jac[i]) btJacobianEntry( + 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(), m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(), @@ -58,64 +63,162 @@ void btPoint2PointConstraint::buildJacobian() m_rbB.getInvInertiaDiagLocal(), m_rbB.getInvMass()); normal[i] = 0; + } } } -void btPoint2PointConstraint::solveConstraint(btScalar timeStep) -{ - btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA; - btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB; +void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info) +{ + if (m_useSolveConstraintObsolete) + { + info->m_numConstraintRows = 0; + info->nub = 0; + } else + { + info->m_numConstraintRows = 3; + info->nub = 3; + } +} - btVector3 normal(0,0,0); +void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info) +{ + btAssert(!m_useSolveConstraintObsolete); + + //retrieve matrices + btTransform body0_trans; + body0_trans = m_rbA.getCenterOfMassTransform(); + btTransform body1_trans; + body1_trans = m_rbB.getCenterOfMassTransform(); + + // anchor points in global coordinates with respect to body PORs. + + // set jacobian + info->m_J1linearAxis[0] = 1; + info->m_J1linearAxis[info->rowskip+1] = 1; + info->m_J1linearAxis[2*info->rowskip+2] = 1; + + btVector3 a1 = body0_trans.getBasis()*getPivotInA(); + { + btVector3* angular0 = (btVector3*)(info->m_J1angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip); + btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip); + btVector3 a1neg = -a1; + a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + + /*info->m_J2linearAxis[0] = -1; + info->m_J2linearAxis[s+1] = -1; + info->m_J2linearAxis[2*s+2] = -1; + */ + btVector3 a2 = body1_trans.getBasis()*getPivotInB(); + + { + btVector3 a2n = -a2; + btVector3* angular0 = (btVector3*)(info->m_J2angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip); + btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip); + a2.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + -// btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity(); -// btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity(); - - for (int i=0;i<3;i++) - { - 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(); - //this jacobian entry could be re-used for all iterations - - 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); + // set right hand side + btScalar k = info->fps * info->erp; + int j; - /* - //velocity error (first order error) - btScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, - m_rbB.getLinearVelocity(),angvelB); - */ - - //positional error (zeroth order error) - btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal - - btScalar impulse = depth*m_setting.m_tau/timeStep * jacDiagABInv - m_setting.m_damping * rel_vel * jacDiagABInv; + for (j=0; j<3; j++) + { + info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]); + //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]); + } - btScalar impulseClamp = m_setting.m_impulseClamp; - if (impulseClamp > 0) + btScalar impulseClamp = m_setting.m_impulseClamp;// + for (j=0; j<3; j++) + { + if (m_setting.m_impulseClamp > 0) { - if (impulse < -impulseClamp) - impulse = -impulseClamp; - if (impulse > impulseClamp) - impulse = impulseClamp; + info->m_lowerLimit[j*info->rowskip] = -impulseClamp; + info->m_upperLimit[j*info->rowskip] = impulseClamp; } + } + +} + - 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()); +void btPoint2PointConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep) +{ + if (m_useSolveConstraintObsolete) + { + btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA; + btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB; + + + btVector3 normal(0,0,0); - normal[i] = 0; + + // btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity(); + // btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity(); + + for (int i=0;i<3;i++) + { + 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(); + //this jacobian entry could be re-used for all iterations + + btVector3 vel1,vel2; + bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1); + bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2); + btVector3 vel = vel1 - vel2; + + btScalar rel_vel; + rel_vel = normal.dot(vel); + + /* + //velocity error (first order error) + btScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, + m_rbB.getLinearVelocity(),angvelB); + */ + + //positional error (zeroth order error) + btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal + + btScalar deltaImpulse = depth*m_setting.m_tau/timeStep * jacDiagABInv - m_setting.m_damping * rel_vel * jacDiagABInv; + + btScalar impulseClamp = m_setting.m_impulseClamp; + + const btScalar sum = btScalar(m_appliedImpulse) + deltaImpulse; + if (sum < -impulseClamp) + { + deltaImpulse = -impulseClamp-m_appliedImpulse; + m_appliedImpulse = -impulseClamp; + } + else if (sum > impulseClamp) + { + deltaImpulse = impulseClamp-m_appliedImpulse; + m_appliedImpulse = impulseClamp; + } + else + { + m_appliedImpulse = sum; + } + + + btVector3 impulse_vector = normal * deltaImpulse; + + btVector3 ftorqueAxis1 = rel_pos1.cross(normal); + btVector3 ftorqueAxis2 = rel_pos2.cross(normal); + bodyA.applyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,deltaImpulse); + bodyB.applyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-deltaImpulse); + + + normal[i] = 0; + } } } |