diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp | 1270 |
1 files changed, 574 insertions, 696 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index a9c0b33b3a3..f599c9ccb6f 100644 --- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -23,45 +23,49 @@ subject to the following restrictions: #include "LinearMath/btIDebugDraw.h" #include "LinearMath/btSerializer.h" - -void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, short group, short mask) +void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, int group, int mask) { m_multiBodies.push_back(body); - } -void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body) +void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body) { m_multiBodies.remove(body); } -void btMultiBodyDynamicsWorld::calculateSimulationIslands() +void btMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + predictMultiBodyTransforms(timeStep); + +} +void btMultiBodyDynamicsWorld::calculateSimulationIslands() { BT_PROFILE("calculateSimulationIslands"); - getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher()); + getSimulationIslandManager()->updateActivationState(getCollisionWorld(), getCollisionWorld()->getDispatcher()); + + { + //merge islands based on speculative contact manifolds too + for (int i = 0; i < this->m_predictiveManifolds.size(); i++) + { + btPersistentManifold* manifold = m_predictiveManifolds[i]; + + const btCollisionObject* colObj0 = manifold->getBody0(); + const btCollisionObject* colObj1 = manifold->getBody1(); + + if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && + ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) + { + getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag()); + } + } + } - { - //merge islands based on speculative contact manifolds too - for (int i=0;i<this->m_predictiveManifolds.size();i++) - { - btPersistentManifold* manifold = m_predictiveManifolds[i]; - - const btCollisionObject* colObj0 = manifold->getBody0(); - const btCollisionObject* colObj1 = manifold->getBody1(); - - if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && - ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) - { - getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag()); - } - } - } - { int i; int numConstraints = int(m_constraints.size()); - for (i=0;i< numConstraints ; i++ ) + for (i = 0; i < numConstraints; i++) { btTypedConstraint* constraint = m_constraints[i]; if (constraint->isEnabled()) @@ -72,23 +76,23 @@ void btMultiBodyDynamicsWorld::calculateSimulationIslands() if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) { - getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag()); + getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag()); } } } } //merge islands linked by Featherstone link colliders - for (int i=0;i<m_multiBodies.size();i++) + for (int i = 0; i < m_multiBodies.size(); i++) { btMultiBody* body = m_multiBodies[i]; { btMultiBodyLinkCollider* prev = body->getBaseCollider(); - for (int b=0;b<body->getNumLinks();b++) + for (int b = 0; b < body->getNumLinks(); b++) { btMultiBodyLinkCollider* cur = body->getLink(b).m_collider; - + if (((cur) && (!(cur)->isStaticOrKinematicObject())) && ((prev) && (!(prev)->isStaticOrKinematicObject()))) { @@ -98,36 +102,31 @@ void btMultiBodyDynamicsWorld::calculateSimulationIslands() } if (cur && !cur->isStaticOrKinematicObject()) prev = cur; - } } } //merge islands linked by multibody constraints { - for (int i=0;i<this->m_multiBodyConstraints.size();i++) + for (int i = 0; i < this->m_multiBodyConstraints.size(); i++) { btMultiBodyConstraint* c = m_multiBodyConstraints[i]; int tagA = c->getIslandIdA(); int tagB = c->getIslandIdB(); - if (tagA>=0 && tagB>=0) + if (tagA >= 0 && tagB >= 0) getSimulationIslandManager()->getUnionFind().unite(tagA, tagB); } } //Store the island id in each body getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld()); - } - -void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) +void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) { BT_PROFILE("btMultiBodyDynamicsWorld::updateActivationState"); - - - for ( int i=0;i<m_multiBodies.size();i++) + for (int i = 0; i < m_multiBodies.size(); i++) { btMultiBody* body = m_multiBodies[i]; if (body) @@ -138,659 +137,529 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) btMultiBodyLinkCollider* col = body->getBaseCollider(); if (col && col->getActivationState() == ACTIVE_TAG) { - col->setActivationState( WANTS_DEACTIVATION); + col->setActivationState(WANTS_DEACTIVATION); col->setDeactivationTime(0.f); } - for (int b=0;b<body->getNumLinks();b++) + for (int b = 0; b < body->getNumLinks(); b++) { btMultiBodyLinkCollider* col = body->getLink(b).m_collider; if (col && col->getActivationState() == ACTIVE_TAG) { - col->setActivationState( WANTS_DEACTIVATION); + col->setActivationState(WANTS_DEACTIVATION); col->setDeactivationTime(0.f); } } - } else + } + else { btMultiBodyLinkCollider* col = body->getBaseCollider(); if (col && col->getActivationState() != DISABLE_DEACTIVATION) - col->setActivationState( ACTIVE_TAG ); + col->setActivationState(ACTIVE_TAG); - for (int b=0;b<body->getNumLinks();b++) + for (int b = 0; b < body->getNumLinks(); b++) { btMultiBodyLinkCollider* col = body->getLink(b).m_collider; if (col && col->getActivationState() != DISABLE_DEACTIVATION) - col->setActivationState( ACTIVE_TAG ); + col->setActivationState(ACTIVE_TAG); } } - } } btDiscreteDynamicsWorld::updateActivationState(timeStep); } - -SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) +void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const { - int islandId; - - const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); - const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); - islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag(); - return islandId; - + islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData; } - -class btSortConstraintOnIslandPredicate2 +btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) + : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration), + m_multiBodyConstraintSolver(constraintSolver) { - public: - - bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) const - { - int rIslandId0,lIslandId0; - rIslandId0 = btGetConstraintIslandId2(rhs); - lIslandId0 = btGetConstraintIslandId2(lhs); - return lIslandId0 < rIslandId0; - } -}; - - + //split impulse is not yet supported for Featherstone hierarchies + // getSolverInfo().m_splitImpulse = false; + getSolverInfo().m_solverMode |= SOLVER_USE_2_FRICTION_DIRECTIONS; + m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver, dispatcher); +} -SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) +btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld() { - int islandId; - - int islandTagA = lhs->getIslandIdA(); - int islandTagB = lhs->getIslandIdB(); - islandId= islandTagA>=0?islandTagA:islandTagB; - return islandId; - + delete m_solverMultiBodyIslandCallback; } - -class btSortMultiBodyConstraintOnIslandPredicate +void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) { - public: - - bool operator() ( const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs ) const - { - int rIslandId0,lIslandId0; - rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); - lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); - return lIslandId0 < rIslandId0; - } -}; + m_multiBodyConstraintSolver = solver; + m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver); + btDiscreteDynamicsWorld::setConstraintSolver(solver); +} -struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback +void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) { - btContactSolverInfo* m_solverInfo; - btMultiBodyConstraintSolver* m_solver; - btMultiBodyConstraint** m_multiBodySortedConstraints; - int m_numMultiBodyConstraints; - - btTypedConstraint** m_sortedConstraints; - int m_numConstraints; - btIDebugDraw* m_debugDrawer; - btDispatcher* m_dispatcher; - - btAlignedObjectArray<btCollisionObject*> m_bodies; - btAlignedObjectArray<btPersistentManifold*> m_manifolds; - btAlignedObjectArray<btTypedConstraint*> m_constraints; - btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints; - - - MultiBodyInplaceSolverIslandCallback( btMultiBodyConstraintSolver* solver, - btDispatcher* dispatcher) - :m_solverInfo(NULL), - m_solver(solver), - m_multiBodySortedConstraints(NULL), - m_numConstraints(0), - m_debugDrawer(NULL), - m_dispatcher(dispatcher) + if (solver->getSolverType() == BT_MULTIBODY_SOLVER) { - - } - - MultiBodyInplaceSolverIslandCallback& operator=(MultiBodyInplaceSolverIslandCallback& other) - { - btAssert(0); - (void)other; - return *this; - } - - SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) - { - btAssert(solverInfo); - m_solverInfo = solverInfo; - - m_multiBodySortedConstraints = sortedMultiBodyConstraints; - m_numMultiBodyConstraints = numMultiBodyConstraints; - m_sortedConstraints = sortedConstraints; - m_numConstraints = numConstraints; - - m_debugDrawer = debugDrawer; - m_bodies.resize (0); - m_manifolds.resize (0); - m_constraints.resize (0); - m_multiBodyConstraints.resize(0); + m_multiBodyConstraintSolver = (btMultiBodyConstraintSolver*)solver; } - - - virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) - { - if (islandId<0) - { - ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id - m_solver->solveMultiBodyGroup( bodies,numBodies,manifolds, numManifolds,m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); - } else - { - //also add all non-contact constraints/joints for this island - btTypedConstraint** startConstraint = 0; - btMultiBodyConstraint** startMultiBodyConstraint = 0; - - int numCurConstraints = 0; - int numCurMultiBodyConstraints = 0; - - int i; - - //find the first constraint for this island - - for (i=0;i<m_numConstraints;i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - startConstraint = &m_sortedConstraints[i]; - break; - } - } - //count the number of constraints in this island - for (;i<m_numConstraints;i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - numCurConstraints++; - } - } - - for (i=0;i<m_numMultiBodyConstraints;i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - - startMultiBodyConstraint = &m_multiBodySortedConstraints[i]; - break; - } - } - //count the number of multi body constraints in this island - for (;i<m_numMultiBodyConstraints;i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - numCurMultiBodyConstraints++; - } - } - - if (m_solverInfo->m_minimumSolverBatchSize<=1) - { - m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); - } else - { - - for (i=0;i<numBodies;i++) - m_bodies.push_back(bodies[i]); - for (i=0;i<numManifolds;i++) - m_manifolds.push_back(manifolds[i]); - for (i=0;i<numCurConstraints;i++) - m_constraints.push_back(startConstraint[i]); - - for (i=0;i<numCurMultiBodyConstraints;i++) - m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); - - if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize) - { - processConstraints(); - } else - { - //printf("deferred\n"); - } - } - } - } - void processConstraints() - { - - btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0; - btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0; - btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0; - btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; - - //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); - - m_solver->solveMultiBodyGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo,m_debugDrawer,m_dispatcher); - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - m_multiBodyConstraints.resize(0); - } - -}; - - - -btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration) - :btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration), - m_multiBodyConstraintSolver(constraintSolver) -{ - //split impulse is not yet supported for Featherstone hierarchies - getSolverInfo().m_splitImpulse = false; - getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS; - m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver,dispatcher); -} - -btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld () -{ - delete m_solverMultiBodyIslandCallback; + btDiscreteDynamicsWorld::setConstraintSolver(solver); } -void btMultiBodyDynamicsWorld::forwardKinematics() +void btMultiBodyDynamicsWorld::forwardKinematics() { - btAlignedObjectArray<btQuaternion> world_to_local; - btAlignedObjectArray<btVector3> local_origin; - - for (int b=0;b<m_multiBodies.size();b++) + for (int b = 0; b < m_multiBodies.size(); b++) { btMultiBody* bod = m_multiBodies[b]; - bod->forwardKinematics(world_to_local,local_origin); + bod->forwardKinematics(m_scratch_world_to_local, m_scratch_local_origin); } } -void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) +void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { - forwardKinematics(); - - btAlignedObjectArray<btScalar> scratch_r; - btAlignedObjectArray<btVector3> scratch_v; - btAlignedObjectArray<btMatrix3x3> scratch_m; - - - BT_PROFILE("solveConstraints"); - - m_sortedConstraints.resize( m_constraints.size()); - int i; - for (i=0;i<getNumConstraints();i++) - { - m_sortedConstraints[i] = m_constraints[i]; - } - m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); - btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; - - m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); - for (i=0;i<m_multiBodyConstraints.size();i++) - { - m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; - } - m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + solveExternalForces(solverInfo); + buildIslands(); + solveInternalConstraints(solverInfo); +} - btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; - +void btMultiBodyDynamicsWorld::buildIslands() +{ + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); +} - m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer()); - m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); - +void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo) +{ /// solve all the constraints for this island - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback); + m_solverMultiBodyIslandCallback->processConstraints(); + m_constraintSolver->allSolved(solverInfo, m_debugDrawer); + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + if (bod->internalNeedsJointFeedback()) + { + if (!bod->isUsingRK4Integration()) + { + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + } + } + } + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->processDeltaVeeMultiDof2(); + } +} +void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo) +{ + forwardKinematics(); + + BT_PROFILE("solveConstraints"); + + clearMultiBodyConstraintForces(); + + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) + { + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + + m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - { - BT_PROFILE("btMultiBody addForce"); - for (int i=0;i<this->m_multiBodies.size();i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b=0;b<bod->getNumLinks();b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - scratch_r.resize(bod->getNumLinks()+1); //multidof? ("Y"s use it and it is used to store qdd) - scratch_v.resize(bod->getNumLinks()+1); - scratch_m.resize(bod->getNumLinks()+1); - - bod->addBaseForce(m_gravity * bod->getBaseMass()); - - for (int j = 0; j < bod->getNumLinks(); ++j) - { - bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); - } - }//if (!isSleeping) - } - } -#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i=0;i<this->m_multiBodies.size();i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b=0;b<bod->getNumLinks();b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - scratch_r.resize(bod->getNumLinks()+1); //multidof? ("Y"s use it and it is used to store qdd) - scratch_v.resize(bod->getNumLinks()+1); - scratch_m.resize(bod->getNumLinks()+1); - bool doNotUpdatePos = false; - - { - if(!bod->isUsingRK4Integration()) - { - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m); - } - else - { - // - int numDofs = bod->getNumDofs() + 6; - int numPosVars = bod->getNumPosVars() + 7; - btAlignedObjectArray<btScalar> scratch_r2; scratch_r2.resize(2*numPosVars + 8*numDofs); - //convenience - btScalar *pMem = &scratch_r2[0]; - btScalar *scratch_q0 = pMem; pMem += numPosVars; - btScalar *scratch_qx = pMem; pMem += numPosVars; - btScalar *scratch_qd0 = pMem; pMem += numDofs; - btScalar *scratch_qd1 = pMem; pMem += numDofs; - btScalar *scratch_qd2 = pMem; pMem += numDofs; - btScalar *scratch_qd3 = pMem; pMem += numDofs; - btScalar *scratch_qdd0 = pMem; pMem += numDofs; - btScalar *scratch_qdd1 = pMem; pMem += numDofs; - btScalar *scratch_qdd2 = pMem; pMem += numDofs; - btScalar *scratch_qdd3 = pMem; pMem += numDofs; - btAssert((pMem - (2*numPosVars + 8*numDofs)) == &scratch_r2[0]); - - ///// - //copy q0 to scratch_q0 and qd0 to scratch_qd0 - scratch_q0[0] = bod->getWorldToBaseRot().x(); - scratch_q0[1] = bod->getWorldToBaseRot().y(); - scratch_q0[2] = bod->getWorldToBaseRot().z(); - scratch_q0[3] = bod->getWorldToBaseRot().w(); - scratch_q0[4] = bod->getBasePos().x(); - scratch_q0[5] = bod->getBasePos().y(); - scratch_q0[6] = bod->getBasePos().z(); - // - for(int link = 0; link < bod->getNumLinks(); ++link) - { - for(int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) - scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; - } - // - for(int dof = 0; dof < numDofs; ++dof) - scratch_qd0[dof] = bod->getVelocityVector()[dof]; - //// - struct - { - btMultiBody *bod; + { + BT_PROFILE("btMultiBody addForce"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + bod->addBaseForce(m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); + } + } //if (!isSleeping) + } + } +#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool doNotUpdatePos = false; + bool isConstraintPass = false; + { + if (!bod->isUsingRK4Integration()) + { + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + else + { + // + int numDofs = bod->getNumDofs() + 6; + int numPosVars = bod->getNumPosVars() + 7; + btAlignedObjectArray<btScalar> scratch_r2; + scratch_r2.resize(2 * numPosVars + 8 * numDofs); + //convenience + btScalar* pMem = &scratch_r2[0]; + btScalar* scratch_q0 = pMem; + pMem += numPosVars; + btScalar* scratch_qx = pMem; + pMem += numPosVars; + btScalar* scratch_qd0 = pMem; + pMem += numDofs; + btScalar* scratch_qd1 = pMem; + pMem += numDofs; + btScalar* scratch_qd2 = pMem; + pMem += numDofs; + btScalar* scratch_qd3 = pMem; + pMem += numDofs; + btScalar* scratch_qdd0 = pMem; + pMem += numDofs; + btScalar* scratch_qdd1 = pMem; + pMem += numDofs; + btScalar* scratch_qdd2 = pMem; + pMem += numDofs; + btScalar* scratch_qdd3 = pMem; + pMem += numDofs; + btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); + + ///// + //copy q0 to scratch_q0 and qd0 to scratch_qd0 + scratch_q0[0] = bod->getWorldToBaseRot().x(); + scratch_q0[1] = bod->getWorldToBaseRot().y(); + scratch_q0[2] = bod->getWorldToBaseRot().z(); + scratch_q0[3] = bod->getWorldToBaseRot().w(); + scratch_q0[4] = bod->getBasePos().x(); + scratch_q0[5] = bod->getBasePos().y(); + scratch_q0[6] = bod->getBasePos().z(); + // + for (int link = 0; link < bod->getNumLinks(); ++link) + { + for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) + scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; + } + // + for (int dof = 0; dof < numDofs; ++dof) + scratch_qd0[dof] = bod->getVelocityVector()[dof]; + //// + struct + { + btMultiBody* bod; btScalar *scratch_qx, *scratch_q0; - - void operator()() - { - for(int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) + + void operator()() + { + for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) scratch_qx[dof] = scratch_q0[dof]; - } - } pResetQx = {bod, scratch_qx, scratch_q0}; - // - struct - { - void operator()(btScalar dt, const btScalar *pDer, const btScalar *pCurVal, btScalar *pVal, int size) - { - for(int i = 0; i < size; ++i) + } + } pResetQx = {bod, scratch_qx, scratch_q0}; + // + struct + { + void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) + { + for (int i = 0; i < size; ++i) pVal[i] = pCurVal[i] + dt * pDer[i]; - } - - } pEulerIntegrate; - // - struct + } + + } pEulerIntegrate; + // + struct { - void operator()(btMultiBody *pBody, const btScalar *pData) + void operator()(btMultiBody* pBody, const btScalar* pData) { - btScalar *pVel = const_cast<btScalar*>(pBody->getVelocityVector()); - - for(int i = 0; i < pBody->getNumDofs() + 6; ++i) + btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector()); + + for (int i = 0; i < pBody->getNumDofs() + 6; ++i) pVel[i] = pData[i]; - } } pCopyToVelocityVector; - // + // struct - { - void operator()(const btScalar *pSrc, btScalar *pDst, int start, int size) - { - for(int i = 0; i < size; ++i) + { + void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) + { + for (int i = 0; i < size; ++i) pDst[i] = pSrc[start + i]; - } - } pCopy; - // - - btScalar h = solverInfo.m_timeStep; - #define output &scratch_r[bod->getNumDofs()] - //calc qdd0 from: q0 & qd0 - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m); - pCopy(output, scratch_qdd0, 0, numDofs); - //calc q1 = q0 + h/2 * qd0 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5)*h, scratch_qx, scratch_qd0); - //calc qd1 = qd0 + h/2 * qdd0 - pEulerIntegrate(btScalar(.5)*h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); - // - //calc qdd1 from: q1 & qd1 - pCopyToVelocityVector(bod, scratch_qd1); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m); - pCopy(output, scratch_qdd1, 0, numDofs); - //calc q2 = q0 + h/2 * qd1 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5)*h, scratch_qx, scratch_qd1); - //calc qd2 = qd0 + h/2 * qdd1 - pEulerIntegrate(btScalar(.5)*h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); - // - //calc qdd2 from: q2 & qd2 - pCopyToVelocityVector(bod, scratch_qd2); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m); - pCopy(output, scratch_qdd2, 0, numDofs); - //calc q3 = q0 + h * qd2 - pResetQx(); - bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); - //calc qd3 = qd0 + h * qdd2 - pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); - // - //calc qdd3 from: q3 & qd3 - pCopyToVelocityVector(bod, scratch_qd3); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m); - pCopy(output, scratch_qdd3, 0, numDofs); - - // - //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) - //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) - btAlignedObjectArray<btScalar> delta_q; delta_q.resize(numDofs); - btAlignedObjectArray<btScalar> delta_qd; delta_qd.resize(numDofs); - for(int i = 0; i < numDofs; ++i) - { - delta_q[i] = h/btScalar(6.)*(scratch_qd0[i] + 2*scratch_qd1[i] + 2*scratch_qd2[i] + scratch_qd3[i]); - delta_qd[i] = h/btScalar(6.)*(scratch_qdd0[i] + 2*scratch_qdd1[i] + 2*scratch_qdd2[i] + scratch_qdd3[i]); - //delta_q[i] = h*scratch_qd0[i]; - //delta_qd[i] = h*scratch_qdd0[i]; - } - // - pCopyToVelocityVector(bod, scratch_qd0); - bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); - // - if(!doNotUpdatePos) - { - btScalar *pRealBuf = const_cast<btScalar *>(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs()*bod->getNumDofs(); - - for(int i = 0; i < numDofs; ++i) - pRealBuf[i] = delta_q[i]; - - //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); - bod->setPosUpdated(true); - } - - //ugly hack which resets the cached data to t0 (needed for constraint solver) - { - for(int link = 0; link < bod->getNumLinks(); ++link) - bod->getLink(link).updateCacheMultiDof(); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, scratch_r, scratch_v, scratch_m); - } - - } - } - -#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - bod->clearForcesAndTorques(); -#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - }//if (!isSleeping) - } - } - - clearMultiBodyConstraintForces(); - - m_solverMultiBodyIslandCallback->processConstraints(); - - m_constraintSolver->allSolved(solverInfo, m_debugDrawer); - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i=0;i<this->m_multiBodies.size();i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + } + } pCopy; + // + + btScalar h = solverInfo.m_timeStep; +#define output &m_scratch_r[bod->getNumDofs()] + //calc qdd0 from: q0 & qd0 + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd0, 0, numDofs); + //calc q1 = q0 + h/2 * qd0 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); + //calc qd1 = qd0 + h/2 * qdd0 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); + // + //calc qdd1 from: q1 & qd1 + pCopyToVelocityVector(bod, scratch_qd1); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd1, 0, numDofs); + //calc q2 = q0 + h/2 * qd1 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); + //calc qd2 = qd0 + h/2 * qdd1 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); + // + //calc qdd2 from: q2 & qd2 + pCopyToVelocityVector(bod, scratch_qd2); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd2, 0, numDofs); + //calc q3 = q0 + h * qd2 + pResetQx(); + bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); + //calc qd3 = qd0 + h * qdd2 + pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); + // + //calc qdd3 from: q3 & qd3 + pCopyToVelocityVector(bod, scratch_qd3); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd3, 0, numDofs); + + // + //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) + //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) + btAlignedObjectArray<btScalar> delta_q; + delta_q.resize(numDofs); + btAlignedObjectArray<btScalar> delta_qd; + delta_qd.resize(numDofs); + for (int i = 0; i < numDofs; ++i) { - isSleeping = true; + delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); + delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); + //delta_q[i] = h*scratch_qd0[i]; + //delta_qd[i] = h*scratch_qdd0[i]; } - for (int b=0;b<bod->getNumLinks();b++) + // + pCopyToVelocityVector(bod, scratch_qd0); + bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); + // + if (!doNotUpdatePos) { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING) - isSleeping = true; + btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + + for (int i = 0; i < numDofs; ++i) + pRealBuf[i] = delta_q[i]; + + //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); + bod->setPosUpdated(true); } - - if (!isSleeping) + + //ugly hack which resets the cached data to t0 (needed for constraint solver) { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - scratch_r.resize(bod->getNumLinks()+1); //multidof? ("Y"s use it and it is used to store qdd) - scratch_v.resize(bod->getNumLinks()+1); - scratch_m.resize(bod->getNumLinks()+1); - - - { - if(!bod->isUsingRK4Integration()) - { - bool isConstraintPass = true; - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m, isConstraintPass); - } - } - } - } - } - - for (int i=0;i<this->m_multiBodies.size();i++) - { - btMultiBody* bod = m_multiBodies[i]; - bod->processDeltaVeeMultiDof2(); - } - + for (int link = 0; link < bod->getNumLinks(); ++link) + bod->getLink(link).updateCacheMultiDof(); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + +#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + bod->clearForcesAndTorques(); +#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + } //if (!isSleeping) + } + } } -void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) + +void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { btDiscreteDynamicsWorld::integrateTransforms(timeStep); + integrateMultiBodyTransforms(timeStep); +} - { +void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep) +{ BT_PROFILE("btMultiBody stepPositions"); //integrate and update the Featherstone hierarchies - btAlignedObjectArray<btQuaternion> world_to_local; - btAlignedObjectArray<btVector3> local_origin; - for (int b=0;b<m_multiBodies.size();b++) + for (int b = 0; b < m_multiBodies.size(); b++) { btMultiBody* bod = m_multiBodies[b]; bool isSleeping = false; if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) { isSleeping = true; - } - for (int b=0;b<bod->getNumLinks();b++) + } + for (int b = 0; b < bod->getNumLinks(); b++) { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING) + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) isSleeping = true; } - if (!isSleeping) { + bod->addSplitV(); int nLinks = bod->getNumLinks(); ///base + num m_links - - - { - if(!bod->isPosUpdated()) - bod->stepPositionsMultiDof(timeStep); - else - { - btScalar *pRealBuf = const_cast<btScalar *>(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs()*bod->getNumDofs(); + if (!bod->isPosUpdated()) + bod->stepPositionsMultiDof(timeStep); + else + { + btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + + bod->stepPositionsMultiDof(1, 0, pRealBuf); + bod->setPosUpdated(false); + } - bod->stepPositionsMultiDof(1, 0, pRealBuf); - bod->setPosUpdated(false); - } - } - - world_to_local.resize(nLinks+1); - local_origin.resize(nLinks+1); - bod->updateCollisionObjectWorldTransforms(world_to_local,local_origin); - - } else + m_scratch_world_to_local.resize(nLinks + 1); + m_scratch_local_origin.resize(nLinks + 1); + bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + bod->substractSplitV(); + } + else { bod->clearVelocities(); } } - } } +void btMultiBodyDynamicsWorld::predictMultiBodyTransforms(btScalar timeStep) +{ + BT_PROFILE("btMultiBody stepPositions"); + //integrate and update the Featherstone hierarchies + + for (int b = 0; b < m_multiBodies.size(); b++) + { + btMultiBody* bod = m_multiBodies[b]; + bool isSleeping = false; + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + int nLinks = bod->getNumLinks(); + bod->predictPositionsMultiDof(timeStep); + m_scratch_world_to_local.resize(nLinks + 1); + m_scratch_local_origin.resize(nLinks + 1); + bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + } + else + { + bod->clearVelocities(); + } + } +} - -void btMultiBodyDynamicsWorld::addMultiBodyConstraint( btMultiBodyConstraint* constraint) +void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint) { m_multiBodyConstraints.push_back(constraint); } -void btMultiBodyDynamicsWorld::removeMultiBodyConstraint( btMultiBodyConstraint* constraint) +void btMultiBodyDynamicsWorld::removeMultiBodyConstraint(btMultiBodyConstraint* constraint) { m_multiBodyConstraints.remove(constraint); } @@ -800,16 +669,17 @@ void btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint(btMultiBodyConstrain constraint->debugDraw(getDebugDrawer()); } - -void btMultiBodyDynamicsWorld::debugDrawWorld() +void btMultiBodyDynamicsWorld::debugDrawWorld() { BT_PROFILE("btMultiBodyDynamicsWorld debugDrawWorld"); + btDiscreteDynamicsWorld::debugDrawWorld(); + bool drawConstraints = false; if (getDebugDrawer()) { int mode = getDebugDrawer()->getDebugMode(); - if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits)) + if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits)) { drawConstraints = true; } @@ -817,159 +687,148 @@ void btMultiBodyDynamicsWorld::debugDrawWorld() if (drawConstraints) { BT_PROFILE("btMultiBody debugDrawWorld"); - - btAlignedObjectArray<btQuaternion> world_to_local1; - btAlignedObjectArray<btVector3> local_origin1; - for (int c=0;c<m_multiBodyConstraints.size();c++) + for (int c = 0; c < m_multiBodyConstraints.size(); c++) { btMultiBodyConstraint* constraint = m_multiBodyConstraints[c]; debugDrawMultiBodyConstraint(constraint); } - for (int b = 0; b<m_multiBodies.size(); b++) + for (int b = 0; b < m_multiBodies.size(); b++) { btMultiBody* bod = m_multiBodies[b]; - bod->forwardKinematics(world_to_local1,local_origin1); - - getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1); + bod->forwardKinematics(m_scratch_world_to_local1, m_scratch_local_origin1); + if (mode & btIDebugDraw::DBG_DrawFrames) + { + getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1); + } - for (int m = 0; m<bod->getNumLinks(); m++) + for (int m = 0; m < bod->getNumLinks(); m++) { - const btTransform& tr = bod->getLink(m).m_cachedWorldTransform; - - getDebugDrawer()->drawTransform(tr, 0.1); - - //draw the joint axis - if (bod->getLink(m).m_jointType==btMultibodyLink::eRevolute) + if (mode & btIDebugDraw::DBG_DrawFrames) { - btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec); - - btVector4 color(0,0,0,1);//1,1,1); - btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); - btVector3 to = tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); - getDebugDrawer()->drawLine(from,to,color); + getDebugDrawer()->drawTransform(tr, 0.1); } - if (bod->getLink(m).m_jointType==btMultibodyLink::eFixed) + //draw the joint axis + if (bod->getLink(m).m_jointType == btMultibodyLink::eRevolute) { - btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec); - - btVector4 color(0,0,0,1);//1,1,1); - btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); - btVector3 to = tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); - getDebugDrawer()->drawLine(from,to,color); + btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_topVec) * 0.1; + + btVector4 color(0, 0, 0, 1); //1,1,1); + btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector); + btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector); + getDebugDrawer()->drawLine(from, to, color); } - if (bod->getLink(m).m_jointType==btMultibodyLink::ePrismatic) + if (bod->getLink(m).m_jointType == btMultibodyLink::eFixed) { - btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec); - - btVector4 color(0,0,0,1);//1,1,1); - btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); - btVector3 to = tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); - getDebugDrawer()->drawLine(from,to,color); + btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_bottomVec) * 0.1; + + btVector4 color(0, 0, 0, 1); //1,1,1); + btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector); + btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector); + getDebugDrawer()->drawLine(from, to, color); + } + if (bod->getLink(m).m_jointType == btMultibodyLink::ePrismatic) + { + btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_bottomVec) * 0.1; + + btVector4 color(0, 0, 0, 1); //1,1,1); + btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector); + btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector); + getDebugDrawer()->drawLine(from, to, color); } - } } } } - - btDiscreteDynamicsWorld::debugDrawWorld(); } - - void btMultiBodyDynamicsWorld::applyGravity() { - btDiscreteDynamicsWorld::applyGravity(); + btDiscreteDynamicsWorld::applyGravity(); #ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - BT_PROFILE("btMultiBody addGravity"); - for (int i=0;i<this->m_multiBodies.size();i++) - { - btMultiBody* bod = m_multiBodies[i]; + BT_PROFILE("btMultiBody addGravity"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; - bool isSleeping = false; + bool isSleeping = false; - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b=0;b<bod->getNumLinks();b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING) - isSleeping = true; - } + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } - if (!isSleeping) - { - bod->addBaseForce(m_gravity * bod->getBaseMass()); + if (!isSleeping) + { + bod->addBaseForce(m_gravity * bod->getBaseMass()); - for (int j = 0; j < bod->getNumLinks(); ++j) - { - bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); - } - }//if (!isSleeping) - } -#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); + } + } //if (!isSleeping) + } +#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY } void btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces() -{ - for (int i=0;i<this->m_multiBodies.size();i++) - { - btMultiBody* bod = m_multiBodies[i]; - bod->clearConstraintForces(); - } +{ + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->clearConstraintForces(); + } } void btMultiBodyDynamicsWorld::clearMultiBodyForces() { - { - BT_PROFILE("clearMultiBodyForces"); - for (int i=0;i<this->m_multiBodies.size();i++) - { - btMultiBody* bod = m_multiBodies[i]; + { + // BT_PROFILE("clearMultiBodyForces"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; - bool isSleeping = false; + bool isSleeping = false; - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b=0;b<bod->getNumLinks();b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING) - isSleeping = true; - } + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } - if (!isSleeping) - { - btMultiBody* bod = m_multiBodies[i]; - bod->clearForcesAndTorques(); - } + if (!isSleeping) + { + btMultiBody* bod = m_multiBodies[i]; + bod->clearForcesAndTorques(); + } } } - } void btMultiBodyDynamicsWorld::clearForces() { - btDiscreteDynamicsWorld::clearForces(); + btDiscreteDynamicsWorld::clearForces(); #ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY clearMultiBodyForces(); #endif } - - - -void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer) +void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer) { - serializer->startSerialization(); - serializeDynamicsWorldInfo( serializer); + serializeDynamicsWorldInfo(serializer); serializeMultiBodies(serializer); @@ -977,22 +836,41 @@ void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer) serializeCollisionObjects(serializer); + serializeContactManifolds(serializer); + serializer->finishSerialization(); } -void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer) +void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer) { int i; //serialize all collision objects - for (i=0;i<m_multiBodies.size();i++) + for (i = 0; i < m_multiBodies.size(); i++) { btMultiBody* mb = m_multiBodies[i]; { int len = mb->calculateSerializeBufferSize(); - btChunk* chunk = serializer->allocate(len,1); + btChunk* chunk = serializer->allocate(len, 1); const char* structType = mb->serialize(chunk->m_oldPtr, serializer); - serializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb); + serializer->finalizeChunk(chunk, structType, BT_MULTIBODY_CODE, mb); } } -}
\ No newline at end of file + //serialize all multibody links (collision objects) + for (i = 0; i < m_collisionObjects.size(); i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + if (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + int len = colObj->calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len, 1); + const char* structType = colObj->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk, structType, BT_MB_LINKCOLLIDER_CODE, colObj); + } + } +} +// +//void btMultiBodyDynamicsWorld::setSplitIslands(bool split) +//{ +// m_islandManager->setSplitIslands(split); +//} |