diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp | 114 |
1 files changed, 70 insertions, 44 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index 062d19accaa..fec9b03213a 100644 --- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -20,17 +20,18 @@ subject to the following restrictions: #include "btMultiBodyLinkCollider.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" - btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse) - :btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true), - m_desiredVelocity(desiredVelocity) + : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true, MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR), + m_desiredVelocity(desiredVelocity), + m_desiredPosition(0), + m_kd(1.), + m_kp(0), + m_erp(1), + m_rhsClamp(SIMD_INFINITY) { - m_maxAppliedImpulse = maxMotorImpulse; // the data.m_jacobians never change, so may as well - // initialize them here - - + // initialize them here } void btMultiBodyJointMotor::finalizeMultiDof() @@ -50,13 +51,17 @@ void btMultiBodyJointMotor::finalizeMultiDof() btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse) //:btMultiBodyConstraint(body,0,link,-1,1,true), - :btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true), - m_desiredVelocity(desiredVelocity) + : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true, MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR), + m_desiredVelocity(desiredVelocity), + m_desiredPosition(0), + m_kd(1.), + m_kp(0), + m_erp(1), + m_rhsClamp(SIMD_INFINITY) { btAssert(linkDoF < body->getLink(link).m_dofCount); m_maxAppliedImpulse = maxMotorImpulse; - } btMultiBodyJointMotor::~btMultiBodyJointMotor() { @@ -64,83 +69,108 @@ btMultiBodyJointMotor::~btMultiBodyJointMotor() int btMultiBodyJointMotor::getIslandIdA() const { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (this->m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + { + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); + } } return -1; } int btMultiBodyJointMotor::getIslandIdB() const { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + { + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } + } return -1; } - void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows, - btMultiBodyJacobianData& data, - const btContactSolverInfo& infoGlobal) + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal) { - // only positions need to be updated -- data.m_jacobians and force - // directions were set in the ctor and never change. - + // only positions need to be updated -- data.m_jacobians and force + // directions were set in the ctor and never change. + if (m_numDofsFinalized != m_jacSizeBoth) { - finalizeMultiDof(); + finalizeMultiDof(); } //don't crash if (m_numDofsFinalized != m_jacSizeBoth) return; + if (m_maxAppliedImpulse == 0.f) + return; + const btScalar posError = 0; const btVector3 dummy(0, 0, 0); - for (int row=0;row<getNumRows();row++) + for (int row = 0; row < getNumRows(); row++) { btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing(); + int dof = 0; + btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof]; + btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; + btScalar positionStabiliationTerm = m_erp * (m_desiredPosition - currentPosition) / infoGlobal.m_timeStep; - fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,m_desiredVelocity); + btScalar velocityError = (m_desiredVelocity - currentVelocity); + btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity + m_kd * velocityError; + if (rhs > m_rhsClamp) + { + rhs = m_rhsClamp; + } + if (rhs < -m_rhsClamp) + { + rhs = -m_rhsClamp; + } + + fillMultiBodyConstraint(constraintRow, data, jacobianA(row), jacobianB(row), dummy, dummy, dummy, dummy, posError, infoGlobal, -m_maxAppliedImpulse, m_maxAppliedImpulse, false, 1, false, rhs); constraintRow.m_orgConstraint = this; constraintRow.m_orgDofIndex = row; { //expect either prismatic or revolute joint type for now - btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic)); + btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute) || (m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic)); switch (m_bodyA->getLink(m_linkA).m_jointType) { case btMultibodyLink::eRevolute: { constraintRow.m_contactNormal1.setZero(); constraintRow.m_contactNormal2.setZero(); - btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec); - constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld; - constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld; - + btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_topVec); + constraintRow.m_relpos1CrossNormal = revoluteAxisInWorld; + constraintRow.m_relpos2CrossNormal = -revoluteAxisInWorld; + break; } case btMultibodyLink::ePrismatic: { - btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec); - constraintRow.m_contactNormal1=prismaticAxisInWorld; - constraintRow.m_contactNormal2=-prismaticAxisInWorld; + btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec); + constraintRow.m_contactNormal1 = prismaticAxisInWorld; + constraintRow.m_contactNormal2 = -prismaticAxisInWorld; constraintRow.m_relpos1CrossNormal.setZero(); constraintRow.m_relpos2CrossNormal.setZero(); - + break; } default: @@ -148,10 +178,6 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con btAssert(0); } }; - } - } - } - |