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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+///This file was written by Erwin Coumans
+
+#include "btMultiBodySliderConstraint.h"
+#include "btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
+#include "LinearMath/btIDebugDraw.h"
+
+#define BTMBSLIDERCONSTRAINT_DIM 5
+#define EPSILON 0.000001
+
+btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)
+ : btMultiBodyConstraint(body, 0, link, -1, BTMBSLIDERCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_SLIDER),
+ m_rigidBodyA(0),
+ m_rigidBodyB(bodyB),
+ m_pivotInA(pivotInA),
+ m_pivotInB(pivotInB),
+ m_frameInA(frameInA),
+ m_frameInB(frameInB),
+ m_jointAxis(jointAxis)
+{
+ m_data.resize(BTMBSLIDERCONSTRAINT_DIM); //at least store the applied impulses
+}
+
+btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)
+ : btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBSLIDERCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_SLIDER),
+ m_rigidBodyA(0),
+ m_rigidBodyB(0),
+ m_pivotInA(pivotInA),
+ m_pivotInB(pivotInB),
+ m_frameInA(frameInA),
+ m_frameInB(frameInB),
+ m_jointAxis(jointAxis)
+{
+ m_data.resize(BTMBSLIDERCONSTRAINT_DIM); //at least store the applied impulses
+}
+
+void btMultiBodySliderConstraint::finalizeMultiDof()
+{
+ //not implemented yet
+ btAssert(0);
+}
+
+btMultiBodySliderConstraint::~btMultiBodySliderConstraint()
+{
+}
+
+int btMultiBodySliderConstraint::getIslandIdA() const
+{
+ if (m_rigidBodyA)
+ return m_rigidBodyA->getIslandTag();
+
+ if (m_bodyA)
+ {
+ if (m_linkA < 0)
+ {
+ 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 btMultiBodySliderConstraint::getIslandIdB() const
+{
+ if (m_rigidBodyB)
+ return m_rigidBodyB->getIslandTag();
+ if (m_bodyB)
+ {
+ if (m_linkB < 0)
+ {
+ 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 btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
+{
+ // Convert local points back to world
+ btVector3 pivotAworld = m_pivotInA;
+ btMatrix3x3 frameAworld = m_frameInA;
+ btVector3 jointAxis = m_jointAxis;
+ if (m_rigidBodyA)
+ {
+ pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
+ frameAworld = m_frameInA.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation());
+ jointAxis = quatRotate(m_rigidBodyA->getOrientation(), m_jointAxis);
+ }
+ else if (m_bodyA)
+ {
+ pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
+ frameAworld = m_bodyA->localFrameToWorld(m_linkA, m_frameInA);
+ jointAxis = m_bodyA->localDirToWorld(m_linkA, m_jointAxis);
+ }
+ btVector3 pivotBworld = m_pivotInB;
+ btMatrix3x3 frameBworld = m_frameInB;
+ if (m_rigidBodyB)
+ {
+ pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
+ frameBworld = m_frameInB.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation());
+ }
+ else if (m_bodyB)
+ {
+ pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
+ frameBworld = m_bodyB->localFrameToWorld(m_linkB, m_frameInB);
+ }
+
+ btVector3 constraintAxis[2];
+ for (int i = 0; i < 3; ++i)
+ {
+ constraintAxis[0] = frameAworld.getColumn(i).cross(jointAxis);
+ if (constraintAxis[0].safeNorm() > EPSILON)
+ {
+ constraintAxis[0] = constraintAxis[0].normalized();
+ constraintAxis[1] = jointAxis.cross(constraintAxis[0]);
+ constraintAxis[1] = constraintAxis[1].normalized();
+ break;
+ }
+ }
+
+ btMatrix3x3 relRot = frameAworld.inverse() * frameBworld;
+ btVector3 angleDiff;
+ btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot, angleDiff);
+
+ int numDim = BTMBSLIDERCONSTRAINT_DIM;
+ for (int i = 0; i < numDim; i++)
+ {
+ btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
+ constraintRow.m_orgConstraint = this;
+ constraintRow.m_orgDofIndex = i;
+ constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
+ constraintRow.m_contactNormal1.setValue(0, 0, 0);
+ constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
+ constraintRow.m_contactNormal2.setValue(0, 0, 0);
+ constraintRow.m_angularComponentA.setValue(0, 0, 0);
+ constraintRow.m_angularComponentB.setValue(0, 0, 0);
+
+ constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
+ constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
+
+ if (m_rigidBodyA)
+ {
+ constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
+ }
+ if (m_rigidBodyB)
+ {
+ constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
+ }
+
+ btVector3 constraintNormalLin(0, 0, 0);
+ btVector3 constraintNormalAng(0, 0, 0);
+ btScalar posError = 0.0;
+ if (i < 2)
+ {
+ constraintNormalLin = constraintAxis[i];
+ posError = (pivotAworld - pivotBworld).dot(constraintNormalLin);
+ fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
+ constraintNormalLin, pivotAworld, pivotBworld,
+ posError,
+ infoGlobal,
+ -m_maxAppliedImpulse, m_maxAppliedImpulse);
+ }
+ else
+ { //i>=2
+ constraintNormalAng = frameAworld.getColumn(i % 3);
+ posError = angleDiff[i % 3];
+ fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
+ constraintNormalLin, pivotAworld, pivotBworld,
+ posError,
+ infoGlobal,
+ -m_maxAppliedImpulse, m_maxAppliedImpulse, true);
+ }
+ }
+}
+
+void btMultiBodySliderConstraint::debugDraw(class btIDebugDraw* drawer)
+{
+ btTransform tr;
+ tr.setIdentity();
+
+ if (m_rigidBodyA)
+ {
+ btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
+ tr.setOrigin(pivot);
+ drawer->drawTransform(tr, 0.1);
+ }
+ if (m_bodyA)
+ {
+ btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
+ tr.setOrigin(pivotAworld);
+ drawer->drawTransform(tr, 0.1);
+ }
+ if (m_rigidBodyB)
+ {
+ // that ideally should draw the same frame
+ btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
+ tr.setOrigin(pivot);
+ drawer->drawTransform(tr, 0.1);
+ }
+ if (m_bodyB)
+ {
+ btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
+ tr.setOrigin(pivotBworld);
+ drawer->drawTransform(tr, 0.1);
+ }
+}
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