1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 ///This file was written by Erwin Coumans
17
18 #include "btMultiBodyPoint2Point.h"
19 #include "btMultiBodyLinkCollider.h"
20 #include "BulletDynamics/Dynamics/btRigidBody.h"
21 #include "LinearMath/btIDebugDraw.h"
22
23 #ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
24 #define BTMBP2PCONSTRAINT_DIM 3
25 #else
26 #define BTMBP2PCONSTRAINT_DIM 6
27 #endif
28
btMultiBodyPoint2Point(btMultiBody * body,int link,btRigidBody * bodyB,const btVector3 & pivotInA,const btVector3 & pivotInB)29 btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
30 :btMultiBodyConstraint(body,0,link,-1,BTMBP2PCONSTRAINT_DIM,false),
31 m_rigidBodyA(0),
32 m_rigidBodyB(bodyB),
33 m_pivotInA(pivotInA),
34 m_pivotInB(pivotInB)
35 {
36 m_data.resize(BTMBP2PCONSTRAINT_DIM);//at least store the applied impulses
37 }
38
btMultiBodyPoint2Point(btMultiBody * bodyA,int linkA,btMultiBody * bodyB,int linkB,const btVector3 & pivotInA,const btVector3 & pivotInB)39 btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)
40 :btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBP2PCONSTRAINT_DIM,false),
41 m_rigidBodyA(0),
42 m_rigidBodyB(0),
43 m_pivotInA(pivotInA),
44 m_pivotInB(pivotInB)
45 {
46 m_data.resize(BTMBP2PCONSTRAINT_DIM);//at least store the applied impulses
47 }
48
finalizeMultiDof()49 void btMultiBodyPoint2Point::finalizeMultiDof()
50 {
51 //not implemented yet
52 btAssert(0);
53 }
54
~btMultiBodyPoint2Point()55 btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
56 {
57 }
58
59
getIslandIdA() const60 int btMultiBodyPoint2Point::getIslandIdA() const
61 {
62 if (m_rigidBodyA)
63 return m_rigidBodyA->getIslandTag();
64
65 if (m_bodyA)
66 {
67 btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
68 if (col)
69 return col->getIslandTag();
70 for (int i=0;i<m_bodyA->getNumLinks();i++)
71 {
72 if (m_bodyA->getLink(i).m_collider)
73 return m_bodyA->getLink(i).m_collider->getIslandTag();
74 }
75 }
76 return -1;
77 }
78
getIslandIdB() const79 int btMultiBodyPoint2Point::getIslandIdB() const
80 {
81 if (m_rigidBodyB)
82 return m_rigidBodyB->getIslandTag();
83 if (m_bodyB)
84 {
85 btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
86 if (col)
87 return col->getIslandTag();
88
89 for (int i=0;i<m_bodyB->getNumLinks();i++)
90 {
91 col = m_bodyB->getLink(i).m_collider;
92 if (col)
93 return col->getIslandTag();
94 }
95 }
96 return -1;
97 }
98
99
100
createConstraintRows(btMultiBodyConstraintArray & constraintRows,btMultiBodyJacobianData & data,const btContactSolverInfo & infoGlobal)101 void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
102 btMultiBodyJacobianData& data,
103 const btContactSolverInfo& infoGlobal)
104 {
105
106 // int i=1;
107 int numDim = BTMBP2PCONSTRAINT_DIM;
108 for (int i=0;i<numDim;i++)
109 {
110
111 btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
112 //memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
113 constraintRow.m_orgConstraint = this;
114 constraintRow.m_orgDofIndex = i;
115 constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
116 constraintRow.m_contactNormal1.setValue(0,0,0);
117 constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
118 constraintRow.m_contactNormal2.setValue(0,0,0);
119 constraintRow.m_angularComponentA.setValue(0,0,0);
120 constraintRow.m_angularComponentB.setValue(0,0,0);
121
122 constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
123 constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
124
125 btVector3 contactNormalOnB(0,0,0);
126 #ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
127 contactNormalOnB[i] = -1;
128 #else
129 contactNormalOnB[i%3] = -1;
130 #endif
131
132
133 // Convert local points back to world
134 btVector3 pivotAworld = m_pivotInA;
135 if (m_rigidBodyA)
136 {
137
138 constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
139 pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
140 } else
141 {
142 if (m_bodyA)
143 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
144 }
145 btVector3 pivotBworld = m_pivotInB;
146 if (m_rigidBodyB)
147 {
148 constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
149 pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
150 } else
151 {
152 if (m_bodyB)
153 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
154
155 }
156
157 btScalar posError = i < 3 ? (pivotAworld-pivotBworld).dot(contactNormalOnB) : 0;
158
159 #ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
160
161
162 fillMultiBodyConstraint(constraintRow, data, 0, 0,
163 contactNormalOnB, pivotAworld, pivotBworld, //sucks but let it be this way "for the time being"
164 posError,
165 infoGlobal,
166 -m_maxAppliedImpulse, m_maxAppliedImpulse
167 );
168 //@todo: support the case of btMultiBody versus btRigidBody,
169 //see btPoint2PointConstraint::getInfo2NonVirtual
170 #else
171 const btVector3 dummy(0, 0, 0);
172
173 btAssert(m_bodyA->isMultiDof());
174
175 btScalar* jac1 = jacobianA(i);
176 const btVector3 &normalAng = i >= 3 ? contactNormalOnB : dummy;
177 const btVector3 &normalLin = i < 3 ? contactNormalOnB : dummy;
178
179 m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
180
181 fillMultiBodyConstraint(constraintRow, data, jac1, 0,
182 dummy, dummy, dummy, //sucks but let it be this way "for the time being"
183 posError,
184 infoGlobal,
185 -m_maxAppliedImpulse, m_maxAppliedImpulse
186 );
187 #endif
188 }
189 }
190
debugDraw(class btIDebugDraw * drawer)191 void btMultiBodyPoint2Point::debugDraw(class btIDebugDraw* drawer)
192 {
193 btTransform tr;
194 tr.setIdentity();
195
196 if (m_rigidBodyA)
197 {
198 btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
199 tr.setOrigin(pivot);
200 drawer->drawTransform(tr, 0.1);
201 }
202 if (m_bodyA)
203 {
204 btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
205 tr.setOrigin(pivotAworld);
206 drawer->drawTransform(tr, 0.1);
207 }
208 if (m_rigidBodyB)
209 {
210 // that ideally should draw the same frame
211 btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
212 tr.setOrigin(pivot);
213 drawer->drawTransform(tr, 0.1);
214 }
215 if (m_bodyB)
216 {
217 btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
218 tr.setOrigin(pivotBworld);
219 drawer->drawTransform(tr, 0.1);
220 }
221 }
222