Applied patch/contribution to improve btGeneric6DofConstraint. See also GenericJointDemo/Ragdoll.cpp
Thanks Francisco Leon/projectileman.
This commit is contained in:
ejcoumans
@@ -4,14 +4,21 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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2007-09-09
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btGeneric6DofConstraint Refactored by Francisco León
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email: projectileman@yahoo.com
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http://gimpact.sf.net
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*/
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#ifndef GENERIC_6DOF_CONSTRAINT_H
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#define GENERIC_6DOF_CONSTRAINT_H
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@@ -23,97 +30,403 @@ subject to the following restrictions:
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class btRigidBody;
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//! Rotation Limit structure for generic joints
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class btRotationalLimitMotor
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{
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public:
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//! limit_parameters
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//!@{
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btScalar m_loLimit;//!< joint limit
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btScalar m_hiLimit;//!< joint limit
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btScalar m_targetVelocity;//!< target motor velocity
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btScalar m_maxMotorForce;//!< max force on motor
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btScalar m_maxLimitForce;//!< max force on limit
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btScalar m_damping;//!< Damping.
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btScalar m_limitSoftness;//! Relaxation factor
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btScalar m_ERP;//!< Error tolerance factor when joint is at limit
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btScalar m_bounce;//!< restitution factor
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bool m_enableMotor;
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//!@}
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//! temp_variables
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//!@{
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btScalar m_currentLimitError;//! How much is violated this limit
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int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
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btScalar m_accumulatedImpulse;
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//!@}
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btRotationalLimitMotor()
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{
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m_accumulatedImpulse = 0.f;
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m_targetVelocity = 0;
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m_maxMotorForce = 0.1f;
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m_maxLimitForce = 300.0f;
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m_loLimit = -SIMD_INFINITY;
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m_hiLimit = SIMD_INFINITY;
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m_ERP = 0.5f;
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m_bounce = 0.0f;
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m_damping = 1.0f;
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m_limitSoftness = 0.5f;
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m_currentLimit = 0;
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m_currentLimitError = 0;
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m_enableMotor = false;
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}
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btRotationalLimitMotor(const btRotationalLimitMotor & limot)
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{
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m_targetVelocity = limot.m_targetVelocity;
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m_maxMotorForce = limot.m_maxMotorForce;
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m_limitSoftness = limot.m_limitSoftness;
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m_loLimit = limot.m_loLimit;
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m_hiLimit = limot.m_hiLimit;
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m_ERP = limot.m_ERP;
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m_bounce = limot.m_bounce;
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m_currentLimit = limot.m_currentLimit;
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m_currentLimitError = limot.m_currentLimitError;
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m_enableMotor = limot.m_enableMotor;
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}
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//! Is limited
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bool isLimited()
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{
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if(m_loLimit>=m_hiLimit) return false;
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return true;
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}
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//! Need apply correction
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bool needApplyTorques()
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{
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if(m_currentLimit == 0 && m_enableMotor == false) return false;
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return true;
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}
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//! calculates error
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/*!
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calculates m_currentLimit and m_currentLimitError.
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*/
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int testLimitValue(btScalar test_value);
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//! apply the correction impulses for two bodies
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btScalar solveAngularLimits(btScalar timeStep,btVector3 axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
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};
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class btTranslationalLimitMotor
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{
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public:
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btVector3 m_lowerLimit;//!< the constraint lower limits
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btVector3 m_upperLimit;//!< the constraint upper limits
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btVector3 m_accumulatedImpulse;
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//! Linear_Limit_parameters
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//!@{
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btScalar m_limitSoftness;//!< Softness for linear limit
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btScalar m_damping;//!< Damping for linear limit
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btScalar m_restitution;//! Bounce parameter for linear limit
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//!@}
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btTranslationalLimitMotor()
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{
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m_lowerLimit.setValue(0.f,0.f,0.f);
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m_upperLimit.setValue(0.f,0.f,0.f);
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m_accumulatedImpulse.setValue(0.f,0.f,0.f);
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m_limitSoftness = 0.7f;
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m_damping = btScalar(1.0f);
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m_restitution = btScalar(0.5f);
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}
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btTranslationalLimitMotor(const btTranslationalLimitMotor & other )
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{
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m_lowerLimit = other.m_lowerLimit;
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m_upperLimit = other.m_upperLimit;
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m_accumulatedImpulse = other.m_accumulatedImpulse;
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m_limitSoftness = other.m_limitSoftness ;
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m_damping = other.m_damping;
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m_restitution = other.m_restitution;
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}
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//! Test limit
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/*!
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- free means upper < lower,
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- locked means upper == lower
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- limited means upper > lower
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- limitIndex: first 3 are linear, next 3 are angular
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*/
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inline bool isLimited(int limitIndex)
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{
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return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
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}
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btScalar solveLinearAxis(
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btScalar timeStep,
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btScalar jacDiagABInv,
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btRigidBody& body1,const btVector3 &pointInA,
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btRigidBody& body2,const btVector3 &pointInB,
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int limit_index,
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const btVector3 & axis_normal_on_a);
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};
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/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
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/// btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'
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/// Work in progress (is still a Hinge actually)
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/*!
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btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'.
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currently this limit supports rotational motors<br>
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<ul>
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<li> For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method.
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At this moment translational motors are not supported. May be in the future. </li>
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<li> For Angular limits, use the btRotationalLimitMotor structure for configuring the limit.
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This is accessible through btGeneric6DofConstraint.getLimitMotor method,
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This brings support for limit parameters and motors. </li>
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<li> Angulars limits have these possible ranges:
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<table border=1 >
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<tr
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<td><b>AXIS</b></td>
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<td><b>MIN ANGLE</b></td>
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<td><b>MAX ANGLE</b></td>
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<td>X</td>
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<td>-PI</td>
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<td>PI</td>
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<td>Y</td>
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<td>-PI/2</td>
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<td>PI/2</td>
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<td>Z</td>
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<td>-PI/2</td>
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<td>PI/2</td>
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</tr>
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</table>
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</li>
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</ul>
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*/
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class btGeneric6DofConstraint : public btTypedConstraint
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{
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btJacobianEntry m_jacLinear[3]; // 3 orthogonal linear constraints
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btJacobianEntry m_jacAng[3]; // 3 orthogonal angular constraints
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protected:
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btTransform m_frameInA; // the constraint space w.r.t body A
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btTransform m_frameInB; // the constraint space w.r.t body B
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//! relative_frames
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//!@{
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btTransform m_frameInA;//!< the constraint space w.r.t body A
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btTransform m_frameInB;//!< the constraint space w.r.t body B
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//!@}
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//! Jacobians
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//!@{
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btJacobianEntry m_jacLinear[3];//!< 3 orthogonal linear constraints
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btJacobianEntry m_jacAng[3];//!< 3 orthogonal angular constraints
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//!@}
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//! Linear_Limit_parameters
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//!@{
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btTranslationalLimitMotor m_linearLimits;
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//!@}
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//! hinge_parameters
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//!@{
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btRotationalLimitMotor m_angularLimits[3];
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//!@}
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protected:
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//! temporal variables
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//!@{
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btScalar m_timeStep;
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btTransform m_calculatedTransformA;
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btTransform m_calculatedTransformB;
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btVector3 m_calculatedAxisAngleDiff;
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btVector3 m_calculatedAxis[3];
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bool m_useLinearReferenceFrameA;
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//!@}
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btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other)
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{
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btAssert(0);
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(void) other;
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return *this;
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}
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void buildLinearJacobian(
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btJacobianEntry & jacLinear,const btVector3 & normalWorld,
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const btVector3 & pivotAInW,const btVector3 & pivotBInW);
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void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW);
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//! calcs the euler angles between the two bodies.
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void calculateAngleInfo();
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btScalar m_lowerLimit[6]; // the constraint lower limits
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btScalar m_upperLimit[6]; // the constraint upper limits
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btScalar m_accumulatedImpulse[6];
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btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other)
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{
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btAssert(0);
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(void) other;
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return *this;
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}
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public:
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btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB );
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btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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btGeneric6DofConstraint();
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btGeneric6DofConstraint();
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virtual void buildJacobian();
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//! Calcs global transform of the offsets
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/*!
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Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
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\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
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*/
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void calculateTransforms();
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virtual void solveConstraint(btScalar timeStep);
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//! Gets the global transform of the offset for body A
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/*!
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\sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
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*/
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const btTransform & getCalculatedTransformA() const
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{
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return m_calculatedTransformA;
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}
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void updateRHS(btScalar timeStep);
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//! Gets the global transform of the offset for body B
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/*!
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\sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
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*/
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const btTransform & getCalculatedTransformB() const
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{
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return m_calculatedTransformB;
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}
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btScalar computeAngle(int axis) const;
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const btTransform & getFrameOffsetA() const
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{
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return m_frameInA;
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}
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void setLinearLowerLimit(const btVector3& linearLower)
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{
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m_lowerLimit[0] = linearLower.getX();
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m_lowerLimit[1] = linearLower.getY();
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m_lowerLimit[2] = linearLower.getZ();
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}
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const btTransform & getFrameOffsetB() const
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{
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return m_frameInB;
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}
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void setLinearUpperLimit(const btVector3& linearUpper)
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{
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m_upperLimit[0] = linearUpper.getX();
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m_upperLimit[1] = linearUpper.getY();
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m_upperLimit[2] = linearUpper.getZ();
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}
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void setAngularLowerLimit(const btVector3& angularLower)
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{
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m_lowerLimit[3] = angularLower.getX();
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m_lowerLimit[4] = angularLower.getY();
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m_lowerLimit[5] = angularLower.getZ();
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}
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btTransform & getFrameOffsetA()
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{
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return m_frameInA;
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}
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void setAngularUpperLimit(const btVector3& angularUpper)
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{
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m_upperLimit[3] = angularUpper.getX();
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m_upperLimit[4] = angularUpper.getY();
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m_upperLimit[5] = angularUpper.getZ();
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}
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btTransform & getFrameOffsetB()
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{
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return m_frameInB;
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}
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//first 3 are linear, next 3 are angular
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void SetLimit(int axis, btScalar lo, btScalar hi)
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{
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m_lowerLimit[axis] = lo;
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m_upperLimit[axis] = hi;
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}
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//free means upper < lower,
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//locked means upper == lower
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//limited means upper > lower
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//limitIndex: first 3 are linear, next 3 are angular
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bool isLimited(int limitIndex)
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{
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return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
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}
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//! performs Jacobian calculation, and also calculates angle differences and axis
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virtual void buildJacobian();
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virtual void solveConstraint(btScalar timeStep);
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void updateRHS(btScalar timeStep);
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//! Get the rotation axis in global coordinates
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/*!
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\pre btGeneric6DofConstraint.buildJacobian must be called previously.
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*/
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btVector3 getAxis(int axis_index) const;
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//! Get the relative Euler angle
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/*!
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\pre btGeneric6DofConstraint.buildJacobian must be called previously.
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*/
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btScalar getAngle(int axis_index) const;
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//! Test angular limit.
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/*!
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Calculates angular correction and returns true if limit needs to be corrected.
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\pre btGeneric6DofConstraint.buildJacobian must be called previously.
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*/
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bool testAngularLimitMotor(int axis_index);
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void setLinearLowerLimit(const btVector3& linearLower)
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{
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m_linearLimits.m_lowerLimit = linearLower;
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}
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void setLinearUpperLimit(const btVector3& linearUpper)
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{
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m_linearLimits.m_upperLimit = linearUpper;
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}
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void setAngularLowerLimit(const btVector3& angularLower)
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{
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m_angularLimits[0].m_loLimit = angularLower.getX();
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m_angularLimits[1].m_loLimit = angularLower.getY();
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m_angularLimits[2].m_loLimit = angularLower.getZ();
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}
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void setAngularUpperLimit(const btVector3& angularUpper)
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{
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m_angularLimits[0].m_hiLimit = angularUpper.getX();
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m_angularLimits[1].m_hiLimit = angularUpper.getY();
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m_angularLimits[2].m_hiLimit = angularUpper.getZ();
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}
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//! Retrieves the angular limit informacion
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btRotationalLimitMotor * getRotationalLimitMotor(int index)
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{
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return &m_angularLimits[index];
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}
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//! Retrieves the limit informacion
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btTranslationalLimitMotor * getTranslationalLimitMotor()
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{
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return &m_linearLimits;
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}
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//first 3 are linear, next 3 are angular
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void setLimit(int axis, btScalar lo, btScalar hi)
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{
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if(axis<3)
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{
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m_linearLimits.m_lowerLimit[axis] = lo;
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m_linearLimits.m_upperLimit[axis] = hi;
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}
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else
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{
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m_angularLimits[axis-3].m_loLimit = lo;
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m_angularLimits[axis-3].m_hiLimit = hi;
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}
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}
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//! Test limit
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/*!
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- free means upper < lower,
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- locked means upper == lower
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- limited means upper > lower
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- limitIndex: first 3 are linear, next 3 are angular
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*/
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bool isLimited(int limitIndex)
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{
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if(limitIndex<3)
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{
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return m_linearLimits.isLimited(limitIndex);
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}
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return m_angularLimits[limitIndex-3].isLimited();
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}
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const btRigidBody& getRigidBodyA() const
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{
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return m_rbA;
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}
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const btRigidBody& getRigidBodyB() const
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{
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return m_rbB;
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}
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const btRigidBody& getRigidBodyA() const
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{
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return m_rbA;
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}
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const btRigidBody& getRigidBodyB() const
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{
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return m_rbB;
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}
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};
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Block a user