remove dead btSliderConstraint code
This commit is contained in:
erwin.coumans
@@ -217,364 +217,9 @@ void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
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void btSliderConstraint::getInfo2(btConstraintInfo2* info)
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void btSliderConstraint::getInfo2(btConstraintInfo2* info)
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{
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{
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// if(m_useOffsetForConstraintFrame)
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getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
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// {
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getInfo2NonVirtualUsingFrameOffset(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
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// }
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// else
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// {
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// getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
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// }
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}
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}
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#if 0 // replaced with getInfo2NonVirtualUsingFrameOffset
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void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass )
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{
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//prepare constraint
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calculateTransforms(transA,transB);
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testLinLimits();
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testAngLimits();
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const btTransform& trA = getCalculatedTransformA();
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const btTransform& trB = getCalculatedTransformB();
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btAssert(!m_useSolveConstraintObsolete);
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int i, s = info->rowskip;
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btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
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// make rotations around Y and Z equal
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// the slider axis should be the only unconstrained
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// rotational axis, the angular velocity of the two bodies perpendicular to
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// the slider axis should be equal. thus the constraint equations are
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// p*w1 - p*w2 = 0
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// q*w1 - q*w2 = 0
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// where p and q are unit vectors normal to the slider axis, and w1 and w2
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// are the angular velocity vectors of the two bodies.
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// get slider axis (X)
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btVector3 ax1 = trA.getBasis().getColumn(0);
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// get 2 orthos to slider axis (Y, Z)
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btVector3 p = trA.getBasis().getColumn(1);
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btVector3 q = trA.getBasis().getColumn(2);
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// set the two slider rows
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info->m_J1angularAxis[0] = p[0];
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info->m_J1angularAxis[1] = p[1];
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info->m_J1angularAxis[2] = p[2];
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info->m_J1angularAxis[s+0] = q[0];
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info->m_J1angularAxis[s+1] = q[1];
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info->m_J1angularAxis[s+2] = q[2];
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info->m_J2angularAxis[0] = -p[0];
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info->m_J2angularAxis[1] = -p[1];
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info->m_J2angularAxis[2] = -p[2];
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info->m_J2angularAxis[s+0] = -q[0];
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info->m_J2angularAxis[s+1] = -q[1];
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info->m_J2angularAxis[s+2] = -q[2];
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// compute the right hand side of the constraint equation. set relative
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// body velocities along p and q to bring the slider back into alignment.
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// if ax1,ax2 are the unit length slider axes as computed from body1 and
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// body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
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// if "theta" is the angle between ax1 and ax2, we need an angular velocity
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// along u to cover angle erp*theta in one step :
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// |angular_velocity| = angle/time = erp*theta / stepsize
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// = (erp*fps) * theta
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// angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
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// = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
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// ...as ax1 and ax2 are unit length. if theta is smallish,
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// theta ~= sin(theta), so
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// angular_velocity = (erp*fps) * (ax1 x ax2)
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// ax1 x ax2 is in the plane space of ax1, so we project the angular
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// velocity to p and q to find the right hand side.
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// btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
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btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp;
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btScalar k = info->fps * currERP;
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btVector3 ax2 = trB.getBasis().getColumn(0);
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btVector3 u = ax1.cross(ax2);
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info->m_constraintError[0] = k * u.dot(p);
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info->m_constraintError[s] = k * u.dot(q);
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if(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
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{
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info->cfm[0] = m_cfmOrthoAng;
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info->cfm[s] = m_cfmOrthoAng;
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}
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// pull out pos and R for both bodies. also get the connection
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// vector c = pos2-pos1.
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// next two rows. we want: vel2 = vel1 + w1 x c ... but this would
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// result in three equations, so we project along the planespace vectors
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// so that sliding along the slider axis is disregarded. for symmetry we
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// also consider rotation around center of mass of two bodies (factA and factB).
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btTransform bodyA_trans = transA;
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btTransform bodyB_trans = transB;
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int s2 = 2 * s, s3 = 3 * s;
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btVector3 c;
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btScalar miA = rbAinvMass;
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btScalar miB = rbBinvMass;
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btScalar miS = miA + miB;
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btScalar factA, factB;
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if(miS > btScalar(0.f))
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{
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factA = miB / miS;
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}
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else
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{
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factA = btScalar(0.5f);
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}
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if(factA > 0.99f) factA = 0.99f;
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if(factA < 0.01f) factA = 0.01f;
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factB = btScalar(1.0f) - factA;
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c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
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btVector3 tmp = c.cross(p);
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for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i];
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for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i];
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tmp = c.cross(q);
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for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i];
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for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i];
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for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
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for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
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// compute two elements of right hand side. we want to align the offset
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// point (in body 2's frame) with the center of body 1.
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btVector3 ofs; // offset point in global coordinates
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ofs = trB.getOrigin() - trA.getOrigin();
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// k = info->fps * info->erp * getSoftnessOrthoLin();
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currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN) ? m_softnessOrthoLin : m_softnessOrthoLin * info->erp;
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k = info->fps * currERP;
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info->m_constraintError[s2] = k * p.dot(ofs);
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info->m_constraintError[s3] = k * q.dot(ofs);
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if(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
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{
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info->cfm[s2] = m_cfmOrthoLin;
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info->cfm[s3] = m_cfmOrthoLin;
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}
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int nrow = 3; // last filled row
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int srow;
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// check linear limits linear
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btScalar limit_err = btScalar(0.0);
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int limit = 0;
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if(getSolveLinLimit())
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{
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limit_err = getLinDepth() * signFact;
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limit = (limit_err > btScalar(0.0)) ? 2 : 1;
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}
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int powered = 0;
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if(getPoweredLinMotor())
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{
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powered = 1;
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}
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// if the slider has joint limits or motor, add in the extra row
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if (limit || powered)
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{
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nrow++;
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srow = nrow * info->rowskip;
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info->m_J1linearAxis[srow+0] = ax1[0];
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info->m_J1linearAxis[srow+1] = ax1[1];
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info->m_J1linearAxis[srow+2] = ax1[2];
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// linear torque decoupling step:
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//
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// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
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// do not create a torque couple. in other words, the points that the
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// constraint force is applied at must lie along the same ax1 axis.
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// a torque couple will result in limited slider-jointed free
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// bodies from gaining angular momentum.
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// the solution used here is to apply the constraint forces at the center of mass of the two bodies
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btVector3 ltd; // Linear Torque Decoupling vector (a torque)
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// c = btScalar(0.5) * c;
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ltd = c.cross(ax1);
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info->m_J1angularAxis[srow+0] = factA*ltd[0];
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info->m_J1angularAxis[srow+1] = factA*ltd[1];
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info->m_J1angularAxis[srow+2] = factA*ltd[2];
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info->m_J2angularAxis[srow+0] = factB*ltd[0];
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info->m_J2angularAxis[srow+1] = factB*ltd[1];
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info->m_J2angularAxis[srow+2] = factB*ltd[2];
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// right-hand part
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btScalar lostop = getLowerLinLimit();
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btScalar histop = getUpperLinLimit();
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if(limit && (lostop == histop))
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{ // the joint motor is ineffective
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powered = 0;
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}
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info->m_constraintError[srow] = 0.;
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info->m_lowerLimit[srow] = 0.;
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info->m_upperLimit[srow] = 0.;
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currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp;
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if(powered)
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{
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if(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
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{
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info->cfm[srow] = m_cfmDirLin;
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}
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btScalar tag_vel = getTargetLinMotorVelocity();
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btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * currERP);
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// info->m_constraintError[srow] += mot_fact * getTargetLinMotorVelocity();
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info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
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info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps;
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info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps;
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}
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if(limit)
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{
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k = info->fps * currERP;
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info->m_constraintError[srow] += k * limit_err;
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if(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
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{
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info->cfm[srow] = m_cfmLimLin;
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}
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if(lostop == histop)
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{ // limited low and high simultaneously
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info->m_lowerLimit[srow] = -SIMD_INFINITY;
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info->m_upperLimit[srow] = SIMD_INFINITY;
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}
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else if(limit == 1)
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{ // low limit
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info->m_lowerLimit[srow] = -SIMD_INFINITY;
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info->m_upperLimit[srow] = 0;
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}
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else
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{ // high limit
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info->m_lowerLimit[srow] = 0;
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info->m_upperLimit[srow] = SIMD_INFINITY;
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}
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// bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
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btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
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if(bounce > btScalar(0.0))
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{
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btScalar vel = linVelA.dot(ax1);
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vel -= linVelB.dot(ax1);
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vel *= signFact;
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// only apply bounce if the velocity is incoming, and if the
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// resulting c[] exceeds what we already have.
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if(limit == 1)
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{ // low limit
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if(vel < 0)
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{
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btScalar newc = -bounce * vel;
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if (newc > info->m_constraintError[srow])
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{
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info->m_constraintError[srow] = newc;
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}
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}
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}
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else
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{ // high limit - all those computations are reversed
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if(vel > 0)
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{
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btScalar newc = -bounce * vel;
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if(newc < info->m_constraintError[srow])
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{
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info->m_constraintError[srow] = newc;
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}
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}
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}
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}
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info->m_constraintError[srow] *= getSoftnessLimLin();
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} // if(limit)
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} // if linear limit
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// check angular limits
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limit_err = btScalar(0.0);
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limit = 0;
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if(getSolveAngLimit())
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{
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limit_err = getAngDepth();
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limit = (limit_err > btScalar(0.0)) ? 1 : 2;
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}
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// if the slider has joint limits, add in the extra row
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powered = 0;
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if(getPoweredAngMotor())
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{
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powered = 1;
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}
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if(limit || powered)
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{
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nrow++;
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srow = nrow * info->rowskip;
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info->m_J1angularAxis[srow+0] = ax1[0];
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info->m_J1angularAxis[srow+1] = ax1[1];
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info->m_J1angularAxis[srow+2] = ax1[2];
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info->m_J2angularAxis[srow+0] = -ax1[0];
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info->m_J2angularAxis[srow+1] = -ax1[1];
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info->m_J2angularAxis[srow+2] = -ax1[2];
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btScalar lostop = getLowerAngLimit();
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btScalar histop = getUpperAngLimit();
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if(limit && (lostop == histop))
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{ // the joint motor is ineffective
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powered = 0;
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}
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currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
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if(powered)
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{
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if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
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{
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info->cfm[srow] = m_cfmDirAng;
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}
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btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
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info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
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info->m_lowerLimit[srow] = -getMaxAngMotorForce() * info->fps;
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info->m_upperLimit[srow] = getMaxAngMotorForce() * info->fps;
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}
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if(limit)
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{
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k = info->fps * currERP;
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info->m_constraintError[srow] += k * limit_err;
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if(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
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{
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info->cfm[srow] = m_cfmLimAng;
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}
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if(lostop == histop)
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{
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// limited low and high simultaneously
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info->m_lowerLimit[srow] = -SIMD_INFINITY;
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info->m_upperLimit[srow] = SIMD_INFINITY;
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}
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else if(limit == 1)
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{ // low limit
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info->m_lowerLimit[srow] = 0;
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info->m_upperLimit[srow] = SIMD_INFINITY;
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}
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else
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{ // high limit
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||||||
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
|
||||||
info->m_upperLimit[srow] = 0;
|
|
||||||
}
|
|
||||||
// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
|
|
||||||
btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng());
|
|
||||||
if(bounce > btScalar(0.0))
|
|
||||||
{
|
|
||||||
btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
|
|
||||||
vel -= m_rbB.getAngularVelocity().dot(ax1);
|
|
||||||
// only apply bounce if the velocity is incoming, and if the
|
|
||||||
// resulting c[] exceeds what we already have.
|
|
||||||
if(limit == 1)
|
|
||||||
{ // low limit
|
|
||||||
if(vel < 0)
|
|
||||||
{
|
|
||||||
btScalar newc = -bounce * vel;
|
|
||||||
if(newc > info->m_constraintError[srow])
|
|
||||||
{
|
|
||||||
info->m_constraintError[srow] = newc;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{ // high limit - all those computations are reversed
|
|
||||||
if(vel > 0)
|
|
||||||
{
|
|
||||||
btScalar newc = -bounce * vel;
|
|
||||||
if(newc < info->m_constraintError[srow])
|
|
||||||
{
|
|
||||||
info->m_constraintError[srow] = newc;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
info->m_constraintError[srow] *= getSoftnessLimAng();
|
|
||||||
} // if(limit)
|
|
||||||
} // if angular limit or powered
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
|
void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
|
||||||
@@ -894,7 +539,7 @@ btVector3 btSliderConstraint::getAncorInB(void)
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void btSliderConstraint::getInfo2NonVirtualUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass )
|
void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass )
|
||||||
{
|
{
|
||||||
const btTransform& trA = getCalculatedTransformA();
|
const btTransform& trA = getCalculatedTransformA();
|
||||||
const btTransform& trB = getCalculatedTransformB();
|
const btTransform& trB = getCalculatedTransformB();
|
||||||
@@ -1005,7 +650,7 @@ void btSliderConstraint::getInfo2NonVirtualUsingFrameOffset(btConstraintInfo2* i
|
|||||||
int s2 = nrow * s;
|
int s2 = nrow * s;
|
||||||
nrow++;
|
nrow++;
|
||||||
int s3 = nrow * s;
|
int s3 = nrow * s;
|
||||||
btVector3 tmpA, tmpB, relA, relB, c;
|
btVector3 tmpA(0,0,0), tmpB(0,0,0), relA(0,0,0), relB(0,0,0), c(0,0,0);
|
||||||
if(m_useOffsetForConstraintFrame)
|
if(m_useOffsetForConstraintFrame)
|
||||||
{
|
{
|
||||||
// get vector from bodyB to frameB in WCS
|
// get vector from bodyB to frameB in WCS
|
||||||
|
|||||||
@@ -168,7 +168,6 @@ public:
|
|||||||
virtual void getInfo2 (btConstraintInfo2* info);
|
virtual void getInfo2 (btConstraintInfo2* info);
|
||||||
|
|
||||||
void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
|
void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
|
||||||
void getInfo2NonVirtualUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
|
|
||||||
|
|
||||||
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
|
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
|
||||||
|
|
||||||
|
|||||||
Reference in New Issue
Block a user