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added quickstep improvements, to allow for constraints (point to point etc).

Browse Source 
Thanks Francisco Leon/projectileman
This commit is contained in:
ejcoumans
2007-09-13 07:44:05 +00:00
parent 7f5823ee16
commit 0bf8124668
6 changed files with 1043 additions and 352 deletions
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361
Extras/quickstep/OdeConstraintSolver.cpp
View File

@@ -24,6 +24,7 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "OdeJoint.h" #include "OdeJoint.h"
#include "OdeContactJoint.h" #include "OdeContactJoint.h"
#include "OdeTypedJoint.h"
#include "OdeSolverBody.h" #include "OdeSolverBody.h"
#include <new.h> #include <new.h>
#include "LinearMath/btQuickprof.h" #include "LinearMath/btQuickprof.h"
@@ -61,11 +62,12 @@ class BU_Joint;
#define ODE_MAX_SOLVER_JOINTS 65535 #define ODE_MAX_SOLVER_JOINTS 65535
static OdeSolverBody gSolverBodyArray[ODE_MAX_SOLVER_BODIES]; static OdeSolverBody gSolverBodyArray[ODE_MAX_SOLVER_BODIES];
static ContactJoint gJointArray[ODE_MAX_SOLVER_JOINTS]; static ContactJoint gJointArray[ODE_MAX_SOLVER_JOINTS];
static OdeTypedJoint gTypedJointArray[ODE_MAX_SOLVER_JOINTS];
OdeConstraintSolver::OdeConstraintSolver(): OdeConstraintSolver::OdeConstraintSolver():
m_cfm(0.f),//1e-5f), m_cfm(0.f),//1e-5f),
m_erp(0.4f) m_erp(0.4f)
{ {
} }
@@ -74,45 +76,56 @@ m_erp(0.4f)
//iterative lcp and penalty method //iterative lcp and penalty method
btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher) btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
{ {
BEGIN_PROFILE("prepareConstraints"); BEGIN_PROFILE("prepareConstraints");
m_CurBody = 0; m_CurBody = 0;
m_CurJoint = 0; m_CurJoint = 0;
m_CurTypedJoint = 0;
int numBodies = 0; int numBodies = 0;
OdeSolverBody* odeBodies [ODE_MAX_SOLVER_BODIES]; OdeSolverBody* odeBodies [ODE_MAX_SOLVER_BODIES];
int numJoints = 0; int numJoints = 0;
BU_Joint* joints [ODE_MAX_SOLVER_JOINTS]; BU_Joint* joints [ODE_MAX_SOLVER_JOINTS*2];
for (int j=0;j<numManifolds;j++) //capture contacts
{ int j;
int body0=-1,body1=-1;
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];
if (manifold->getNumContacts() > 0)
{
body0 = ConvertBody((btRigidBody*)manifold->getBody0(),odeBodies,numBodies);
body1 = ConvertBody((btRigidBody*)manifold->getBody1(),odeBodies,numBodies);
ConvertConstraint(manifold,joints,numJoints,odeBodies,body0,body1,debugDrawer);
}
}
int body0=-1,body1=-1; //capture constraints
for (j=0;j<numConstraints;j++)
{
btTypedConstraint * typedconstraint = constraints[j];
body0 = ConvertBody((btRigidBody*)&typedconstraint->getRigidBodyA(),odeBodies,numBodies);
body1 = ConvertBody((btRigidBody*)&typedconstraint->getRigidBodyB(),odeBodies,numBodies);
ConvertTypedConstraint(typedconstraint,joints,numJoints,odeBodies,body0,body1,debugDrawer);
}
btPersistentManifold* manifold = manifoldPtr[j];
if (manifold->getNumContacts() > 0)
{
body0 = ConvertBody((btRigidBody*)manifold->getBody0(),odeBodies,numBodies);
body1 = ConvertBody((btRigidBody*)manifold->getBody1(),odeBodies,numBodies);
ConvertConstraint(manifold,joints,numJoints,odeBodies,body0,body1,debugDrawer);
}
}
END_PROFILE("prepareConstraints"); END_PROFILE("prepareConstraints");
BEGIN_PROFILE("solveConstraints"); BEGIN_PROFILE("solveConstraints");
SolveInternal1(m_cfm,m_erp,odeBodies,numBodies,joints,numJoints,infoGlobal); SolveInternal1(m_cfm,m_erp,odeBodies,numBodies,joints,numJoints,infoGlobal);
//write back resulting velocities //write back resulting velocities
for (int i=0;i<numBodies;i++) for (int i=0;i<numBodies;i++)
{ {
if (odeBodies[i]->m_invMass) if (odeBodies[i]->m_invMass)
{ {
odeBodies[i]->m_originalBody->setLinearVelocity(odeBodies[i]->m_linearVelocity); odeBodies[i]->m_originalBody->setLinearVelocity(odeBodies[i]->m_linearVelocity);
odeBodies[i]->m_originalBody->setAngularVelocity(odeBodies[i]->m_angularVelocity); odeBodies[i]->m_originalBody->setAngularVelocity(odeBodies[i]->m_angularVelocity);
} }
} }
END_PROFILE("solveConstraints"); END_PROFILE("solveConstraints");
return 0.f; return 0.f;
} }
@@ -124,24 +137,24 @@ typedef btScalar dQuaternion[4];
void dRfromQ1 (dMatrix3 R, const dQuaternion q) void dRfromQ1 (dMatrix3 R, const dQuaternion q)
{ {
// q = (s,vx,vy,vz) // q = (s,vx,vy,vz)
btScalar qq1 = 2.f*q[1]*q[1]; btScalar qq1 = 2.f*q[1]*q[1];
btScalar qq2 = 2.f*q[2]*q[2]; btScalar qq2 = 2.f*q[2]*q[2];
btScalar qq3 = 2.f*q[3]*q[3]; btScalar qq3 = 2.f*q[3]*q[3];
_R(0,0) = 1.f - qq2 - qq3; _R(0,0) = 1.f - qq2 - qq3;
_R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]); _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
_R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]); _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
_R(0,3) = 0.f; _R(0,3) = 0.f;
_R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]); _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
_R(1,1) = 1.f - qq1 - qq3; _R(1,1) = 1.f - qq1 - qq3;
_R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]); _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
_R(1,3) = 0.f; _R(1,3) = 0.f;
_R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]); _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
_R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]); _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
_R(2,2) = 1.f - qq1 - qq2; _R(2,2) = 1.f - qq1 - qq2;
_R(2,3) = 0.f; _R(2,3) = 0.f;
} }
@@ -149,66 +162,66 @@ void dRfromQ1 (dMatrix3 R, const dQuaternion q)
int OdeConstraintSolver::ConvertBody(btRigidBody* orgBody,OdeSolverBody** bodies,int& numBodies) int OdeConstraintSolver::ConvertBody(btRigidBody* orgBody,OdeSolverBody** bodies,int& numBodies)
{ {
assert(orgBody); assert(orgBody);
if (!orgBody || (orgBody->getInvMass() == 0.f) ) if (!orgBody || (orgBody->getInvMass() == 0.f) )
{ {
return -1; return -1;
} }
if (orgBody->getCompanionId()>=0) if (orgBody->getCompanionId()>=0)
{ {
return orgBody->getCompanionId(); return orgBody->getCompanionId();
} }
//first try to find //first try to find
int i,j; int i,j;
//if not found, create a new body //if not found, create a new body
OdeSolverBody* body = bodies[numBodies] = &gSolverBodyArray[numBodies]; OdeSolverBody* body = bodies[numBodies] = &gSolverBodyArray[numBodies];
orgBody->setCompanionId(numBodies); orgBody->setCompanionId(numBodies);
numBodies++; numBodies++;
body->m_originalBody = orgBody; body->m_originalBody = orgBody;
body->m_facc.setValue(0,0,0,0); body->m_facc.setValue(0,0,0,0);
body->m_tacc.setValue(0,0,0,0); body->m_tacc.setValue(0,0,0,0);
body->m_linearVelocity = orgBody->getLinearVelocity(); body->m_linearVelocity = orgBody->getLinearVelocity();
body->m_angularVelocity = orgBody->getAngularVelocity(); body->m_angularVelocity = orgBody->getAngularVelocity();
body->m_invMass = orgBody->getInvMass(); body->m_invMass = orgBody->getInvMass();
body->m_centerOfMassPosition = orgBody->getCenterOfMassPosition(); body->m_centerOfMassPosition = orgBody->getCenterOfMassPosition();
body->m_friction = orgBody->getFriction(); body->m_friction = orgBody->getFriction();
//are the indices the same ? //are the indices the same ?
for (i=0;i<4;i++) for (i=0;i<4;i++)
{ {
for ( j=0;j<3;j++) for ( j=0;j<3;j++)
{ {
body->m_invI[i+4*j] = 0.f; body->m_invI[i+4*j] = 0.f;
body->m_I[i+4*j] = 0.f; body->m_I[i+4*j] = 0.f;
} }
} }
body->m_invI[0+4*0] = orgBody->getInvInertiaDiagLocal().x(); body->m_invI[0+4*0] = orgBody->getInvInertiaDiagLocal().x();
body->m_invI[1+4*1] = orgBody->getInvInertiaDiagLocal().y(); body->m_invI[1+4*1] = orgBody->getInvInertiaDiagLocal().y();
body->m_invI[2+4*2] = orgBody->getInvInertiaDiagLocal().z(); body->m_invI[2+4*2] = orgBody->getInvInertiaDiagLocal().z();
body->m_I[0+0*4] = 1.f/orgBody->getInvInertiaDiagLocal().x(); body->m_I[0+0*4] = 1.f/orgBody->getInvInertiaDiagLocal().x();
body->m_I[1+1*4] = 1.f/orgBody->getInvInertiaDiagLocal().y(); body->m_I[1+1*4] = 1.f/orgBody->getInvInertiaDiagLocal().y();
body->m_I[2+2*4] = 1.f/orgBody->getInvInertiaDiagLocal().z(); body->m_I[2+2*4] = 1.f/orgBody->getInvInertiaDiagLocal().z();
dQuaternion q; dQuaternion q;
q[1] = orgBody->getOrientation().x(); q[1] = orgBody->getOrientation().x();
q[2] = orgBody->getOrientation().y(); q[2] = orgBody->getOrientation().y();
q[3] = orgBody->getOrientation().z(); q[3] = orgBody->getOrientation().z();
q[0] = orgBody->getOrientation().w(); q[0] = orgBody->getOrientation().w();
dRfromQ1(body->m_R,q); dRfromQ1(body->m_R,q);
return numBodies-1; return numBodies-1;
} }
@@ -220,78 +233,136 @@ int OdeConstraintSolver::ConvertBody(btRigidBody* orgBody,OdeSolverBody** bodies
void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints, void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints,
OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer) OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer)
{ {
manifold->refreshContactPoints(((btRigidBody*)manifold->getBody0())->getCenterOfMassTransform(), manifold->refreshContactPoints(((btRigidBody*)manifold->getBody0())->getCenterOfMassTransform(),
((btRigidBody*)manifold->getBody1())->getCenterOfMassTransform()); ((btRigidBody*)manifold->getBody1())->getCenterOfMassTransform());
int bodyId0 = _bodyId0,bodyId1 = _bodyId1; int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
int i,numContacts = manifold->getNumContacts(); int i,numContacts = manifold->getNumContacts();
bool swapBodies = (bodyId0 < 0); bool swapBodies = (bodyId0 < 0);
OdeSolverBody* body0,*body1; OdeSolverBody* body0,*body1;
if (swapBodies) if (swapBodies)
{ {
bodyId0 = _bodyId1; bodyId0 = _bodyId1;
bodyId1 = _bodyId0; bodyId1 = _bodyId0;
body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody1(); body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody1();
body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody0(); body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody0();
} else }
{ else
body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody0(); {
body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody1(); body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody0();
} body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody1();
}
assert(bodyId0 >= 0); assert(bodyId0 >= 0);
btVector3 color(0,1,0); btVector3 color(0,1,0);
for (i=0;i<numContacts;i++) for (i=0;i<numContacts;i++)
{ {
if (debugDrawer) if (debugDrawer)
{ {
const btManifoldPoint& cp = manifold->getContactPoint(i); const btManifoldPoint& cp = manifold->getContactPoint(i);
debugDrawer->drawContactPoint( debugDrawer->drawContactPoint(
cp.m_positionWorldOnB, cp.m_positionWorldOnB,
cp.m_normalWorldOnB, cp.m_normalWorldOnB,
cp.getDistance(), cp.getDistance(),
cp.getLifeTime(), cp.getLifeTime(),
color); color);
} }
assert (m_CurJoint < ODE_MAX_SOLVER_JOINTS); assert (m_CurJoint < ODE_MAX_SOLVER_JOINTS);
// if (manifold->getContactPoint(i).getDistance() < 0.0f) // if (manifold->getContactPoint(i).getDistance() < 0.0f)
{ {
ContactJoint* cont = new (&gJointArray[m_CurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1); ContactJoint* cont = new (&gJointArray[m_CurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);
cont->node[0].joint = cont; cont->node[0].joint = cont;
cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0; cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;
cont->node[1].joint = cont; cont->node[1].joint = cont;
cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0; cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0;
joints[numJoints++] = cont; joints[numJoints++] = cont;
for (int i=0;i<6;i++) for (int i=0;i<6;i++)
cont->lambda[i] = 0.f; cont->lambda[i] = 0.f;
cont->flags = 0; cont->flags = 0;
} }
}
//create a new contact constraint
}
void OdeConstraintSolver::ConvertTypedConstraint(
btTypedConstraint * constraint,BU_Joint** joints,int& numJoints,
OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer)
{
int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
bool swapBodies = (bodyId0 < 0);
OdeSolverBody* body0,*body1;
if (swapBodies)
{
bodyId0 = _bodyId1;
bodyId1 = _bodyId0;
body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody1();
body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody0();
}
else
{
body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody0();
body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody1();
}
assert(bodyId0 >= 0);
assert (m_CurTypedJoint < ODE_MAX_SOLVER_JOINTS);
OdeTypedJoint * cont = NULL;
// Determine constraint type
int joint_type = constraint->getConstraintType();
switch(joint_type)
{
case POINT2POINT_CONSTRAINT_TYPE:
case D6_CONSTRAINT_TYPE:
cont = new (&gTypedJointArray[m_CurTypedJoint ++]) OdeTypedJoint(constraint,0, swapBodies,body0,body1);
break;
};
if(cont)
{
cont->node[0].joint = cont;
cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;
cont->node[1].joint = cont;
cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0;
joints[numJoints++] = cont;
for (int i=0;i<6;i++)
cont->lambda[i] = 0.f;
cont->flags = 0;
} }
//create a new contact constraint
};
void OdeConstraintSolver::reset()
{
} }

12
Extras/quickstep/OdeConstraintSolver.h
View File

@@ -20,7 +20,6 @@ subject to the following restrictions:
class btRigidBody; class btRigidBody;
struct OdeSolverBody; struct OdeSolverBody;
class btDispatcher;
class BU_Joint; class BU_Joint;
/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework /// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
@@ -31,6 +30,7 @@ private:
int m_CurBody; int m_CurBody;
int m_CurJoint; int m_CurJoint;
int m_CurTypedJoint;
float m_cfm; float m_cfm;
float m_erp; float m_erp;
@@ -40,6 +40,12 @@ private:
void ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints, void ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints,
OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer); OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
void ConvertTypedConstraint(
btTypedConstraint * constraint,BU_Joint** joints,int& numJoints,
OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
public: public:
OdeConstraintSolver(); OdeConstraintSolver();
@@ -61,7 +67,9 @@ public:
m_erp = erp; m_erp = erp;
} }
virtual void reset(); void reset()
{
}
}; };

188
Extras/quickstep/OdeMacros.h Normal file
View File

@@ -0,0 +1,188 @@
/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser bteral Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* bteral Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#define ODE_MACROS
#ifdef ODE_MACROS
#include "LinearMath/btScalar.h"
typedef btScalar dVector4[4];
typedef btScalar dMatrix3[4*3];
#define dInfinity FLT_MAX
#define dRecip(x) ((float)(1.0f/(x))) /* reciprocal */
#define dMULTIPLY0_331NEW(A,op,B,C) \
{\
btScalar tmp[3];\
tmp[0] = C.getX();\
tmp[1] = C.getY();\
tmp[2] = C.getZ();\
dMULTIPLYOP0_331(A,op,B,tmp);\
}
#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
#define dMULTIPLYOP0_331(A,op,B,C) \
(A)[0] op dDOT1((B),(C)); \
(A)[1] op dDOT1((B+4),(C)); \
(A)[2] op dDOT1((B+8),(C));
#define dAASSERT btAssert
#define dIASSERT btAssert
#define REAL float
#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
inline btScalar dDOT1 (const btScalar *a, const btScalar *b)
{ return dDOTpq(a,b,1,1); }
#define dDOT14(a,b) dDOTpq(a,b,1,4)
#define dCROSS(a,op,b,c) \
(a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
(a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
(a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
/*
* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
* A is stored by rows, and has `skip' elements per row. the matrix is
* assumed to be already zero, so this does not write zero elements!
* if (plus,minus) is (+,-) then a positive version will be written.
* if (plus,minus) is (-,+) then a negative version will be written.
*/
#define dCROSSMAT(A,a,skip,plus,minus) \
do { \
(A)[1] = minus (a)[2]; \
(A)[2] = plus (a)[1]; \
(A)[(skip)+0] = plus (a)[2]; \
(A)[(skip)+2] = minus (a)[0]; \
(A)[2*(skip)+0] = minus (a)[1]; \
(A)[2*(skip)+1] = plus (a)[0]; \
} while(0)
#define dMULTIPLYOP2_333(A,op,B,C) \
(A)[0] op dDOT1((B),(C)); \
(A)[1] op dDOT1((B),(C+4)); \
(A)[2] op dDOT1((B),(C+8)); \
(A)[4] op dDOT1((B+4),(C)); \
(A)[5] op dDOT1((B+4),(C+4)); \
(A)[6] op dDOT1((B+4),(C+8)); \
(A)[8] op dDOT1((B+8),(C)); \
(A)[9] op dDOT1((B+8),(C+4)); \
(A)[10] op dDOT1((B+8),(C+8));
#define dMULTIPLYOP0_333(A,op,B,C) \
(A)[0] op dDOT14((B),(C)); \
(A)[1] op dDOT14((B),(C+1)); \
(A)[2] op dDOT14((B),(C+2)); \
(A)[4] op dDOT14((B+4),(C)); \
(A)[5] op dDOT14((B+4),(C+1)); \
(A)[6] op dDOT14((B+4),(C+2)); \
(A)[8] op dDOT14((B+8),(C)); \
(A)[9] op dDOT14((B+8),(C+1)); \
(A)[10] op dDOT14((B+8),(C+2));
#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
////////////////////////////////////////////////////////////////////
#define EFFICIENT_ALIGNMENT 16
#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
* up to 15 bytes per allocation, depending on what alloca() returns.
*/
#define dALLOCA16(n) \
((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
/////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////
#ifdef DEBUG
#define ANSI_FTOL 1
extern "C" {
__declspec(naked) void _ftol2() {
__asm {
#if ANSI_FTOL
fnstcw WORD PTR [esp-2]
mov ax, WORD PTR [esp-2]
OR AX, 0C00h
mov WORD PTR [esp-4], ax
fldcw WORD PTR [esp-4]
fistp QWORD PTR [esp-12]
fldcw WORD PTR [esp-2]
mov eax, DWORD PTR [esp-12]
mov edx, DWORD PTR [esp-8]
#else
fistp DWORD PTR [esp-12]
mov eax, DWORD PTR [esp-12]
mov ecx, DWORD PTR [esp-8]
#endif
ret
}
}
}
#endif //DEBUG
#define ALLOCA dALLOCA16
typedef const btScalar *dRealPtr;
typedef btScalar *dRealMutablePtr;
#define dRealArray(name,n) btScalar name[n];
#define dRealAllocaArray(name,n) btScalar *name = (btScalar*) ALLOCA ((n)*sizeof(btScalar));
inline void dSetZero1 (btScalar *a, int n)
{
dAASSERT (a && n >= 0);
while (n > 0) {
*(a++) = 0;
n--;
}
}
inline void dSetValue1 (btScalar *a, int n, btScalar value)
{
dAASSERT (a && n >= 0);
while (n > 0) {
*(a++) = value;
n--;
}
}
#endif //USE_SOR_SOLVER

451
Extras/quickstep/OdeTypedJoint.cpp Normal file
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@@ -0,0 +1,451 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
#include "OdeTypedJoint.h"
#include "OdeSolverBody.h"
#include "OdeMacros.h"
#include <stdio.h>
void OdeTypedJoint::GetInfo1(Info1 *info)
{
int joint_type = m_constraint->getConstraintType();
switch (joint_type)
{
case POINT2POINT_CONSTRAINT_TYPE:
{
OdeP2PJoint p2pjoint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
p2pjoint.GetInfo1(info);
}
break;
case D6_CONSTRAINT_TYPE:
{
OdeD6Joint d6joint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
d6joint.GetInfo1(info);
}
break;
};
}
void OdeTypedJoint::GetInfo2(Info2 *info)
{
int joint_type = m_constraint->getConstraintType();
switch (joint_type)
{
case POINT2POINT_CONSTRAINT_TYPE:
{
OdeP2PJoint p2pjoint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
p2pjoint.GetInfo2(info);
}
break;
case D6_CONSTRAINT_TYPE:
{
OdeD6Joint d6joint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
d6joint.GetInfo2(info);
}
break;
};
}
OdeP2PJoint::OdeP2PJoint(
btTypedConstraint * constraint,
int index,bool swap,OdeSolverBody* body0,OdeSolverBody* body1):
OdeTypedJoint(constraint,index,swap,body0,body1)
{
}
void OdeP2PJoint::GetInfo1(Info1 *info)
{
info->m = 3;
info->nub = 3;
}
void OdeP2PJoint::GetInfo2(Info2 *info)
{
btPoint2PointConstraint * p2pconstraint = this->getP2PConstraint();
//retrieve matrices
btTransform body0_trans;
if (m_body0)
{
body0_trans = m_body0->m_originalBody->getCenterOfMassTransform();
}
// btScalar body0_mat[12];
// body0_mat[0] = body0_trans.getBasis()[0][0];
// body0_mat[1] = body0_trans.getBasis()[0][1];
// body0_mat[2] = body0_trans.getBasis()[0][2];
// body0_mat[4] = body0_trans.getBasis()[1][0];
// body0_mat[5] = body0_trans.getBasis()[1][1];
// body0_mat[6] = body0_trans.getBasis()[1][2];
// body0_mat[8] = body0_trans.getBasis()[2][0];
// body0_mat[9] = body0_trans.getBasis()[2][1];
// body0_mat[10] = body0_trans.getBasis()[2][2];
btTransform body1_trans;
if (m_body1)
{
body1_trans = m_body1->m_originalBody->getCenterOfMassTransform();
}
// btScalar body1_mat[12];
// body1_mat[0] = body1_trans.getBasis()[0][0];
// body1_mat[1] = body1_trans.getBasis()[0][1];
// body1_mat[2] = body1_trans.getBasis()[0][2];
// body1_mat[4] = body1_trans.getBasis()[1][0];
// body1_mat[5] = body1_trans.getBasis()[1][1];
// body1_mat[6] = body1_trans.getBasis()[1][2];
// body1_mat[8] = body1_trans.getBasis()[2][0];
// body1_mat[9] = body1_trans.getBasis()[2][1];
// body1_mat[10] = body1_trans.getBasis()[2][2];
// anchor points in global coordinates with respect to body PORs.
int s = info->rowskip;
// set jacobian
info->J1l[0] = 1;
info->J1l[s+1] = 1;
info->J1l[2*s+2] = 1;
btVector3 a1,a2;
a1 = body0_trans.getBasis()*p2pconstraint->getPivotInA();
//dMULTIPLY0_331 (a1, body0_mat,m_constraint->m_pivotInA);
dCROSSMAT (info->J1a,a1,s,-,+);
if (m_body1)
{
info->J2l[0] = -1;
info->J2l[s+1] = -1;
info->J2l[2*s+2] = -1;
a2 = body1_trans.getBasis()*p2pconstraint->getPivotInB();
//dMULTIPLY0_331 (a2,body1_mat,m_constraint->m_pivotInB);
dCROSSMAT (info->J2a,a2,s,+,-);
}
// set right hand side
btScalar k = info->fps * info->erp;
if (m_body1)
{
for (int j=0; j<3; j++)
{
info->c[j] = k * (a2[j] + body1_trans.getOrigin()[j] -
a1[j] - body0_trans.getOrigin()[j]);
}
}
else
{
for (int j=0; j<3; j++)
{
info->c[j] = k * (p2pconstraint->getPivotInB()[j] - a1[j] -
body0_trans.getOrigin()[j]);
}
}
}
///////////////////limit motor support
/*! \pre testLimitValue must be called on limot*/
int bt_get_limit_motor_info2(
btRotationalLimitMotor * limot,
btRigidBody * body0, btRigidBody * body1,
BU_Joint::Info2 *info, int row, btVector3 ax1, int rotational)
{
int srow = row * info->rowskip;
// if the joint is powered, or has joint limits, add in the extra row
int powered = limot->m_enableMotor;
int limit = limot->m_currentLimit;
if (powered || limit)
{
btScalar *J1 = rotational ? info->J1a : info->J1l;
btScalar *J2 = rotational ? info->J2a : info->J2l;
J1[srow+0] = ax1[0];
J1[srow+1] = ax1[1];
J1[srow+2] = ax1[2];
if (body1)
{
J2[srow+0] = -ax1[0];
J2[srow+1] = -ax1[1];
J2[srow+2] = -ax1[2];
}
// linear limot torque decoupling step:
//
// if this is a linear limot (e.g. from a slider), we have to be careful
// that the linear constraint forces (+/- ax1) applied to the two bodies
// do not create a torque couple. in other words, the points that the
// constraint force is applied at must lie along the same ax1 axis.
// a torque couple will result in powered or limited slider-jointed free
// bodies from gaining angular momentum.
// the solution used here is to apply the constraint forces at the point
// halfway between the body centers. there is no penalty (other than an
// extra tiny bit of computation) in doing this adjustment. note that we
// only need to do this if the constraint connects two bodies.
btVector3 ltd; // Linear Torque Decoupling vector (a torque)
if (!rotational && body1)
{
btVector3 c;
c[0]=btScalar(0.5)*(body1->getCenterOfMassPosition()[0]
-body0->getCenterOfMassPosition()[0]);
c[1]=btScalar(0.5)*(body1->getCenterOfMassPosition()[1]
-body0->getCenterOfMassPosition()[1]);
c[2]=btScalar(0.5)*(body1->getCenterOfMassPosition()[2]
-body0->getCenterOfMassPosition()[2]);
ltd = c.cross(ax1);
info->J1a[srow+0] = ltd[0];
info->J1a[srow+1] = ltd[1];
info->J1a[srow+2] = ltd[2];
info->J2a[srow+0] = ltd[0];
info->J2a[srow+1] = ltd[1];
info->J2a[srow+2] = ltd[2];
}
// if we're limited low and high simultaneously, the joint motor is
// ineffective
if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
if (powered)
{
info->cfm[row] = 0.0f;//limot->m_normalCFM;
if (! limit)
{
info->c[row] = limot->m_targetVelocity;
info->lo[row] = -limot->m_maxMotorForce;
info->hi[row] = limot->m_maxMotorForce;
}
}
if (limit)
{
btScalar k = info->fps * limot->m_ERP;
info->c[row] = -k * limot->m_currentLimitError;
info->cfm[row] = 0.0f;//limot->m_stopCFM;
if (limot->m_loLimit == limot->m_hiLimit)
{
// limited low and high simultaneously
info->lo[row] = -dInfinity;
info->hi[row] = dInfinity;
}
else
{
if (limit == 1)
{
// low limit
info->lo[row] = 0;
info->hi[row] = SIMD_INFINITY;
}
else
{
// high limit
info->lo[row] = -SIMD_INFINITY;
info->hi[row] = 0;
}
// deal with bounce
if (limot->m_bounce > 0)
{
// calculate joint velocity
btScalar vel;
if (rotational)
{
vel = body0->getAngularVelocity().dot(ax1);
if (body1)
vel -= body1->getAngularVelocity().dot(ax1);
}
else
{
vel = body0->getLinearVelocity().dot(ax1);
if (body1)
vel -= body1->getLinearVelocity().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 = -limot->m_bounce* vel;
if (newc > info->c[row]) info->c[row] = newc;
}
}
else
{
// high limit - all those computations are reversed
if (vel > 0)
{
btScalar newc = -limot->m_bounce * vel;
if (newc < info->c[row]) info->c[row] = newc;
}
}
}
}
}
return 1;
}
else return 0;
}
///////////////////OdeD6Joint
OdeD6Joint::OdeD6Joint(
btTypedConstraint * constraint,
int index,bool swap,OdeSolverBody* body0,OdeSolverBody* body1):
OdeTypedJoint(constraint,index,swap,body0,body1)
{
}
void OdeD6Joint::GetInfo1(Info1 *info)
{
btGeneric6DofConstraint * d6constraint = this->getD6Constraint();
//prepare constraint
d6constraint->calculateTransforms();
info->m = 3;
info->nub = 3;
//test angular limits
for (int i=0;i<3 ;i++ )
{
//if(i==2) continue;
if(d6constraint->testAngularLimitMotor(i))
{
info->m++;
}
}
}
int OdeD6Joint::setLinearLimits(Info2 *info)
{
btGeneric6DofConstraint * d6constraint = this->getD6Constraint();
//retrieve matrices
btTransform body0_trans;
if (m_body0)
{
body0_trans = m_body0->m_originalBody->getCenterOfMassTransform();
}
btTransform body1_trans;
if (m_body1)
{
body1_trans = m_body1->m_originalBody->getCenterOfMassTransform();
}
// anchor points in global coordinates with respect to body PORs.
int s = info->rowskip;
// set jacobian
info->J1l[0] = 1;
info->J1l[s+1] = 1;
info->J1l[2*s+2] = 1;
btVector3 a1,a2;
a1 = body0_trans.getBasis()*d6constraint->getFrameOffsetA().getOrigin();
//dMULTIPLY0_331 (a1, body0_mat,m_constraint->m_pivotInA);
dCROSSMAT (info->J1a,a1,s,-,+);
if (m_body1)
{
info->J2l[0] = -1;
info->J2l[s+1] = -1;
info->J2l[2*s+2] = -1;
a2 = body1_trans.getBasis()*d6constraint->getFrameOffsetB().getOrigin();
//dMULTIPLY0_331 (a2,body1_mat,m_constraint->m_pivotInB);
dCROSSMAT (info->J2a,a2,s,+,-);
}
// set right hand side
btScalar k = info->fps * info->erp;
if (m_body1)
{
for (int j=0; j<3; j++)
{
info->c[j] = k * (a2[j] + body1_trans.getOrigin()[j] -
a1[j] - body0_trans.getOrigin()[j]);
}
}
else
{
for (int j=0; j<3; j++)
{
info->c[j] = k * (d6constraint->getCalculatedTransformB().getOrigin()[j] - a1[j] -
body0_trans.getOrigin()[j]);
}
}
return 3;
}
int OdeD6Joint::setAngularLimits(Info2 *info, int row_offset)
{
btGeneric6DofConstraint * d6constraint = this->getD6Constraint();
int row = row_offset;
//solve angular limits
for (int i=0;i<3 ;i++ )
{
//if(i==2) continue;
if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
{
btVector3 axis = d6constraint->getAxis(i);
row += bt_get_limit_motor_info2(
d6constraint->getRotationalLimitMotor(i),
m_body0->m_originalBody,m_body1->m_originalBody,info,row,axis,1);
}
}
return row;
}
void OdeD6Joint::GetInfo2(Info2 *info)
{
int row = setLinearLimits(info);
setAngularLimits(info, row);
}

111
Extras/quickstep/OdeTypedJoint.h Normal file
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@@ -0,0 +1,111 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
/*
2007-09-09
Added support for typed joints by Francisco Le<4C>n
email: projectileman@yahoo.com
http://gimpact.sf.net
*/
#ifndef TYPED_JOINT_H
#define TYPED_JOINT_H
#include "OdeJoint.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
struct OdeSolverBody;
class OdeTypedJoint : public BU_Joint
{
public:
btTypedConstraint * m_constraint;
int m_index;
bool m_swapBodies;
OdeSolverBody* m_body0;
OdeSolverBody* m_body1;
OdeTypedJoint(){}
OdeTypedJoint(
btTypedConstraint * constraint,
int index,bool swap,OdeSolverBody* body0,OdeSolverBody* body1):
m_constraint(constraint),
m_index(index),
m_swapBodies(swap),
m_body0(body0),
m_body1(body1)
{
}
virtual void GetInfo1(Info1 *info);
virtual void GetInfo2(Info2 *info);
};
class OdeP2PJoint : public OdeTypedJoint
{
protected:
inline btPoint2PointConstraint * getP2PConstraint()
{
return static_cast<btPoint2PointConstraint * >(m_constraint);
}
public:
OdeP2PJoint() {};
OdeP2PJoint(btTypedConstraint* constraint,int index,bool swap,OdeSolverBody* body0,OdeSolverBody* body1);
//BU_Joint interface for solver
virtual void GetInfo1(Info1 *info);
virtual void GetInfo2(Info2 *info);
};
class OdeD6Joint : public OdeTypedJoint
{
protected:
inline btGeneric6DofConstraint * getD6Constraint()
{
return static_cast<btGeneric6DofConstraint * >(m_constraint);
}
int setLinearLimits(Info2 *info);
int setAngularLimits(Info2 *info, int row_offset);
public:
OdeD6Joint() {};
OdeD6Joint(btTypedConstraint* constraint,int index,bool swap,OdeSolverBody* body0,OdeSolverBody* body1);
//BU_Joint interface for solver
virtual void GetInfo1(Info1 *info);
virtual void GetInfo2(Info2 *info);
};
//! retrieves the constraint info from a btRotationalLimitMotor object
/*! \pre testLimitValue must be called on limot*/
int bt_get_limit_motor_info2(
btRotationalLimitMotor * limot,
btRigidBody * body0, btRigidBody * body1,
BU_Joint::Info2 *info, int row, btVector3 ax1, int rotational);
#endif //CONTACT_JOINT_H

140
Extras/quickstep/SorLcp.cpp
View File

@@ -53,145 +53,7 @@
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
//math stuff //math stuff
typedef btScalar dVector4[4]; #include "OdeMacros.h"
typedef btScalar dMatrix3[4*3];
#define dInfinity FLT_MAX
#define dRecip(x) ((float)(1.0f/(x))) /* reciprocal */
#define dMULTIPLY0_331NEW(A,op,B,C) \
{\
btScalar tmp[3];\
tmp[0] = C.getX();\
tmp[1] = C.getY();\
tmp[2] = C.getZ();\
dMULTIPLYOP0_331(A,op,B,tmp);\
}
#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
#define dMULTIPLYOP0_331(A,op,B,C) \
(A)[0] op dDOT1((B),(C)); \
(A)[1] op dDOT1((B+4),(C)); \
(A)[2] op dDOT1((B+8),(C));
#define dAASSERT btAssert
#define dIASSERT btAssert
#define REAL float
#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
btScalar dDOT1 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); }
#define dDOT14(a,b) dDOTpq(a,b,1,4)
#define dCROSS(a,op,b,c) \
(a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
(a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
(a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
#define dMULTIPLYOP2_333(A,op,B,C) \
(A)[0] op dDOT1((B),(C)); \
(A)[1] op dDOT1((B),(C+4)); \
(A)[2] op dDOT1((B),(C+8)); \
(A)[4] op dDOT1((B+4),(C)); \
(A)[5] op dDOT1((B+4),(C+4)); \
(A)[6] op dDOT1((B+4),(C+8)); \
(A)[8] op dDOT1((B+8),(C)); \
(A)[9] op dDOT1((B+8),(C+4)); \
(A)[10] op dDOT1((B+8),(C+8));
#define dMULTIPLYOP0_333(A,op,B,C) \
(A)[0] op dDOT14((B),(C)); \
(A)[1] op dDOT14((B),(C+1)); \
(A)[2] op dDOT14((B),(C+2)); \
(A)[4] op dDOT14((B+4),(C)); \
(A)[5] op dDOT14((B+4),(C+1)); \
(A)[6] op dDOT14((B+4),(C+2)); \
(A)[8] op dDOT14((B+8),(C)); \
(A)[9] op dDOT14((B+8),(C+1)); \
(A)[10] op dDOT14((B+8),(C+2));
#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
////////////////////////////////////////////////////////////////////
#define EFFICIENT_ALIGNMENT 16
#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
* up to 15 bytes per allocation, depending on what alloca() returns.
*/
#define dALLOCA16(n) \
((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
/////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////
#ifdef DEBUG
#define ANSI_FTOL 1
extern "C" {
__declspec(naked) void _ftol2() {
__asm {
#if ANSI_FTOL
fnstcw WORD PTR [esp-2]
mov ax, WORD PTR [esp-2]
OR AX, 0C00h
mov WORD PTR [esp-4], ax
fldcw WORD PTR [esp-4]
fistp QWORD PTR [esp-12]
fldcw WORD PTR [esp-2]
mov eax, DWORD PTR [esp-12]
mov edx, DWORD PTR [esp-8]
#else
fistp DWORD PTR [esp-12]
mov eax, DWORD PTR [esp-12]
mov ecx, DWORD PTR [esp-8]
#endif
ret
}
}
}
#endif //DEBUG
#define ALLOCA dALLOCA16
typedef const btScalar *dRealPtr;
typedef btScalar *dRealMutablePtr;
#define dRealArray(name,n) btScalar name[n];
#define dRealAllocaArray(name,n) btScalar *name = (btScalar*) ALLOCA ((n)*sizeof(btScalar));
void dSetZero1 (btScalar *a, int n)
{
dAASSERT (a && n >= 0);
while (n > 0) {
*(a++) = 0;
n--;
}
}
void dSetValue1 (btScalar *a, int n, btScalar value)
{
dAASSERT (a && n >= 0);
while (n > 0) {
*(a++) = value;
n--;
}
}
//*************************************************************************** //***************************************************************************
// configuration // configuration