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fix an issue with btMultiBodyConstraint, automatically 'finalizeMultiDof' to pre-allocate jacobian data

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enable joint limit for slider/prismatic joint in btMultiBody version of URDF loader
This commit is contained in:
Erwin Coumans
2015-06-05 11:46:53 -07:00
parent a94ac6300a
commit 1a4ce475f7
12 changed files with 307 additions and 249 deletions
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57
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
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@@ -4,8 +4,8 @@ Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
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.
@@ -54,7 +54,7 @@ protected:
int m_posOffset;
bool m_isUnilateral;
int m_numDofsFinalized;
btScalar m_maxAppliedImpulse;
@@ -66,11 +66,11 @@ protected:
void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
btScalar* jacOrgA, btScalar* jacOrgB,
const btVector3& contactNormalOnB,
const btVector3& posAworld, const btVector3& posBworld,
const btVector3& posAworld, const btVector3& posBworld,
btScalar posError,
const btContactSolverInfo& infoGlobal,
btScalar lowerLimit, btScalar upperLimit,
@@ -82,11 +82,14 @@ public:
btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral);
virtual ~btMultiBodyConstraint();
void finalizeMultiDof();
void updateJacobianSizes();
void allocateJacobiansMultiDof();
virtual void finalizeMultiDof()=0;
virtual int getIslandIdA() const =0;
virtual int getIslandIdB() const =0;
virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal)=0;
@@ -108,17 +111,17 @@ public:
// current constraint position
// constraint is pos >= 0 for unilateral, or pos = 0 for bilateral
// NOTE: ignored position for friction rows.
btScalar getPosition(int row) const
{
return m_data[m_posOffset + row];
btScalar getPosition(int row) const
{
return m_data[m_posOffset + row];
}
void setPosition(int row, btScalar pos)
{
m_data[m_posOffset + row] = pos;
void setPosition(int row, btScalar pos)
{
m_data[m_posOffset + row] = pos;
}
bool isUnilateral() const
{
return m_isUnilateral;
@@ -127,21 +130,21 @@ public:
// jacobian blocks.
// each of size 6 + num_links. (jacobian2 is null if no body2.)
// format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.
btScalar* jacobianA(int row)
{
return &m_data[m_numRows + row * m_jacSizeBoth];
btScalar* jacobianA(int row)
{
return &m_data[m_numRows + row * m_jacSizeBoth];
}
const btScalar* jacobianA(int row) const
{
return &m_data[m_numRows + (row * m_jacSizeBoth)];
const btScalar* jacobianA(int row) const
{
return &m_data[m_numRows + (row * m_jacSizeBoth)];
}
btScalar* jacobianB(int row)
{
return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
btScalar* jacobianB(int row)
{
return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
}
const btScalar* jacobianB(int row) const
{
return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
const btScalar* jacobianB(int row) const
{
return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
}
btScalar getMaxAppliedImpulse() const
@@ -152,7 +155,7 @@ public:
{
m_maxAppliedImpulse = maxImp;
}
virtual void debugDraw(class btIDebugDraw* drawer)=0;
};