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+ Added joint feedback for constraints, needs testing/demo before 2.75 release.

Browse Source 
See also http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2677
and http://code.google.com/p/bullet/issues/detail?id=227

To enable, use constraint->enableFeedback(true);
And then either use
constraint->getAppliedImpulse() for an estimated applied impulse,
or constraint-> getAppliedLinearImpulse(), or constraint->getAppliedAngularImpulseA() or constraint->getAppliedAngularImpulseB().

+removed a few warnings.
This commit is contained in:
erwin.coumans
2009-05-27 01:34:46 +00:00
parent 056659d2af
commit 258ef6e25a
5 changed files with 122 additions and 15 deletions
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50
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -660,26 +660,25 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
int totalNumRows = 0;
int i;
m_tmpConstraintSizesPool.resize(numConstraints);
//calculate the total number of contraint rows
for (i=0;i<numConstraints;i++)
{
btTypedConstraint::btConstraintInfo1 info1;
btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
constraints[i]->getInfo1(&info1);
totalNumRows += info1.m_numConstraintRows;
}
m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
btTypedConstraint::btConstraintInfo1 info1;
info1.m_numConstraintRows = 0;
///setup the btSolverConstraints
int currentRow = 0;
for (i=0;i<numConstraints;i++,currentRow+=info1.m_numConstraintRows)
for (i=0;i<numConstraints;i++)
{
constraints[i]->getInfo1(&info1);
const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
if (info1.m_numConstraintRows)
{
btAssert(currentRow<totalNumRows);
@@ -782,6 +781,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
}
}
currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
}
}
@@ -972,6 +972,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
int j;
//copy back the applied impulses for contacts
for (j=0;j<numPoolConstraints;j++)
{
@@ -988,6 +989,39 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
//do a callback here?
}
int currentRow = 0;
int totalNumRows = m_tmpSolverNonContactConstraintPool.size();
#if 1
//copy back the applied impulses for joints
for (i=0;i<numConstraints;i++)
{
btTypedConstraint* constraint = constraints[i];
if (constraint->needsFeedback())
{
const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
if (info1.m_numConstraintRows)
{
btAssert(currentRow<totalNumRows);
btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
constraint->getAppliedLinearImpulse().setValue(0,0,0);
constraint->getAppliedAngularImpulseA().setValue(0,0,0);
constraint->getAppliedAngularImpulseB().setValue(0,0,0);
int j;
btScalar maxAppliedImpulse(0.);
for ( j=0;j<info1.m_numConstraintRows;j++)
{
btSetMax(maxAppliedImpulse,(btScalar)currentConstraintRow[i].m_appliedImpulse);
constraint->getAppliedLinearImpulse() += currentConstraintRow[i].m_contactNormal*currentConstraintRow[i].m_appliedImpulse;
constraint->getAppliedAngularImpulseA() += currentConstraintRow[i].m_relpos1CrossNormal*currentConstraintRow[i].m_appliedImpulse;
constraint->getAppliedAngularImpulseB() += currentConstraintRow[i].m_relpos2CrossNormal*currentConstraintRow[i].m_appliedImpulse;
}
constraint->internalSetAppliedImpulse(maxAppliedImpulse);
}
}
currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
}
#endif
if (infoGlobal.m_splitImpulse)
{
for ( i=0;i<m_tmpSolverBodyPool.size();i++)