remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
This commit is contained in:
erwincoumans
@@ -1,26 +1,13 @@
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#include "BlockSolverExample.h"
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#include "../OpenGLWindow/SimpleOpenGL3App.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
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#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
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#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
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#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
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#include "btBlockSolver.h"
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#include "../OpenGLWindow/GLInstancingRenderer.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"
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//for URDF import support
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#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
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#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
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#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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class BlockSolverExample : public CommonMultiBodyBase
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@@ -36,29 +23,24 @@ public:
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virtual void resetCamera()
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{
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float dist = 1;
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float dist = 3;
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float pitch = -35;
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float yaw = 50;
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float targetPos[3] = {-3, 2.8, -2.5};
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float targetPos[3] = {0, 0, .1};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool fixedBase = false);
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void createGround(const btVector3& halfExtents = btVector3(50, 50, 50), btScalar zOffSet = btScalar(-1.55));
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void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
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void createMultiBodyStack();
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btMultiBody* createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape);
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btMultiBody* loadRobot(std::string filepath);
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};
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static bool g_fixedBase = true;
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static bool g_firstInit = true;
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static float scaling = 0.4f;
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static float friction = 1.;
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BlockSolverExample::BlockSolverExample(GUIHelperInterface* helper, int option)
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: CommonMultiBodyBase(helper),
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m_option(option)
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{
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m_guiHelper->setUpAxis(1);
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m_guiHelper->setUpAxis(2);
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}
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BlockSolverExample::~BlockSolverExample()
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@@ -69,20 +51,13 @@ BlockSolverExample::~BlockSolverExample()
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void BlockSolverExample::stepSimulation(float deltaTime)
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{
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//use a smaller internal timestep, there are stability issues
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float internalTimeStep = 1. / 240.f;
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btScalar internalTimeStep = 1./240.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
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}
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void BlockSolverExample::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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if (g_firstInit)
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{
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10. * scaling));
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(50);
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g_firstInit = false;
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}
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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@@ -120,258 +95,122 @@ void BlockSolverExample::initPhysics()
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btAssert(m_solver);
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btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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m_dynamicsWorld = world;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
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m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-4); //todo: what value is good?
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m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
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m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
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m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-6); //todo: what value is good?
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/////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////
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bool damping = true;
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bool gyro = true;
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int numLinks = 5;
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bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool multibodyOnly = true; //false
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bool canSleep = true;
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bool selfCollide = true;
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btVector3 linkHalfExtents(0.05, 0.37, 0.1);
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btVector3 baseHalfExtents(0.05, 0.37, 0.1);
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btMultiBody* mbC1 = createFeatherstoneMultiBody(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_fixedBase);
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btMultiBody* mbC2 = createFeatherstoneMultiBody(world, numLinks, btVector3(-0.4f, 3.0f, 0.5f), linkHalfExtents, baseHalfExtents, spherical, g_fixedBase);
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mbC1->setCanSleep(canSleep);
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mbC1->setHasSelfCollision(selfCollide);
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mbC1->setUseGyroTerm(gyro);
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if (!damping)
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if (m_option&BLOCK_SOLVER_SCENE_MB_STACK)
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{
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mbC1->setLinearDamping(0.f);
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mbC1->setAngularDamping(0.f);
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createMultiBodyStack();
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}
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else
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{
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mbC1->setLinearDamping(0.1f);
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mbC1->setAngularDamping(0.9f);
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}
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//
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m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
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//////////////////////////////////////////////
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if (numLinks > 0)
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{
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btScalar q0 = 45.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC1->setJointPosMultiDof(0, &q0);
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}
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else
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC1->setJointPosMultiDof(0, quat0);
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}
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}
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///
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addColliders(mbC1, world, baseHalfExtents, linkHalfExtents);
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mbC2->setCanSleep(canSleep);
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mbC2->setHasSelfCollision(selfCollide);
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mbC2->setUseGyroTerm(gyro);
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//
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if (!damping)
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{
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mbC2->setLinearDamping(0.f);
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mbC2->setAngularDamping(0.f);
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}
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else
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{
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mbC2->setLinearDamping(0.1f);
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mbC2->setAngularDamping(0.9f);
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}
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//
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m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
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//////////////////////////////////////////////
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if (numLinks > 0)
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{
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btScalar q0 = -45.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC2->setJointPosMultiDof(0, &q0);
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}
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else
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC2->setJointPosMultiDof(0, quat0);
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}
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}
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///
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addColliders(mbC2, world, baseHalfExtents, linkHalfExtents);
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/////////////////////////////////////////////////////////////////
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btScalar groundHeight = -51.55;
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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createGround();
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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/////////////////////////////////////////////////////////////////
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}
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btMultiBody* BlockSolverExample::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool fixedBase)
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{
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//init the base
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btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
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float baseMass = 1.f;
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if (baseMass)
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void BlockSolverExample::createMultiBodyStack()
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{
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btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete pTempBox;
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///create a few basic rigid bodies
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bool loadPlaneFromURDF = false;
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if (loadPlaneFromURDF)
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{
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btMultiBody* mb = loadRobot("plane.urdf");
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printf("!\n");
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}
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else
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{
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
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m_collisionShapes.push_back(groundShape);
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btScalar mass = 0;
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(0, 0, -50));
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btMultiBody* body = createMultiBody(mass, tr, groundShape);
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}
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for (int i=0;i<10;i++)
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{
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btBoxShape* boxShape = createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1)));
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m_collisionShapes.push_back(boxShape);
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btScalar mass = 1;
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if (i == 9)
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mass = 100;
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(0, 0, 0.1+i*0.2));
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btMultiBody* body = createMultiBody(mass, tr, boxShape);
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}
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if(0)
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{
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btMultiBody* mb = loadRobot("cube_small.urdf");
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(0, 0, 1.));
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mb->setBaseWorldTransform(tr);
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}
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}
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btMultiBody* BlockSolverExample::createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape)
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{
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btVector3 inertia;
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collisionShape->calculateLocalInertia(mass, inertia);
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bool canSleep = false;
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bool isDynamic = mass > 0;
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btMultiBody* mb = new btMultiBody(0, mass, inertia, !isDynamic, canSleep);
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btMultiBodyLinkCollider* collider = new btMultiBodyLinkCollider(mb, -1);
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collider->setWorldTransform(trans);
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mb->setBaseWorldTransform(trans);
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btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, fixedBase, canSleep);
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collider->setCollisionShape(collisionShape);
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btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
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pMultiBody->setBasePos(basePosition);
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pMultiBody->setWorldToBaseRot(baseOriQuat);
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btVector3 vel(0, 0, 0);
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int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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float linkMass = 1.f;
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
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pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete pTempBox;
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this->m_dynamicsWorld->addCollisionObject(collider, collisionFilterGroup, collisionFilterMask);
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mb->setBaseCollider(collider);
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//y-axis assumed up
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btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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mb->finalizeMultiDof();
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//////
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btScalar q0 = 0.f * SIMD_PI / 180.f;
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btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
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quat0.normalize();
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/////
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for (int i = 0; i < numLinks; ++i)
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{
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if (!spherical)
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pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
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else
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//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
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pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
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this->m_dynamicsWorld->addMultiBody(mb);
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m_dynamicsWorld->forwardKinematics();
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return mb;
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}
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pMultiBody->finalizeMultiDof();
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///
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pWorld->addMultiBody(pMultiBody);
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///
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return pMultiBody;
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btMultiBody* BlockSolverExample::loadRobot(std::string filepath)
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{
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btMultiBody* m_multiBody = 0;
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BulletURDFImporter u2b(m_guiHelper, 0, 0, 1, 0);
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bool loadOk = u2b.loadURDF(filepath.c_str());// lwr / kuka.urdf");
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if (loadOk)
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{
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int rootLinkIndex = u2b.getRootLinkIndex();
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b3Printf("urdf root link index = %d\n", rootLinkIndex);
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MyMultiBodyCreator creation(m_guiHelper);
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btTransform identityTrans;
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identityTrans.setIdentity();
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ConvertURDF2Bullet(u2b, creation, identityTrans, m_dynamicsWorld, true, u2b.getPathPrefix());
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for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
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{
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m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
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}
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void BlockSolverExample::createGround(const btVector3& halfExtents, btScalar zOffSet)
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m_multiBody = creation.getBulletMultiBody();
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if (m_multiBody)
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{
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btCollisionShape* groundShape = new btBoxShape(halfExtents);
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m_collisionShapes.push_back(groundShape);
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// rigidbody is dynamic if and only if mass is non zero, otherwise static
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btScalar mass(0.);
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const bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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// using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -halfExtents.z() + zOffSet, 0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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// add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body, 1, 1 + 2);
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}
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void BlockSolverExample::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
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{
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btAlignedObjectArray<btQuaternion> world_to_local;
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world_to_local.resize(pMultiBody->getNumLinks() + 1);
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btAlignedObjectArray<btVector3> local_origin;
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local_origin.resize(pMultiBody->getNumLinks() + 1);
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world_to_local[0] = pMultiBody->getWorldToBaseRot();
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local_origin[0] = pMultiBody->getBasePos();
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{
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btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
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if (1)
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{
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btCollisionShape* box = new btBoxShape(baseHalfExtents);
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
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col->setCollisionShape(box);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(local_origin[0]);
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tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
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col->setWorldTransform(tr);
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pWorld->addCollisionObject(col, 2, 1 + 2);
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col->setFriction(friction);
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pMultiBody->setBaseCollider(col);
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b3Printf("Root link name = %s", u2b.getLinkName(u2b.getRootLinkIndex()).c_str());
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}
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}
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for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
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{
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const int parent = pMultiBody->getParent(i);
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world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
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local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
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}
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|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
|
||||
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(box);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(friction);
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
return m_multiBody;
|
||||
}
|
||||
|
||||
CommonExampleInterface* BlockSolverExampleCreateFunc(CommonExampleOptions& options)
|
||||
|
||||
@@ -9,7 +9,7 @@ enum BlockSolverOptions
|
||||
BLOCK_SOLVER_MLCP_DANTZIG = 1 << 2,
|
||||
BLOCK_SOLVER_BLOCK = 1 << 3,
|
||||
|
||||
BLOCK_SOLVER_SCENE_STACK= 1 << 5,
|
||||
BLOCK_SOLVER_SCENE_MB_STACK= 1 << 5,
|
||||
BLOCK_SOLVER_SCENE_CHAIN = 1<< 6,
|
||||
|
||||
};
|
||||
|
||||
@@ -128,7 +128,6 @@ btScalar btBlockSolver::solveGroup(btCollisionObject * *bodies, int numBodies, b
|
||||
int maxIterations = siData.m_maxOverrideNumSolverIterations > info.m_numIterations ? siData.m_maxOverrideNumSolverIterations : info.m_numIterations;
|
||||
|
||||
for (int iteration = 0; iteration < maxIterations; iteration++)
|
||||
//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
|
||||
{
|
||||
leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData, iteration, constraints, numConstraints, info);
|
||||
|
||||
@@ -150,7 +149,7 @@ btScalar btBlockSolver::solveGroup(btCollisionObject * *bodies, int numBodies, b
|
||||
|
||||
void btBlockSolver::solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
|
||||
{
|
||||
//btMultiBodyConstraintSolver::solveMultiBodyGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, multiBodyConstraints, numMultiBodyConstraints, info, debugDrawer, dispatcher);
|
||||
btMultiBodyConstraintSolver::solveMultiBodyGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, multiBodyConstraints, numMultiBodyConstraints, info, debugDrawer, dispatcher);
|
||||
}
|
||||
|
||||
void btBlockSolver::reset()
|
||||
|
||||
@@ -1,335 +0,0 @@
|
||||
#include "BoxStacks.h"
|
||||
#include "../OpenGLWindow/SimpleOpenGL3App.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBody.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
|
||||
|
||||
#include "../OpenGLWindow/GLInstancingRenderer.h"
|
||||
#include "BulletCollision/CollisionShapes/btShapeHull.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
|
||||
class BoxStacks : public CommonMultiBodyBase
|
||||
{
|
||||
public:
|
||||
BoxStacks(GUIHelperInterface* helper);
|
||||
virtual ~BoxStacks();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 1;
|
||||
float pitch = -35;
|
||||
float yaw = 50;
|
||||
float targetPos[3] = {-3, 2.8, -2.5};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
void createBoxStack(int numBoxes, btScalar centerX, btScalar centerY);
|
||||
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool fixedBase = false);
|
||||
void createGround(const btVector3& halfExtents = btVector3(50, 50, 50), btScalar zOffSet = btScalar(-1.55));
|
||||
void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
|
||||
};
|
||||
|
||||
static bool g_fixedBase = true;
|
||||
static bool g_firstInit = true;
|
||||
static float scaling = 0.4f;
|
||||
static float friction = 1.;
|
||||
static int g_constraintSolverType = 0;
|
||||
|
||||
BoxStacks::BoxStacks(GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper)
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
}
|
||||
|
||||
BoxStacks::~BoxStacks()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void BoxStacks::stepSimulation(float deltaTime)
|
||||
{
|
||||
//use a smaller internal timestep, there are stability issues
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
|
||||
}
|
||||
|
||||
void BoxStacks::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
if (g_firstInit)
|
||||
{
|
||||
m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10. * scaling));
|
||||
m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(50);
|
||||
g_firstInit = false;
|
||||
}
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
|
||||
if (g_constraintSolverType == 3)
|
||||
{
|
||||
g_constraintSolverType = 0;
|
||||
g_fixedBase = !g_fixedBase;
|
||||
}
|
||||
|
||||
btMLCPSolverInterface* mlcp;
|
||||
switch (g_constraintSolverType++)
|
||||
{
|
||||
case 0:
|
||||
m_solver = new btMultiBodyConstraintSolver;
|
||||
b3Printf("Constraint Solver: Sequential Impulse");
|
||||
break;
|
||||
case 1:
|
||||
mlcp = new btSolveProjectedGaussSeidel();
|
||||
m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + PGS");
|
||||
break;
|
||||
default:
|
||||
mlcp = new btDantzigSolver();
|
||||
m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + Dantzig");
|
||||
break;
|
||||
}
|
||||
m_solver = new btMultiBodyBlockConstraintSolver();
|
||||
|
||||
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->setGravity(btVector3(btScalar(0), btScalar(-9.81), btScalar(0)));
|
||||
m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-4); //todo: what value is good?
|
||||
|
||||
/// Create a few basic rigid bodies
|
||||
btVector3 groundHalfExtents(50, 50, 50);
|
||||
btCollisionShape* groundShape = new btBoxShape(groundHalfExtents);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -50, 00));
|
||||
|
||||
btVector3 linkHalfExtents(btScalar(0.05), btScalar(0.37), btScalar(0.1));
|
||||
btVector3 baseHalfExtents(btScalar(0.05), btScalar(0.37), btScalar(0.1));
|
||||
|
||||
createBoxStack(1, 0, 0);
|
||||
|
||||
btScalar groundHeight = btScalar(-51.55);
|
||||
btScalar mass = btScalar(0.0);
|
||||
|
||||
btVector3 localInertia(0, 0, 0);
|
||||
groundShape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
// Using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, groundHeight, 0));
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
// Add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body, 1, 1 + 2);
|
||||
|
||||
createGround();
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void BoxStacks::createBoxStack(int numBoxes, btScalar centerX, btScalar centerZ)
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
const btScalar boxHalfSize = btScalar(0.1);
|
||||
|
||||
btBoxShape* colShape = createBoxShape(btVector3(boxHalfSize, boxHalfSize, boxHalfSize));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.0);
|
||||
|
||||
btVector3 localInertia(0, 0, 0);
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
for (int i = 0; i < numBoxes; ++i)
|
||||
{
|
||||
startTransform.setOrigin(btVector3(centerX, 1+btScalar(btScalar(2) * boxHalfSize * i), centerZ));
|
||||
createRigidBody(mass, startTransform, colShape);
|
||||
}
|
||||
}
|
||||
|
||||
btMultiBody* BoxStacks::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool fixedBase)
|
||||
{
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 1.f;
|
||||
|
||||
if (baseMass)
|
||||
{
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete pTempBox;
|
||||
}
|
||||
|
||||
bool canSleep = false;
|
||||
|
||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, fixedBase, canSleep);
|
||||
|
||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
||||
pMultiBody->setBasePos(basePosition);
|
||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
||||
btVector3 vel(0, 0, 0);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 0);
|
||||
float linkMass = 1.f;
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete pTempBox;
|
||||
|
||||
//y-axis assumed up
|
||||
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
|
||||
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
|
||||
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
|
||||
|
||||
//////
|
||||
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
||||
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
/////
|
||||
|
||||
for (int i = 0; i < numLinks; ++i)
|
||||
{
|
||||
if (!spherical)
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
||||
else
|
||||
//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
|
||||
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
||||
}
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
///
|
||||
pWorld->addMultiBody(pMultiBody);
|
||||
///
|
||||
return pMultiBody;
|
||||
}
|
||||
|
||||
void BoxStacks::createGround(const btVector3& halfExtents, btScalar zOffSet)
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(halfExtents);
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
// rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
btScalar mass(0.);
|
||||
const bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0, 0, 0);
|
||||
if (isDynamic)
|
||||
groundShape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
// using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -halfExtents.z() + zOffSet, 0));
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
// add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body, 1, 1 + 2);
|
||||
}
|
||||
|
||||
void BoxStacks::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
||||
{
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
||||
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
||||
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
|
||||
|
||||
{
|
||||
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
|
||||
|
||||
if (1)
|
||||
{
|
||||
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(box);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(local_origin[0]);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
col->setFriction(friction);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
||||
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
|
||||
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(box);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(friction);
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
|
||||
CommonExampleInterface* BoxStacksCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new BoxStacks(options.m_guiHelper);
|
||||
}
|
||||
@@ -1,7 +0,0 @@
|
||||
|
||||
#ifndef CONSTRAINT_SOLVERS_BOX_STACKS_DEMO_H
|
||||
#define CONSTRAINT_SOLVERS_BOX_STACKS_DEMO_H
|
||||
|
||||
class CommonExampleInterface* BoxStacksCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif // CONSTRAINT_SOLVERS_BOX_STACKS_DEMO_H
|
||||
@@ -1,224 +0,0 @@
|
||||
#include "BoxStacks_MLCP.h"
|
||||
#include "../OpenGLWindow/SimpleOpenGL3App.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBody.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
|
||||
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
|
||||
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
|
||||
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
|
||||
|
||||
class BoxStacks_MLCP : public CommonMultiBodyBase
|
||||
{
|
||||
public:
|
||||
BoxStacks_MLCP(GUIHelperInterface* helper);
|
||||
virtual ~BoxStacks_MLCP();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 2;
|
||||
float pitch = -35;
|
||||
float yaw = 50;
|
||||
float targetPos[3] = {0, 0, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
btMultiBody* createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape);
|
||||
|
||||
btMultiBody* loadRobot(std::string filepath = "kuka_iiwa/model.urdf");
|
||||
};
|
||||
|
||||
|
||||
|
||||
static int g_constraintSolverType = 0;
|
||||
|
||||
BoxStacks_MLCP::BoxStacks_MLCP(GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
BoxStacks_MLCP::~BoxStacks_MLCP()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void BoxStacks_MLCP::stepSimulation(float deltaTime)
|
||||
{
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
|
||||
for (int i = 0; i < m_dynamicsWorld->getNumMultibodies(); i++)
|
||||
{
|
||||
btVector3 pos = m_dynamicsWorld->getMultiBody(i)->getBaseWorldTransform().getOrigin();
|
||||
printf("pos[%d]=%f,%f,%f\n", i, pos.x(), pos.y(), pos.z());
|
||||
}
|
||||
}
|
||||
|
||||
void BoxStacks_MLCP::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(2);
|
||||
|
||||
createEmptyDynamicsWorld();
|
||||
m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
|
||||
if (g_constraintSolverType == 5)
|
||||
{
|
||||
g_constraintSolverType = 0;
|
||||
}
|
||||
|
||||
btMultiBodyConstraintSolver* sol = 0;
|
||||
|
||||
btMLCPSolverInterface* mlcp;
|
||||
switch (g_constraintSolverType++)
|
||||
{
|
||||
case 0:
|
||||
sol = new btMultiBodyConstraintSolver;
|
||||
b3Printf("Constraint Solver: Sequential Impulse");
|
||||
break;
|
||||
case 1:
|
||||
mlcp = new btSolveProjectedGaussSeidel();
|
||||
sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + PGS");
|
||||
break;
|
||||
case 2:
|
||||
mlcp = new btDantzigSolver();
|
||||
sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + Dantzig");
|
||||
break;
|
||||
case 3:
|
||||
mlcp = new btLemkeSolver();
|
||||
sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
|
||||
b3Printf("Constraint Solver: MLCP + Lemke");
|
||||
break;
|
||||
|
||||
default:
|
||||
sol = new btMultiBodyBlockConstraintSolver();
|
||||
b3Printf("btMultiBodyBlockConstraintSolver");
|
||||
break;
|
||||
}
|
||||
|
||||
m_solver = sol;
|
||||
|
||||
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-4);
|
||||
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
if (m_dynamicsWorld->getDebugDrawer())
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
|
||||
|
||||
///create a few basic rigid bodies
|
||||
bool loadPlaneFromURDF = true;
|
||||
if (loadPlaneFromURDF)
|
||||
{
|
||||
loadRobot("plane.urdf");
|
||||
} else
|
||||
{
|
||||
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
btScalar mass = 0;
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(0, 0, -50));
|
||||
btMultiBody* body = createMultiBody(mass, tr, groundShape);
|
||||
}
|
||||
|
||||
{
|
||||
btBoxShape* boxShape = createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1)));
|
||||
m_collisionShapes.push_back(boxShape);
|
||||
btScalar mass = 10;
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(0, 0, 0.5));
|
||||
btMultiBody* body = createMultiBody(mass, tr, boxShape);
|
||||
}
|
||||
|
||||
{
|
||||
btMultiBody* mb = loadRobot("cube_small.urdf");
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(0, 0, 1.));
|
||||
mb->setBaseWorldTransform(tr);
|
||||
}
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
|
||||
|
||||
btMultiBody* BoxStacks_MLCP::createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape)
|
||||
{
|
||||
btVector3 inertia;
|
||||
collisionShape->calculateLocalInertia(mass, inertia);
|
||||
|
||||
bool canSleep = false;
|
||||
bool isDynamic = mass > 0;
|
||||
btMultiBody* mb = new btMultiBody(0, mass, inertia, !isDynamic,canSleep);
|
||||
btMultiBodyLinkCollider* collider = new btMultiBodyLinkCollider(mb, -1);
|
||||
collider->setWorldTransform(trans);
|
||||
mb->setBaseWorldTransform(trans);
|
||||
|
||||
collider->setCollisionShape(collisionShape);
|
||||
|
||||
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
|
||||
this->m_dynamicsWorld->addCollisionObject(collider, collisionFilterGroup, collisionFilterMask);
|
||||
mb->setBaseCollider(collider);
|
||||
|
||||
mb->finalizeMultiDof();
|
||||
|
||||
|
||||
this->m_dynamicsWorld->addMultiBody(mb);
|
||||
m_dynamicsWorld->forwardKinematics();
|
||||
return mb;
|
||||
}
|
||||
|
||||
|
||||
|
||||
btMultiBody*BoxStacks_MLCP::loadRobot(std::string filepath)
|
||||
{
|
||||
btMultiBody* m_multiBody = 0;
|
||||
BulletURDFImporter u2b(m_guiHelper,0,0,1,0);
|
||||
bool loadOk = u2b.loadURDF(filepath.c_str());// lwr / kuka.urdf");
|
||||
if (loadOk)
|
||||
{
|
||||
int rootLinkIndex = u2b.getRootLinkIndex();
|
||||
b3Printf("urdf root link index = %d\n",rootLinkIndex);
|
||||
MyMultiBodyCreator creation(m_guiHelper);
|
||||
btTransform identityTrans;
|
||||
identityTrans.setIdentity();
|
||||
ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,true,u2b.getPathPrefix());
|
||||
for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
|
||||
{
|
||||
m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
|
||||
}
|
||||
m_multiBody = creation.getBulletMultiBody();
|
||||
if (m_multiBody)
|
||||
{
|
||||
b3Printf("Root link name = %s",u2b.getLinkName(u2b.getRootLinkIndex()).c_str());
|
||||
}
|
||||
}
|
||||
return m_multiBody;
|
||||
}
|
||||
|
||||
CommonExampleInterface* BoxStacks_MLCPCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new BoxStacks_MLCP(options.m_guiHelper);
|
||||
}
|
||||
@@ -1,7 +0,0 @@
|
||||
|
||||
#ifndef CONSTRAINT_SOLVERS_BOX_STACKS_MLCP_DEMO_H
|
||||
#define CONSTRAINT_SOLVERS_BOX_STACKS_MLCP_DEMO_H
|
||||
|
||||
class CommonExampleInterface* BoxStacks_MLCPCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif // CONSTRAINT_SOLVERS_BOX_STACKS_DEMO_H
|
||||
@@ -1,335 +0,0 @@
|
||||
#include "Grasp_Block.h"
|
||||
#include "../OpenGLWindow/SimpleOpenGL3App.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBody.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
|
||||
|
||||
#include "../OpenGLWindow/GLInstancingRenderer.h"
|
||||
#include "BulletCollision/CollisionShapes/btShapeHull.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
|
||||
class Grasp_Block : public CommonMultiBodyBase
|
||||
{
|
||||
public:
|
||||
Grasp_Block(GUIHelperInterface* helper);
|
||||
virtual ~Grasp_Block();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 1;
|
||||
float pitch = -35;
|
||||
float yaw = 50;
|
||||
float targetPos[3] = {-3, 2.8, -2.5};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
void createBoxStack(int numBoxes, btScalar centerX, btScalar centerY);
|
||||
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool fixedBase = false);
|
||||
void createGround(const btVector3& halfExtents = btVector3(50, 50, 50), btScalar zOffSet = btScalar(-1.55));
|
||||
void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
|
||||
};
|
||||
|
||||
static bool g_fixedBase = true;
|
||||
static bool g_firstInit = true;
|
||||
static float scaling = 0.4f;
|
||||
static float friction = 1.;
|
||||
static int g_constraintSolverType = 0;
|
||||
|
||||
Grasp_Block::Grasp_Block(GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper)
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
}
|
||||
|
||||
Grasp_Block::~Grasp_Block()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void Grasp_Block::stepSimulation(float deltaTime)
|
||||
{
|
||||
//use a smaller internal timestep, there are stability issues
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
|
||||
}
|
||||
|
||||
void Grasp_Block::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
if (g_firstInit)
|
||||
{
|
||||
m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10. * scaling));
|
||||
m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(50);
|
||||
g_firstInit = false;
|
||||
}
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
|
||||
if (g_constraintSolverType == 3)
|
||||
{
|
||||
g_constraintSolverType = 0;
|
||||
g_fixedBase = !g_fixedBase;
|
||||
}
|
||||
|
||||
btMLCPSolverInterface* mlcp;
|
||||
switch (g_constraintSolverType++)
|
||||
{
|
||||
case 0:
|
||||
m_solver = new btMultiBodyConstraintSolver;
|
||||
b3Printf("Constraint Solver: Sequential Impulse");
|
||||
break;
|
||||
case 1:
|
||||
mlcp = new btSolveProjectedGaussSeidel();
|
||||
m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + PGS");
|
||||
break;
|
||||
default:
|
||||
mlcp = new btDantzigSolver();
|
||||
m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + Dantzig");
|
||||
break;
|
||||
}
|
||||
m_solver = new btMultiBodyBlockConstraintSolver();
|
||||
|
||||
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->setGravity(btVector3(btScalar(0), btScalar(-9.81), btScalar(0)));
|
||||
m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-4); //todo: what value is good?
|
||||
|
||||
/// Create a few basic rigid bodies
|
||||
btVector3 groundHalfExtents(50, 50, 50);
|
||||
btCollisionShape* groundShape = new btBoxShape(groundHalfExtents);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -50, 00));
|
||||
|
||||
btVector3 linkHalfExtents(btScalar(0.05), btScalar(0.37), btScalar(0.1));
|
||||
btVector3 baseHalfExtents(btScalar(0.05), btScalar(0.37), btScalar(0.1));
|
||||
|
||||
// createBoxStack(5, 0, 0);
|
||||
|
||||
btScalar groundHeight = btScalar(-51.55);
|
||||
btScalar mass = btScalar(0.0);
|
||||
|
||||
btVector3 localInertia(0, 0, 0);
|
||||
groundShape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
// Using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, groundHeight, 0));
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
// Add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body, 1, 1 + 2);
|
||||
|
||||
createGround();
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void Grasp_Block::createBoxStack(int numBoxes, btScalar centerX, btScalar centerZ)
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
const btScalar boxHalfSize = btScalar(0.1);
|
||||
|
||||
btBoxShape* colShape = createBoxShape(btVector3(boxHalfSize, boxHalfSize, boxHalfSize));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.0);
|
||||
|
||||
btVector3 localInertia(0, 0, 0);
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
for (int i = 0; i < numBoxes; ++i)
|
||||
{
|
||||
startTransform.setOrigin(btVector3(centerX, btScalar(btScalar(2) * boxHalfSize * i), centerZ));
|
||||
createRigidBody(mass, startTransform, colShape);
|
||||
}
|
||||
}
|
||||
|
||||
btMultiBody* Grasp_Block::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool fixedBase)
|
||||
{
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 1.f;
|
||||
|
||||
if (baseMass)
|
||||
{
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete pTempBox;
|
||||
}
|
||||
|
||||
bool canSleep = false;
|
||||
|
||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, fixedBase, canSleep);
|
||||
|
||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
||||
pMultiBody->setBasePos(basePosition);
|
||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
||||
btVector3 vel(0, 0, 0);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 0);
|
||||
float linkMass = 1.f;
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete pTempBox;
|
||||
|
||||
//y-axis assumed up
|
||||
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
|
||||
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
|
||||
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
|
||||
|
||||
//////
|
||||
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
||||
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
/////
|
||||
|
||||
for (int i = 0; i < numLinks; ++i)
|
||||
{
|
||||
if (!spherical)
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
||||
else
|
||||
//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
|
||||
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
||||
}
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
///
|
||||
pWorld->addMultiBody(pMultiBody);
|
||||
///
|
||||
return pMultiBody;
|
||||
}
|
||||
|
||||
void Grasp_Block::createGround(const btVector3& halfExtents, btScalar zOffSet)
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(halfExtents);
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
// rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
btScalar mass(0.);
|
||||
const bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0, 0, 0);
|
||||
if (isDynamic)
|
||||
groundShape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
// using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -halfExtents.z() + zOffSet, 0));
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
// add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body, 1, 1 + 2);
|
||||
}
|
||||
|
||||
void Grasp_Block::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
||||
{
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
||||
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
||||
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
|
||||
|
||||
{
|
||||
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
|
||||
|
||||
if (1)
|
||||
{
|
||||
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(box);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(local_origin[0]);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
col->setFriction(friction);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
||||
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
|
||||
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(box);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(friction);
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
|
||||
CommonExampleInterface* Grasp_BlockCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new Grasp_Block(options.m_guiHelper);
|
||||
}
|
||||
@@ -1,7 +0,0 @@
|
||||
|
||||
#ifndef CONSTRAINT_SOLVERS_GRASP_BLOCK_DEMO_H
|
||||
#define CONSTRAINT_SOLVERS_GRASP_BLOCK_DEMO_H
|
||||
|
||||
class CommonExampleInterface* Grasp_BlockCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif // CONSTRAINT_SOLVERS_GRASP_BLOCK_DEMO_H
|
||||
@@ -202,10 +202,6 @@ SET(BulletExampleBrowser_SRCS
|
||||
../MultiThreadedDemo/MultiThreadedDemo.h
|
||||
../MultiThreadedDemo/CommonRigidBodyMTBase.cpp
|
||||
../MultiThreadedDemo/CommonRigidBodyMTBase.h
|
||||
../ConstraintSolvers/BoxStacks.cpp
|
||||
../ConstraintSolvers/BoxStacks_MLCP.cpp
|
||||
../ConstraintSolvers/Grasp_Block.cpp
|
||||
../ConstraintSolvers/SerialChains.cpp
|
||||
../BlockSolver/btBlockSolver.cpp
|
||||
../BlockSolver/btBlockSolver.h
|
||||
../BlockSolver/BlockSolverExample.cpp
|
||||
|
||||
@@ -21,10 +21,6 @@
|
||||
#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
|
||||
#include "../Importers/ImportMJCFDemo/ImportMJCFSetup.h"
|
||||
#include "../Collision/CollisionTutorialBullet2.h"
|
||||
#include "../ConstraintSolvers/SerialChains.h"
|
||||
#include "../ConstraintSolvers/BoxStacks.h"
|
||||
#include "../ConstraintSolvers/BoxStacks_MLCP.h"
|
||||
#include "../ConstraintSolvers/Grasp_Block.h"
|
||||
#include "../GyroscopicDemo/GyroscopicSetup.h"
|
||||
#include "../Constraints/Dof6Spring2Setup.h"
|
||||
#include "../Constraints/ConstraintPhysicsSetup.h"
|
||||
@@ -142,12 +138,6 @@ static ExampleEntry gDefaultExamples[] =
|
||||
ExampleEntry(1, "Inverted Pendulum PD", "Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
|
||||
ExampleEntry(1, "MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", MultiBodySoftContactCreateFunc, 0),
|
||||
|
||||
ExampleEntry(0, "Constraint Solvers"),
|
||||
ExampleEntry(1, "Serial Chains", "Show colliding two serial chains using different constraint solvers.", SerialChainsCreateFunc, 0),
|
||||
ExampleEntry(1, "Box Stack", "Show box stacks with different constraint solvers for each stack.", BoxStacksCreateFunc, 0),
|
||||
ExampleEntry(1, "Box Stack MLCP", "Show box stacks with different constraint solvers for each stack.", BoxStacks_MLCPCreateFunc, 0),
|
||||
ExampleEntry(1, "Grasp Block", "Show box stacks with different constraint solvers for each stack.", Grasp_BlockCreateFunc, 0),
|
||||
|
||||
|
||||
ExampleEntry(0, "Physics Client-Server"),
|
||||
ExampleEntry(1, "Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",
|
||||
@@ -163,10 +153,10 @@ static ExampleEntry gDefaultExamples[] =
|
||||
|
||||
|
||||
ExampleEntry(0, "BlockSolver"),
|
||||
ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_STACK+ BLOCK_SOLVER_SI),
|
||||
ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_STACK + BLOCK_SOLVER_MLCP_PGS),
|
||||
ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
|
||||
ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_STACK + BLOCK_SOLVER_BLOCK),
|
||||
ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK+ BLOCK_SOLVER_SI),
|
||||
ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_PGS),
|
||||
ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
|
||||
ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_BLOCK),
|
||||
|
||||
ExampleEntry(0, "Inverse Dynamics"),
|
||||
ExampleEntry(1, "Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_LOAD_URDF),
|
||||
|
||||
@@ -163,7 +163,6 @@ project "App_BulletExampleBrowser"
|
||||
"../Collision/*",
|
||||
"../RoboticsLearning/*",
|
||||
"../BlockSolver/*",
|
||||
"../ConstraintSolvers/*",
|
||||
"../Collision/Internal/*",
|
||||
"../Benchmarks/*",
|
||||
"../MultiThreadedDemo/*",
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBody.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
@@ -113,7 +112,6 @@ void SerialChains::initPhysics()
|
||||
b3Printf("Constraint Solver: MLCP + Dantzig");
|
||||
break;
|
||||
}
|
||||
m_solver = new btMultiBodyBlockConstraintSolver();
|
||||
|
||||
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
@@ -239,53 +237,6 @@ void SerialChains::initPhysics()
|
||||
|
||||
createGround();
|
||||
|
||||
{
|
||||
btVector3 halfExtents(.5,.5,.5);
|
||||
btBoxShape* colShape = new btBoxShape(halfExtents);
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
startTransform.setOrigin(btVector3(
|
||||
btScalar(0.0),
|
||||
0.0,
|
||||
btScalar(0.0)));
|
||||
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
|
||||
// btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
// m_dynamicsWorld->addRigidBody(body);//,1,1+2);
|
||||
|
||||
{
|
||||
btVector3 pointInA = -linkHalfExtents;
|
||||
// btVector3 pointInB = halfExtents;
|
||||
btMatrix3x3 frameInA;
|
||||
btMatrix3x3 frameInB;
|
||||
frameInA.setIdentity();
|
||||
frameInB.setIdentity();
|
||||
btVector3 jointAxis(1.0,0.0,0.0);
|
||||
//btMultiBodySliderConstraint* p2p = new btMultiBodySliderConstraint(mbC,numLinks-1,body,pointInA,pointInB,frameInA,frameInB,jointAxis);
|
||||
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(mbC1, numLinks- 1 , mbC2, numLinks - 1, pointInA, pointInA);
|
||||
p2p->setMaxAppliedImpulse(20.0);
|
||||
m_dynamicsWorld->addMultiBodyConstraint(p2p);
|
||||
}
|
||||
}
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
/////////////////////////////////////////////////////////////////
|
||||
@@ -32,7 +32,6 @@ SET(BulletDynamics_SRCS
|
||||
Vehicle/btWheelInfo.cpp
|
||||
Featherstone/btMultiBody.cpp
|
||||
Featherstone/btMultiBodyConstraint.cpp
|
||||
Featherstone/btMultiBodyBlockConstraintSolver.cpp
|
||||
Featherstone/btMultiBodyConstraintSolver.cpp
|
||||
Featherstone/btMultiBodyDynamicsWorld.cpp
|
||||
Featherstone/btMultiBodyFixedConstraint.cpp
|
||||
|
||||
@@ -1844,16 +1844,7 @@ void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodi
|
||||
convertBodiesInternal(siData, bodies, numBodies, infoGlobal);
|
||||
}
|
||||
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
|
||||
{
|
||||
solveGroupConvertConstraintPrestep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
||||
solveGroupConvertConstraints(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
||||
solveGroupConvertConstraintPoststep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
||||
return 0.;
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraints(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
|
||||
{
|
||||
m_fixedBodyId = -1;
|
||||
BT_PROFILE("solveGroupCacheFriendlySetup");
|
||||
@@ -1943,17 +1934,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraints(btCol
|
||||
|
||||
convertContacts(manifoldPtr, numManifolds, infoGlobal);
|
||||
|
||||
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPrestep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& /*infoGlobal*/, btIDebugDraw* /*debugDrawer*/)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPoststep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
|
||||
{
|
||||
// btContactSolverInfo info = infoGlobal;
|
||||
|
||||
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
|
||||
@@ -1984,8 +1964,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPostste
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
BT_PROFILE("solveSingleIteration");
|
||||
@@ -2413,33 +2394,3 @@ void btSequentialImpulseConstraintSolver::reset()
|
||||
{
|
||||
m_btSeed2 = 0;
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertBackPrestep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
return btScalar(0);
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertBack(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
|
||||
{
|
||||
writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal);
|
||||
}
|
||||
|
||||
writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal);
|
||||
writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal);
|
||||
|
||||
return btScalar(0);
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertBackPoststep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
|
||||
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
|
||||
m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
|
||||
m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
|
||||
|
||||
m_tmpSolverBodyPool.resizeNoInitialize(0);
|
||||
|
||||
return btScalar(0);
|
||||
}
|
||||
|
||||
@@ -296,14 +296,6 @@ public:
|
||||
static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric();
|
||||
static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric();
|
||||
|
||||
virtual btScalar solveGroupConvertConstraintPrestep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& /*infoGlobal*/, btIDebugDraw* /*debugDrawer*/);
|
||||
virtual btScalar solveGroupConvertConstraintPoststep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/);
|
||||
virtual btScalar solveGroupConvertConstraints(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
|
||||
virtual btScalar solveGroupConvertBackPrestep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
virtual btScalar solveGroupConvertBack(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
virtual btScalar solveGroupConvertBackPoststep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
|
||||
@@ -1,760 +0,0 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2018 Google Inc. 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,
|
||||
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 "btMultiBodyBlockConstraintSolver.h"
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "btMultiBodyMLCPConstraintSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
|
||||
static void rigidBodyNotSupported()
|
||||
{
|
||||
printf("Attempts to use rigid body for block solver, which is not supported yet.\n");
|
||||
btAssert(false);
|
||||
}
|
||||
|
||||
btMultiBodyConstraintBlock::btMultiBodyConstraintBlock()
|
||||
: m_constraintConfigId(-1)
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btMultiBodyConstraintBlock::btMultiBodyConstraintBlock(
|
||||
btTypedConstraint** m_constraints,
|
||||
int m_numConstraints,
|
||||
btAlignedObjectArray<btSolverBody>* m_solverBodyPool,
|
||||
btConstraintArray& m_nonContactConstraints,
|
||||
btConstraintArray& m_normalContactConstraints,
|
||||
btConstraintArray& m_frictionContactConstraints,
|
||||
btConstraintArray& m_rollingFrictionContactConstraints,
|
||||
btMultiBodyConstraint** m_multiBodyConstraints,
|
||||
int m_numMultiBodyConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyNonContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyNormalContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyFrictionContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyTorsionalFrictionContactConstraints,
|
||||
btMultiBodyJacobianData* m_data)
|
||||
: m_constraintConfigId(-1)
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
static void copyConstraintDynamicDataToBlock(btAlignedObjectArray<btMultiBodySolverConstraint*>& originalConstraints, const btAlignedObjectArray<btMultiBodySolverConstraint>& blockConstraints)
|
||||
{
|
||||
btAssert(originalConstraints.size() == blockConstraints.size());
|
||||
for (int i = 0; i < blockConstraints.size(); ++i)
|
||||
{
|
||||
btMultiBodySolverConstraint& originalConstraint = *originalConstraints[i];
|
||||
const btMultiBodySolverConstraint& blockConstraint = blockConstraints[i];
|
||||
|
||||
blockConstraint.m_appliedImpulse = originalConstraint.m_appliedImpulse;
|
||||
blockConstraint.m_appliedPushImpulse = originalConstraint.m_appliedPushImpulse;
|
||||
}
|
||||
}
|
||||
|
||||
void debugPrint(const btScalar* data, int size)
|
||||
{
|
||||
for (int i = 0; i < size; ++i)
|
||||
{
|
||||
printf("\t%.5f", data[i]);
|
||||
if (i != size - 1)
|
||||
printf(",");
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void debugPrintDiff(const btScalar* dataA, const btScalar* dataB, int size, bool ignoreZero = false)
|
||||
{
|
||||
for (int i = 0; i < size; ++i)
|
||||
{
|
||||
if (ignoreZero)
|
||||
{
|
||||
if (btFabs(dataA[i] - dataB[i]) < 1e-9)
|
||||
continue;
|
||||
}
|
||||
printf("\t%f", dataA[i] - dataB[i]);
|
||||
if (i != size - 1)
|
||||
printf(",");
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void btMultiBodyConstraintBlock::copyDynamicDataFromOriginalToBlock()
|
||||
{
|
||||
copyConstraintDynamicDataToBlock(m_originalMultiBodyNormalContactConstraintPtrs, m_internalData.m_multiBodyNormalContactConstraints);
|
||||
copyConstraintDynamicDataToBlock(m_originalMultiBodyFrictionContactConstraintPtrs, m_internalData.m_multiBodyFrictionContactConstraints);
|
||||
copyConstraintDynamicDataToBlock(m_originalMultiBodyTorsionalFrictionContactConstraintPtrs, m_internalData.m_multiBodyTorsionalFrictionContactConstraints);
|
||||
|
||||
btAssert(m_multiBodies.size() == m_originalDeltaVelIndices.size());
|
||||
btAssert(m_multiBodies.size() == m_deltaVelIndices.size());
|
||||
for (int i = 0; i < m_multiBodies.size(); ++i)
|
||||
{
|
||||
btMultiBody* multiBody = m_multiBodies[i];
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btMultiBodyJacobianData& originalData = m_internalData.m_data; // TODO(JS): WRONG !!
|
||||
btAlignedObjectArray<btScalar>& originaDeltaVelocities = originalData.m_deltaVelocities;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = m_internalData.m_data.m_deltaVelocities;
|
||||
|
||||
const int originalIndex = m_originalDeltaVelIndices[i];
|
||||
const int blockIndex = m_deltaVelIndices[i];
|
||||
|
||||
const btScalar* originalDeltaVelocitiesPtr = &originaDeltaVelocities[originalIndex];
|
||||
btScalar* blockDeltaVelocitiesPtr = &blockDeltaVelocities[blockIndex];
|
||||
|
||||
// printf("[ original --> block ]\n");
|
||||
// printf("original: ");
|
||||
// debugPrint(originalDeltaVelocitiesPtr, ndof);
|
||||
// printf("block: ");
|
||||
// debugPrint(blockDeltaVelocitiesPtr, ndof);
|
||||
// printf("diff: ");
|
||||
// debugPrintDiff(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof, true);
|
||||
// printf("\n");
|
||||
|
||||
memcpy(blockDeltaVelocitiesPtr, originalDeltaVelocitiesPtr, ndof * sizeof(btScalar));
|
||||
}
|
||||
}
|
||||
|
||||
static void copyConstraintDynamicDataFromToOriginal(btAlignedObjectArray<btMultiBodySolverConstraint*>& originalConstraints, const btAlignedObjectArray<btMultiBodySolverConstraint>& blockConstraints)
|
||||
{
|
||||
btAssert(originalConstraints.size() == blockConstraints.size());
|
||||
for (int i = 0; i < blockConstraints.size(); ++i)
|
||||
{
|
||||
btMultiBodySolverConstraint& originalConstraint = *originalConstraints[i];
|
||||
const btMultiBodySolverConstraint& blockConstraint = blockConstraints[i];
|
||||
|
||||
originalConstraint.m_appliedImpulse = blockConstraint.m_appliedImpulse;
|
||||
originalConstraint.m_appliedPushImpulse = blockConstraint.m_appliedPushImpulse;
|
||||
}
|
||||
}
|
||||
|
||||
void btMultiBodyConstraintBlock::copyDynamicDataFromBlockToOriginal()
|
||||
{
|
||||
copyConstraintDynamicDataFromToOriginal(m_originalMultiBodyNormalContactConstraintPtrs, m_internalData.m_multiBodyNormalContactConstraints);
|
||||
copyConstraintDynamicDataFromToOriginal(m_originalMultiBodyFrictionContactConstraintPtrs, m_internalData.m_multiBodyFrictionContactConstraints);
|
||||
copyConstraintDynamicDataFromToOriginal(m_originalMultiBodyTorsionalFrictionContactConstraintPtrs, m_internalData.m_multiBodyTorsionalFrictionContactConstraints);
|
||||
|
||||
btAssert(m_multiBodies.size() == m_originalDeltaVelIndices.size());
|
||||
btAssert(m_multiBodies.size() == m_deltaVelIndices.size());
|
||||
for (int i = 0; i < m_multiBodies.size(); ++i)
|
||||
{
|
||||
btMultiBody* multiBody = m_multiBodies[i];
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btMultiBodyJacobianData& originalData = m_internalData.m_data;
|
||||
btAlignedObjectArray<btScalar>& originaDeltaVelocities = originalData.m_deltaVelocities;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = m_internalData.m_data.m_deltaVelocities;
|
||||
|
||||
const int originalIndex = m_originalDeltaVelIndices[i];
|
||||
const int blockIndex = m_deltaVelIndices[i];
|
||||
|
||||
btScalar* originalDeltaVelocitiesPtr = &originaDeltaVelocities[originalIndex];
|
||||
const btScalar* blockDeltaVelocitiesPtr = &blockDeltaVelocities[blockIndex];
|
||||
|
||||
// printf("[ block --> original ]\n");
|
||||
// printf("original: ");
|
||||
// debugPrint(originalDeltaVelocitiesPtr, ndof);
|
||||
// printf("block: ");
|
||||
// debugPrint(blockDeltaVelocitiesPtr, ndof);
|
||||
// printf("diff: ");
|
||||
// debugPrintDiff(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof, true);
|
||||
// printf("\n");
|
||||
|
||||
memcpy(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof * sizeof(btScalar));
|
||||
}
|
||||
}
|
||||
|
||||
btSingleBlockSplittingPolicy::btSingleBlockSplittingPolicy(btMultiBodyConstraintSolver* solver)
|
||||
: m_solver(solver)
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btSingleBlockSplittingPolicy::~btSingleBlockSplittingPolicy()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void btSingleBlockSplittingPolicy::split(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInput, const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs, btAlignedObjectArray<btMultiBodyConstraintBlock>& blocksOutput)
|
||||
{
|
||||
btMultiBodyConstraintBlock newBlock;
|
||||
// newBlock.m_originalInternalDataBlock = blockInput;
|
||||
// m_solver->setMultiBodyInternalConstraintData(newBlock.m_originalInternalDataBlock);
|
||||
newBlock.m_solver = m_solver;
|
||||
// newBlock.m_constraints = blockInput.m_constraints;
|
||||
// newBlock.m_numConstraints = blockInput.m_numConstraints;
|
||||
// newBlock.m_multiBodyConstraints = blockInput.m_multiBodyConstraints;
|
||||
// newBlock.m_numMultiBodyConstraints = blockInput.m_numMultiBodyConstraints;
|
||||
|
||||
blocksOutput.push_back(newBlock);
|
||||
}
|
||||
|
||||
btDoubleBlockSplittingPolicy::btDoubleBlockSplittingPolicy(btMultiBodyConstraintSolver* solver)
|
||||
: m_solver(solver)
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btDoubleBlockSplittingPolicy::~btDoubleBlockSplittingPolicy()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
template <typename ArrayT>
|
||||
void splitContactConstraints(const ArrayT& input, ArrayT& output1, ArrayT& output2)
|
||||
{
|
||||
const int totalSize = input.size();
|
||||
const int halfSize = totalSize / 2;
|
||||
|
||||
output1.resize(halfSize);
|
||||
output2.resize(totalSize - halfSize);
|
||||
|
||||
for (int i = 0; i < halfSize; ++i)
|
||||
{
|
||||
output1[i] = input[i];
|
||||
}
|
||||
|
||||
for (int i = halfSize; i < totalSize; ++i)
|
||||
{
|
||||
output2[i - halfSize] = input[i];
|
||||
}
|
||||
}
|
||||
|
||||
btMultiBodyConstraintBlock initializeConstraintBlock(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& input)
|
||||
{
|
||||
btMultiBodyConstraintBlock output;
|
||||
|
||||
// MultiBody
|
||||
|
||||
output.m_internalData.m_multiBodyConstraints = input.m_multiBodyConstraints;
|
||||
output.m_internalData.m_numMultiBodyConstraints = input.m_numMultiBodyConstraints;
|
||||
//output.m_multiBodyConstraintSet.m_data = input.m_multiBodyConstraintSet.m_data;
|
||||
|
||||
btAssert(output.m_internalData.m_multiBodyNormalContactConstraints.size() == 0);
|
||||
btAssert(output.m_internalData.m_multiBodyFrictionContactConstraints.size() == 0);
|
||||
|
||||
return output;
|
||||
}
|
||||
|
||||
static void setupBlockMultiBodyJacobianData(
|
||||
btMultiBody* multiBody,
|
||||
btAlignedObjectArray<btMultiBody*>& multiBodySet,
|
||||
btAlignedObjectArray<int>& blockDeltaVelIndices,
|
||||
int& blockDeltaVelIndex,
|
||||
int& blockJacobianIndex,
|
||||
btMultiBodyJacobianData& blockJacobianData,
|
||||
btAlignedObjectArray<int>& originalDeltaVelIndices,
|
||||
const int originalDeltaVelIndex,
|
||||
const int originalJacobianIndex,
|
||||
const btMultiBodyJacobianData& originalJacobianData)
|
||||
{
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockJacobians = blockJacobianData.m_jacobians;
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = blockJacobianData.m_deltaVelocities;
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocitiesUnitImpulse = blockJacobianData.m_deltaVelocitiesUnitImpulse;
|
||||
|
||||
const btAlignedObjectArray<btScalar>& originalJacobians = originalJacobianData.m_jacobians;
|
||||
const btAlignedObjectArray<btScalar>& originalDeltaVelocitiesUnitImpulse = originalJacobianData.m_deltaVelocitiesUnitImpulse;
|
||||
|
||||
int indexInBlock = -1;
|
||||
for (int i = 0; i < multiBodySet.size(); ++i)
|
||||
{
|
||||
if (multiBody == multiBodySet[i])
|
||||
{
|
||||
indexInBlock = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (indexInBlock == -1)
|
||||
{
|
||||
blockDeltaVelIndex = blockDeltaVelocities.size();
|
||||
blockDeltaVelocities.resize(blockDeltaVelocities.size() + ndof);
|
||||
multiBodySet.push_back(multiBody);
|
||||
originalDeltaVelIndices.push_back(originalDeltaVelIndex);
|
||||
blockDeltaVelIndices.push_back(blockDeltaVelIndex);
|
||||
}
|
||||
else
|
||||
{
|
||||
blockDeltaVelIndex = blockDeltaVelIndices[indexInBlock];
|
||||
}
|
||||
|
||||
blockJacobianIndex = blockJacobians.size();
|
||||
blockJacobians.resize(blockJacobians.size() + ndof);
|
||||
blockDeltaVelocitiesUnitImpulse.resize(blockDeltaVelocitiesUnitImpulse.size() + ndof);
|
||||
btAssert(blockJacobians.size() == blockDeltaVelocitiesUnitImpulse.size());
|
||||
|
||||
btScalar* blockJacobiansRawPtr = &blockJacobians[blockJacobianIndex];
|
||||
const btScalar* originalJacobiansRawPtr = &originalJacobians[originalJacobianIndex];
|
||||
memcpy(blockJacobiansRawPtr, originalJacobiansRawPtr, ndof * sizeof(btScalar));
|
||||
|
||||
btScalar* blockDeltaVelUnitImp = &blockDeltaVelocitiesUnitImpulse[blockJacobianIndex];
|
||||
const btScalar* originalDeltaVelUnitImp = &originalDeltaVelocitiesUnitImpulse[originalJacobianIndex];
|
||||
memcpy(blockDeltaVelUnitImp, originalDeltaVelUnitImp, ndof * sizeof(btScalar));
|
||||
|
||||
btAssert(blockJacobians.size() >= blockDeltaVelocities.size());
|
||||
}
|
||||
|
||||
static void setupMultiBodyBlockConstraintData(
|
||||
btMultiBodyConstraintBlock& block,
|
||||
btAlignedObjectArray<btMultiBody*>& blockMultiBodySet,
|
||||
btAlignedObjectArray<int>& blockDeltaVelIndices,
|
||||
btMultiBodySolverConstraint& blockContactConstraint,
|
||||
btMultiBodyJacobianData& blockJacobianData,
|
||||
int blockFrictionIndex,
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData,
|
||||
btAlignedObjectArray<int>& originalDeltaVelIndices,
|
||||
const btMultiBodySolverConstraint& originalContactConstraint,
|
||||
const btMultiBodyJacobianData& originalJacobianData)
|
||||
{
|
||||
// Copy all the values. Some values will be updated below if necessary.
|
||||
blockContactConstraint = originalContactConstraint;
|
||||
blockContactConstraint.m_frictionIndex = blockFrictionIndex;
|
||||
|
||||
btMultiBody* multiBodyA = blockContactConstraint.m_multiBodyA;
|
||||
if (multiBodyA)
|
||||
{
|
||||
setupBlockMultiBodyJacobianData(
|
||||
multiBodyA,
|
||||
blockMultiBodySet,
|
||||
blockDeltaVelIndices,
|
||||
blockContactConstraint.m_deltaVelAindex,
|
||||
blockContactConstraint.m_jacAindex,
|
||||
blockJacobianData,
|
||||
originalDeltaVelIndices,
|
||||
originalContactConstraint.m_deltaVelAindex,
|
||||
originalContactConstraint.m_jacAindex,
|
||||
originalJacobianData);
|
||||
}
|
||||
else
|
||||
{
|
||||
rigidBodyNotSupported();
|
||||
}
|
||||
|
||||
btMultiBody* multiBodyB = blockContactConstraint.m_multiBodyB;
|
||||
if (multiBodyB)
|
||||
{
|
||||
setupBlockMultiBodyJacobianData(
|
||||
multiBodyB,
|
||||
blockMultiBodySet,
|
||||
blockDeltaVelIndices,
|
||||
blockContactConstraint.m_deltaVelBindex,
|
||||
blockContactConstraint.m_jacBindex,
|
||||
blockJacobianData,
|
||||
originalDeltaVelIndices,
|
||||
originalContactConstraint.m_deltaVelBindex,
|
||||
originalContactConstraint.m_jacBindex,
|
||||
originalJacobianData);
|
||||
}
|
||||
else
|
||||
{
|
||||
rigidBodyNotSupported();
|
||||
}
|
||||
}
|
||||
|
||||
void btDoubleBlockSplittingPolicy::split(
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData,
|
||||
const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs,
|
||||
btAlignedObjectArray<btMultiBodyConstraintBlock>& subBlocks)
|
||||
{
|
||||
btMultiBodyConstraintBlock constraintBlock1 = initializeConstraintBlock(originalInternalData);
|
||||
btMultiBodyConstraintBlock constraintBlock2 = initializeConstraintBlock(originalInternalData);
|
||||
btMultiBodyConstraintBlock constraintBlock3 = initializeConstraintBlock(originalInternalData);
|
||||
|
||||
constraintBlock1.m_solver = m_solver;
|
||||
constraintBlock2.m_solver = m_solver;
|
||||
constraintBlock3.m_solver = m_solver;
|
||||
|
||||
btDantzigSolver* mlcp = new btDantzigSolver();
|
||||
btMultiBodyMLCPConstraintSolver* sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
// constraintBlock2.m_solver = sol;
|
||||
|
||||
const int totalMultiBodyContactConstraintSize = originalInternalData.m_multiBodyNormalContactConstraints.size();
|
||||
const int halfMultiBodyContactConstraintSize = totalMultiBodyContactConstraintSize / 2;
|
||||
|
||||
for (int i = 0; i < halfMultiBodyContactConstraintSize; ++i)
|
||||
{
|
||||
copyMultiBodyContactConstraint(constraintBlock1, originalInternalData, i);
|
||||
}
|
||||
|
||||
for (int i = halfMultiBodyContactConstraintSize; i < totalMultiBodyContactConstraintSize; ++i)
|
||||
{
|
||||
copyMultiBodyContactConstraint(constraintBlock2, originalInternalData, i);
|
||||
}
|
||||
|
||||
const int totalMultiBodyNonContactConstraintSize = originalInternalData.m_multiBodyNonContactConstraints.size();
|
||||
|
||||
for (int i = 0; i < totalMultiBodyNonContactConstraintSize; ++i)
|
||||
{
|
||||
// copyMultiBodyNonContactConstraint(constraintBlock3, originalInternalData, i);
|
||||
}
|
||||
|
||||
|
||||
// for (int i = 0; i < totalMultiBodyContactConstraintSize; ++i)
|
||||
// {
|
||||
// if (strcmp(originalInternalData.m_multiBodyNormalContactConstraints[i].m_multiBodyA->getBaseName(), "group1") == 0)
|
||||
// copyMultiBodyContactConstraint(constraintBlock1, originalInternalData, i);
|
||||
// else
|
||||
// copyMultiBodyContactConstraint(constraintBlock2, originalInternalData, i);
|
||||
// }
|
||||
|
||||
subBlocks.push_back(constraintBlock1);
|
||||
subBlocks.push_back(constraintBlock2);
|
||||
subBlocks.push_back(constraintBlock3);
|
||||
}
|
||||
|
||||
btMultiBodyBlockSplittingPolicy::~btMultiBodyBlockSplittingPolicy()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void btMultiBodyBlockSplittingPolicy::copyMultiBodyNonContactConstraint(btMultiBodyConstraintBlock& block, btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData, int originalNonContactConstraintIndex)
|
||||
{
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& originalNonContactConstraints = originalInternalData.m_multiBodyNonContactConstraints;
|
||||
const btMultiBodyJacobianData& originalJacobianData = originalInternalData.m_data;
|
||||
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInternalData = block.m_internalData;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& blockNonContactConstraints = blockInternalData.m_multiBodyNonContactConstraints;
|
||||
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*>& blockOriginalNonContactConstraintPtrs = block.m_originalMultiBodyNonContactConstraintPtrs;
|
||||
|
||||
btMultiBodyJacobianData& blockJacobianData = block.m_internalData.m_data;
|
||||
|
||||
btAlignedObjectArray<btMultiBody*>& blockMultiBodySet = block.m_multiBodies;
|
||||
|
||||
const int blockFrictionIndex = blockNonContactConstraints.size();
|
||||
|
||||
btMultiBodySolverConstraint& originalNonContactConstraint = originalNonContactConstraints[originalNonContactConstraintIndex];
|
||||
|
||||
btMultiBodySolverConstraint& blockNonContactConstraint = blockNonContactConstraints.expandNonInitializing();
|
||||
blockOriginalNonContactConstraintPtrs.push_back(&originalNonContactConstraint);
|
||||
|
||||
setupMultiBodyBlockConstraintData(
|
||||
block,
|
||||
blockMultiBodySet,
|
||||
block.m_deltaVelIndices,
|
||||
blockNonContactConstraint,
|
||||
blockJacobianData,
|
||||
blockFrictionIndex,
|
||||
originalInternalData,
|
||||
block.m_originalDeltaVelIndices,
|
||||
originalNonContactConstraint,
|
||||
originalJacobianData);
|
||||
}
|
||||
|
||||
void btMultiBodyBlockSplittingPolicy::copyMultiBodyContactConstraint(btMultiBodyConstraintBlock& block, btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData, int originalNormalContactConstraintIndex)
|
||||
{
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& originalNormalContactConstraints = originalInternalData.m_multiBodyNormalContactConstraints;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& originalFrictionContactConstraints = originalInternalData.m_multiBodyFrictionContactConstraints;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& originalTortionalFrictionContactConstraints = originalInternalData.m_multiBodyTorsionalFrictionContactConstraints;
|
||||
const btMultiBodyJacobianData& originalJacobianData = originalInternalData.m_data;
|
||||
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInternalData = block.m_internalData;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& blockNormalContactConstraints = blockInternalData.m_multiBodyNormalContactConstraints;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& blockFrictionContactConstraints = blockInternalData.m_multiBodyFrictionContactConstraints;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& blockTortionalFrictionContactConstraints = blockInternalData.m_multiBodyTorsionalFrictionContactConstraints;
|
||||
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*>& blockOriginalNormalContactConstraintPtrs = block.m_originalMultiBodyNormalContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*>& blockOriginalFrictionContactConstraintPtrs = block.m_originalMultiBodyFrictionContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*>& blockOriginalTorsionalFrictionContactConstraintPtrs = block.m_originalMultiBodyTorsionalFrictionContactConstraintPtrs;
|
||||
|
||||
btMultiBodyJacobianData& blockJacobianData = block.m_internalData.m_data;
|
||||
|
||||
const int numFrictionPerContact = originalNormalContactConstraints.size() == originalFrictionContactConstraints.size() ? 1 : 2;
|
||||
|
||||
btAlignedObjectArray<btMultiBody*>& blockMultiBodySet = block.m_multiBodies;
|
||||
|
||||
const int blockFrictionIndex = blockNormalContactConstraints.size();
|
||||
|
||||
//-- 1. Normal contact
|
||||
|
||||
btMultiBodySolverConstraint& originalNormalContactConstraint = originalNormalContactConstraints[originalNormalContactConstraintIndex];
|
||||
|
||||
btMultiBodySolverConstraint& blockNormalContactConstraint = blockNormalContactConstraints.expandNonInitializing();
|
||||
blockOriginalNormalContactConstraintPtrs.push_back(&originalNormalContactConstraint);
|
||||
|
||||
setupMultiBodyBlockConstraintData(
|
||||
block,
|
||||
blockMultiBodySet,
|
||||
block.m_deltaVelIndices,
|
||||
blockNormalContactConstraint,
|
||||
blockJacobianData,
|
||||
blockFrictionIndex,
|
||||
originalInternalData,
|
||||
block.m_originalDeltaVelIndices,
|
||||
originalNormalContactConstraint,
|
||||
originalJacobianData);
|
||||
|
||||
//-- 2. Friction contacts
|
||||
|
||||
btAssert(originalFrictionContactConstraints.size() != 0);
|
||||
const int originalFrictionContactConstraintIndex1 = originalNormalContactConstraintIndex * numFrictionPerContact;
|
||||
btMultiBodySolverConstraint& originalFrictionContactConstraint = originalFrictionContactConstraints[originalFrictionContactConstraintIndex1];
|
||||
|
||||
blockOriginalFrictionContactConstraintPtrs.push_back(&originalFrictionContactConstraint);
|
||||
btMultiBodySolverConstraint& blockFrictionContactConstraint1 = blockFrictionContactConstraints.expandNonInitializing();
|
||||
setupMultiBodyBlockConstraintData(
|
||||
block,
|
||||
blockMultiBodySet,
|
||||
block.m_deltaVelIndices,
|
||||
blockFrictionContactConstraint1,
|
||||
blockJacobianData,
|
||||
blockFrictionIndex,
|
||||
originalInternalData,
|
||||
block.m_originalDeltaVelIndices,
|
||||
originalFrictionContactConstraint,
|
||||
originalJacobianData);
|
||||
|
||||
if (numFrictionPerContact == 2)
|
||||
{
|
||||
const int originalFrictionContactConstraintIndex2 = originalFrictionContactConstraintIndex1 + 1;
|
||||
btMultiBodySolverConstraint& originalFrictionContactConstraint = originalFrictionContactConstraints[originalFrictionContactConstraintIndex2];
|
||||
|
||||
blockOriginalFrictionContactConstraintPtrs.push_back(&originalFrictionContactConstraint);
|
||||
btMultiBodySolverConstraint& blockFrictionContactConstraint2 = blockFrictionContactConstraints.expandNonInitializing();
|
||||
setupMultiBodyBlockConstraintData(
|
||||
block,
|
||||
blockMultiBodySet,
|
||||
block.m_deltaVelIndices,
|
||||
blockFrictionContactConstraint2,
|
||||
blockJacobianData,
|
||||
blockFrictionIndex,
|
||||
originalInternalData,
|
||||
block.m_originalDeltaVelIndices,
|
||||
originalFrictionContactConstraint,
|
||||
originalJacobianData);
|
||||
}
|
||||
|
||||
// TODO(JS): Torsional friction contact constraints
|
||||
}
|
||||
|
||||
btMultiBodyBlockConstraintSolver::btMultiBodyBlockConstraintSolver()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btMultiBodyBlockConstraintSolver::~btMultiBodyBlockConstraintSolver()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btScalar btMultiBodyBlockConstraintSolver::solveGroupConvertConstraintPoststep(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
|
||||
{
|
||||
return btMultiBodyConstraintSolver::solveGroupConvertConstraintPoststep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::solveMultiBodyGroup(
|
||||
btCollisionObject** bodies,
|
||||
int numBodies,
|
||||
btPersistentManifold** manifold,
|
||||
int numManifolds,
|
||||
btTypedConstraint** constraints,
|
||||
int numConstraints,
|
||||
btMultiBodyConstraint** multiBodyConstraints,
|
||||
int numMultiBodyConstraints,
|
||||
const btContactSolverInfo& info,
|
||||
btIDebugDraw* debugDrawer,
|
||||
btDispatcher* /*dispatcher*/)
|
||||
{
|
||||
m_tmpMultiBodyConstraints = multiBodyConstraints;
|
||||
m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
|
||||
|
||||
// 1. Convert rigid bodies/multibodies, joints, contacts into constraints.
|
||||
solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
|
||||
// 2. Split constraints into constraint blocks
|
||||
btMultiBodyInternalConstraintData originalInternalDataCopy;
|
||||
getMultiBodyInternalConstraintData(originalInternalDataCopy);
|
||||
|
||||
btAlignedObjectArray<btBlockConstraintSolverConfig> configs;
|
||||
// TODO(JS): This is just for test
|
||||
//m_splittingPolicy = new btSingleBlockSplittingPolicy(new btMultiBodyConstraintSolver());
|
||||
|
||||
// btDantzigSolver* mlcp = new btDantzigSolver();
|
||||
// btMultiBodyMLCPConstraintSolver* sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
// m_splittingPolicy = new btDoubleBlockSplittingPolicy(sol);
|
||||
|
||||
m_splittingPolicy = new btDoubleBlockSplittingPolicy(new btMultiBodyConstraintSolver());
|
||||
|
||||
btAssert(m_splittingPolicy);
|
||||
m_blocks.resize(0);
|
||||
m_splittingPolicy->split(originalInternalDataCopy, configs, m_blocks);
|
||||
|
||||
// for (int i = 0; i < m_blocks.size(); ++i)
|
||||
// {
|
||||
// btMultiBodyConstraintBlock& block = m_blocks[i];
|
||||
// btMultiBodyConstraintSolver* solver = block.m_solver;
|
||||
// btAssert(solver);
|
||||
|
||||
// solver->solveGroupConvertConstraintPrestep(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
// copyDynamicDataFromOriginalToBlock(block);
|
||||
//// block.copyDynamicDataFromOriginalToBlock();
|
||||
// solver->setMultiBodyInternalConstraintData(block.m_internalData, false);
|
||||
// solver->solveGroupConvertConstraintPoststep(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
// }
|
||||
|
||||
// 3. Gauss-Seidel iterations
|
||||
|
||||
const int maxIterations = m_maxOverrideNumSolverIterations > info.m_numIterations ? m_maxOverrideNumSolverIterations : info.m_numIterations;
|
||||
|
||||
m_leastSquaresResidual = 0;
|
||||
|
||||
for (int iteration = 0; iteration < maxIterations; ++iteration)
|
||||
{
|
||||
for (int i = 0; i < m_blocks.size(); ++i)
|
||||
{
|
||||
// Change the sweep direction every iteration
|
||||
const int index = iteration & 1 ? m_blocks.size() - 1 - i : i;
|
||||
|
||||
btMultiBodyConstraintBlock& block = m_blocks[index];
|
||||
btMultiBodyConstraintSolver* solver = block.m_solver;
|
||||
btAssert(solver);
|
||||
|
||||
solver->solveGroupConvertConstraintPrestep(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
copyDynamicDataFromOriginalToBlock(block);
|
||||
solver->setMultiBodyInternalConstraintData(block.m_internalData, false);
|
||||
solver->solveGroupConvertConstraintPoststep(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
|
||||
// TODO(JS): Add split impulse
|
||||
btScalar newSquaredResidual = solver->solveGroupCacheFriendlyIterations(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
m_leastSquaresResidual = btMax(m_leastSquaresResidual, newSquaredResidual);
|
||||
|
||||
solver->solveGroupConvertBackPrestep(bodies, numBodies, info);
|
||||
solver->solveGroupConvertBack(bodies, numBodies, info);
|
||||
solver->getMultiBodyInternalConstraintData(block.m_internalData, false);
|
||||
copyDynamicDataFromBlockToOriginal(block);
|
||||
solver->solveGroupConvertBackPoststep(bodies, numBodies, info);
|
||||
}
|
||||
|
||||
if (m_leastSquaresResidual <= info.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
|
||||
{
|
||||
#ifdef VERBOSE_RESIDUAL_PRINTF
|
||||
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// solveGroupConvertBackPrestep(bodies, numBodies, info);
|
||||
// solveGroupConvertBack(bodies, numBodies, info);
|
||||
// getMultiBodyInternalConstraintData(block.m_internalData, false);
|
||||
// copyDynamicDataFromBlockToOriginal(block);
|
||||
// solveGroupConvertBackPoststep(bodies, numBodies, info);
|
||||
|
||||
solveGroupCacheFriendlyFinish(bodies, numBodies, info);
|
||||
|
||||
m_tmpMultiBodyConstraints = 0;
|
||||
m_tmpNumMultiBodyConstraints = 0;
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::setSplittingPolicy(btMultiBodyBlockSplittingPolicy* policy)
|
||||
{
|
||||
m_splittingPolicy = policy;
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::copyDynamicDataFromOriginalToBlock(btMultiBodyConstraintBlock& block)
|
||||
{
|
||||
copyConstraintDynamicDataToBlock(block.m_originalMultiBodyNormalContactConstraintPtrs, block.m_internalData.m_multiBodyNormalContactConstraints);
|
||||
copyConstraintDynamicDataToBlock(block.m_originalMultiBodyFrictionContactConstraintPtrs, block.m_internalData.m_multiBodyFrictionContactConstraints);
|
||||
copyConstraintDynamicDataToBlock(block.m_originalMultiBodyTorsionalFrictionContactConstraintPtrs, block.m_internalData.m_multiBodyTorsionalFrictionContactConstraints);
|
||||
|
||||
btAssert(block.m_multiBodies.size() == block.m_originalDeltaVelIndices.size());
|
||||
btAssert(block.m_multiBodies.size() == block.m_deltaVelIndices.size());
|
||||
for (int i = 0; i < block.m_multiBodies.size(); ++i)
|
||||
{
|
||||
btMultiBody* multiBody = block.m_multiBodies[i];
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btMultiBodyJacobianData& originalData = m_data; // TODO(JS): WRONG !!
|
||||
btAlignedObjectArray<btScalar>& originaDeltaVelocities = originalData.m_deltaVelocities;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = block.m_internalData.m_data.m_deltaVelocities;
|
||||
|
||||
const int originalIndex = block.m_originalDeltaVelIndices[i];
|
||||
const int blockIndex = block.m_deltaVelIndices[i];
|
||||
|
||||
const btScalar* originalDeltaVelocitiesPtr = &originaDeltaVelocities[originalIndex];
|
||||
btScalar* blockDeltaVelocitiesPtr = &blockDeltaVelocities[blockIndex];
|
||||
|
||||
// printf("[ original --> block ]\n");
|
||||
// printf("original: ");
|
||||
// debugPrint(originalDeltaVelocitiesPtr, ndof);
|
||||
// printf("block: ");
|
||||
// debugPrint(blockDeltaVelocitiesPtr, ndof);
|
||||
// printf("diff: ");
|
||||
// debugPrintDiff(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof, true);
|
||||
// printf("\n");
|
||||
|
||||
memcpy(blockDeltaVelocitiesPtr, originalDeltaVelocitiesPtr, ndof * sizeof(btScalar));
|
||||
}
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::copyDynamicDataFromBlockToOriginal(btMultiBodyConstraintBlock& block)
|
||||
{
|
||||
copyConstraintDynamicDataFromToOriginal(block.m_originalMultiBodyNormalContactConstraintPtrs, block.m_internalData.m_multiBodyNormalContactConstraints);
|
||||
copyConstraintDynamicDataFromToOriginal(block.m_originalMultiBodyFrictionContactConstraintPtrs, block.m_internalData.m_multiBodyFrictionContactConstraints);
|
||||
copyConstraintDynamicDataFromToOriginal(block.m_originalMultiBodyTorsionalFrictionContactConstraintPtrs, block.m_internalData.m_multiBodyTorsionalFrictionContactConstraints);
|
||||
|
||||
btAssert(block.m_multiBodies.size() == block.m_originalDeltaVelIndices.size());
|
||||
btAssert(block.m_multiBodies.size() == block.m_deltaVelIndices.size());
|
||||
for (int i = 0; i < block.m_multiBodies.size(); ++i)
|
||||
{
|
||||
btMultiBody* multiBody = block.m_multiBodies[i];
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btMultiBodyJacobianData& originalData = m_data;
|
||||
btAlignedObjectArray<btScalar>& originaDeltaVelocities = originalData.m_deltaVelocities;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = block.m_internalData.m_data.m_deltaVelocities;
|
||||
|
||||
const int originalIndex = block.m_originalDeltaVelIndices[i];
|
||||
const int blockIndex = block.m_deltaVelIndices[i];
|
||||
|
||||
btScalar* originalDeltaVelocitiesPtr = &originaDeltaVelocities[originalIndex];
|
||||
const btScalar* blockDeltaVelocitiesPtr = &blockDeltaVelocities[blockIndex];
|
||||
|
||||
// printf("[ block --> original ]\n");
|
||||
// printf("original: ");
|
||||
// debugPrint(originalDeltaVelocitiesPtr, ndof);
|
||||
// printf("block: ");
|
||||
// debugPrint(blockDeltaVelocitiesPtr, ndof);
|
||||
// printf("diff: ");
|
||||
// debugPrintDiff(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof, true);
|
||||
// printf("\n");
|
||||
|
||||
memcpy(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof * sizeof(btScalar));
|
||||
}
|
||||
}
|
||||
|
||||
int btMultiBodyBlockConstraintSolver::addConfig(btBlockConstraintSolverConfig& config)
|
||||
{
|
||||
m_configs.push_back(config);
|
||||
return m_configs.size();
|
||||
}
|
||||
|
||||
int btMultiBodyBlockConstraintSolver::getNumConfigs() const
|
||||
{
|
||||
return m_configs.size();
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::removeConfig(int configIndex)
|
||||
{
|
||||
m_configs.removeAtIndex(configIndex);
|
||||
}
|
||||
@@ -1,186 +0,0 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2018 Google Inc. 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,
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef BT_MULTIBODY_BLOCK_CONSTRAINT_SOLVER_H
|
||||
#define BT_MULTIBODY_BLOCK_CONSTRAINT_SOLVER_H
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
|
||||
struct btBlockConstraintSolverConfig
|
||||
{
|
||||
int m_solverType; //SI or MLCP Dantzig
|
||||
//to be decided: full or subset of
|
||||
|
||||
btContactSolverInfo m_info;
|
||||
};
|
||||
|
||||
struct btMultiBodyConstraintBlock
|
||||
{
|
||||
/// \{ \name Multi-body Data
|
||||
|
||||
btAlignedObjectArray<btMultiBody*> m_multiBodies;
|
||||
btAlignedObjectArray<int> m_originalDeltaVelIndices;
|
||||
btAlignedObjectArray<int> m_deltaVelIndices;
|
||||
|
||||
// btMultiBodyJacobianData* m_originalDataPtr;
|
||||
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*> m_originalMultiBodyNonContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*> m_originalMultiBodyNormalContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*> m_originalMultiBodyFrictionContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*> m_originalMultiBodyTorsionalFrictionContactConstraintPtrs;
|
||||
|
||||
/// \}
|
||||
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData m_internalData;
|
||||
|
||||
/// Constraint solver
|
||||
btMultiBodyConstraintSolver* m_solver;
|
||||
|
||||
bool m_ownSolver = false;
|
||||
// TODO(JS): If this is true, then don't copy all the constraint data, but
|
||||
// only dynamic data
|
||||
// TODO(JS): not utilized yet
|
||||
|
||||
/// Index to constraint solver configuration
|
||||
int m_constraintConfigId;
|
||||
|
||||
/// Default constructor
|
||||
btMultiBodyConstraintBlock();
|
||||
|
||||
/// Constructor
|
||||
btMultiBodyConstraintBlock(
|
||||
btTypedConstraint** m_constraints,
|
||||
int m_numConstraints,
|
||||
btAlignedObjectArray<btSolverBody>* m_solverBodyPool,
|
||||
btConstraintArray& m_originalNonContactConstraints,
|
||||
btConstraintArray& m_originalNormalContactConstraints,
|
||||
btConstraintArray& m_originalFrictionContactConstraints,
|
||||
btConstraintArray& m_orginalRollingFrictionContactConstraints,
|
||||
btMultiBodyConstraint** m_multiBodyConstraints,
|
||||
int m_numMultiBodyConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyNonContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyNormalContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyFrictionContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyTorsionalFrictionContactConstraints,
|
||||
btMultiBodyJacobianData* m_data);
|
||||
|
||||
void copyDynamicDataFromOriginalToBlock();
|
||||
void copyDynamicDataFromBlockToOriginal();
|
||||
};
|
||||
|
||||
class btMultiBodyBlockSplittingPolicy
|
||||
{
|
||||
public:
|
||||
/// Destructor
|
||||
virtual ~btMultiBodyBlockSplittingPolicy();
|
||||
|
||||
/// Splits a set of constraints into multiple subsets.
|
||||
///
|
||||
/// \param[in] blockInput
|
||||
/// \param[in] availableConfigs
|
||||
/// \param[in,out] blocksOutput The splitted blocks. This function adds blocks without clearning the array
|
||||
/// beforehand. Clearning the array is the caller's responsibility.
|
||||
virtual void split(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInput, const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs, btAlignedObjectArray<btMultiBodyConstraintBlock>& blocksOutput) = 0;
|
||||
|
||||
protected:
|
||||
void copyMultiBodyNonContactConstraint(
|
||||
btMultiBodyConstraintBlock& block,
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData,
|
||||
int originalNonContactConstraintIndex);
|
||||
|
||||
void copyMultiBodyContactConstraint(
|
||||
btMultiBodyConstraintBlock& block,
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData,
|
||||
int originalNormalContactConstraintIndex);
|
||||
};
|
||||
|
||||
class btSingleBlockSplittingPolicy : public btMultiBodyBlockSplittingPolicy
|
||||
{
|
||||
protected:
|
||||
btMultiBodyConstraintSolver* m_solver;
|
||||
|
||||
public:
|
||||
/// Constructor
|
||||
btSingleBlockSplittingPolicy(btMultiBodyConstraintSolver* solver);
|
||||
|
||||
/// Destructor
|
||||
virtual ~btSingleBlockSplittingPolicy();
|
||||
|
||||
// Documentation inherited
|
||||
virtual void split(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInput, const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs, btAlignedObjectArray<btMultiBodyConstraintBlock>& blocksOutput);
|
||||
};
|
||||
|
||||
class btDoubleBlockSplittingPolicy : public btMultiBodyBlockSplittingPolicy
|
||||
{
|
||||
protected:
|
||||
btMultiBodyConstraintSolver* m_solver;
|
||||
|
||||
public:
|
||||
/// Constructor
|
||||
btDoubleBlockSplittingPolicy(btMultiBodyConstraintSolver* solver);
|
||||
|
||||
/// Destructor
|
||||
virtual ~btDoubleBlockSplittingPolicy();
|
||||
|
||||
// Documentation inherited
|
||||
virtual void split(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInput, const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs, btAlignedObjectArray<btMultiBodyConstraintBlock>& blocksOutput);
|
||||
};
|
||||
|
||||
class btMultiBodyBlockConstraintSolver : public btMultiBodyConstraintSolver
|
||||
{
|
||||
protected:
|
||||
/// Splitting policy. Assumed not a null.
|
||||
btMultiBodyBlockSplittingPolicy* m_splittingPolicy;
|
||||
|
||||
/// Array of constraint configurations for constraint blocks.
|
||||
btAlignedObjectArray<btBlockConstraintSolverConfig> m_configs;
|
||||
|
||||
/// Array of constraint blocks.
|
||||
btAlignedObjectArray<btMultiBodyConstraintBlock> m_blocks;
|
||||
|
||||
public:
|
||||
/// Constructor
|
||||
btMultiBodyBlockConstraintSolver();
|
||||
|
||||
/// Destructor
|
||||
virtual ~btMultiBodyBlockConstraintSolver();
|
||||
|
||||
virtual btScalar solveGroupConvertConstraintPoststep(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
|
||||
|
||||
protected:
|
||||
// Documentation inherited.
|
||||
virtual void solveMultiBodyGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
|
||||
|
||||
/// Sets the splitting policy.
|
||||
virtual void setSplittingPolicy(btMultiBodyBlockSplittingPolicy* policy);
|
||||
|
||||
void copyDynamicDataFromOriginalToBlock(btMultiBodyConstraintBlock& block);
|
||||
void copyDynamicDataFromBlockToOriginal(btMultiBodyConstraintBlock& block);
|
||||
|
||||
/// Adds a constraint block configuration and returns the total number of configurations added to this solver.
|
||||
virtual int addConfig(btBlockConstraintSolverConfig& config);
|
||||
|
||||
/// Returns the number of configurations added to this solver.
|
||||
virtual int getNumConfigs() const;
|
||||
|
||||
/// Removes an configuration at \c configIndex
|
||||
///
|
||||
/// \param[in] configIndex The configuration indext in the range of [0, numConfigs). Passing out of the range is an
|
||||
/// undefined behavior.
|
||||
virtual void removeConfig(int configIndex);
|
||||
};
|
||||
|
||||
#endif // BT_MULTIBODY_BLOCK_CONSTRAINT_SOLVER_H
|
||||
@@ -158,17 +158,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
|
||||
return leastSquaredResidual;
|
||||
}
|
||||
|
||||
btScalar btMultiBodyConstraintSolver::solveSingleIterationNew(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
|
||||
{
|
||||
return solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
||||
}
|
||||
|
||||
btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
|
||||
{
|
||||
return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,numBodies,manifoldPtr, numManifolds, constraints,numConstraints,infoGlobal,debugDrawer);
|
||||
}
|
||||
|
||||
btScalar btMultiBodyConstraintSolver::solveGroupConvertConstraintPrestep(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
|
||||
{
|
||||
m_multiBodyNonContactConstraints.resize(0);
|
||||
m_multiBodyNormalContactConstraints.resize(0);
|
||||
@@ -179,7 +169,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupConvertConstraintPrestep(btColli
|
||||
m_data.m_deltaVelocitiesUnitImpulse.resize(0);
|
||||
m_data.m_deltaVelocities.resize(0);
|
||||
|
||||
for (int i = 0; i < numBodies; ++i)
|
||||
for (int i = 0; i < numBodies; i++)
|
||||
{
|
||||
const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(bodies[i]);
|
||||
if (fcA)
|
||||
@@ -188,16 +178,11 @@ btScalar btMultiBodyConstraintSolver::solveGroupConvertConstraintPrestep(btColli
|
||||
}
|
||||
}
|
||||
|
||||
btScalar val = btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPrestep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
||||
btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
||||
|
||||
return val;
|
||||
}
|
||||
|
||||
btScalar btMultiBodyConstraintSolver::solveGroupConvertConstraintPoststep(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
|
||||
{
|
||||
return btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPoststep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
||||
}
|
||||
|
||||
void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
|
||||
{
|
||||
for (int i = 0; i < ndof; ++i)
|
||||
@@ -206,7 +191,6 @@ void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar im
|
||||
|
||||
btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
|
||||
{
|
||||
|
||||
btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm;
|
||||
btScalar deltaVelADotn = 0;
|
||||
btScalar deltaVelBDotn = 0;
|
||||
@@ -239,7 +223,6 @@ btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const bt
|
||||
deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
|
||||
}
|
||||
|
||||
|
||||
deltaImpulse -= deltaVelADotn * c.m_jacDiagABInv; //m_jacDiagABInv = 1./denom
|
||||
deltaImpulse -= deltaVelBDotn * c.m_jacDiagABInv;
|
||||
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
|
||||
@@ -271,7 +254,6 @@ btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const bt
|
||||
else if (c.m_solverBodyIdA >= 0)
|
||||
{
|
||||
bodyA->internalApplyImpulse(c.m_contactNormal1 * bodyA->internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
|
||||
|
||||
}
|
||||
if (c.m_multiBodyB)
|
||||
{
|
||||
@@ -290,7 +272,6 @@ btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const bt
|
||||
return deltaVel;
|
||||
}
|
||||
|
||||
|
||||
btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB)
|
||||
{
|
||||
int ndofA = 0;
|
||||
@@ -308,7 +289,8 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
ndofA = cB.m_multiBodyA->getNumDofs() + 6;
|
||||
for (int i = 0; i < ndofA; ++i)
|
||||
deltaVelADotn += m_data.m_jacobians[cB.m_jacAindex + i] * m_data.m_deltaVelocities[cB.m_deltaVelAindex + i];
|
||||
} else if(cB.m_solverBodyIdA >= 0)
|
||||
}
|
||||
else if (cB.m_solverBodyIdA >= 0)
|
||||
{
|
||||
bodyA = &m_tmpSolverBodyPool[cB.m_solverBodyIdA];
|
||||
deltaVelADotn += cB.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cB.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
|
||||
@@ -319,13 +301,13 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
ndofB = cB.m_multiBodyB->getNumDofs() + 6;
|
||||
for (int i = 0; i < ndofB; ++i)
|
||||
deltaVelBDotn += m_data.m_jacobians[cB.m_jacBindex + i] * m_data.m_deltaVelocities[cB.m_deltaVelBindex + i];
|
||||
} else if(cB.m_solverBodyIdB >= 0)
|
||||
}
|
||||
else if (cB.m_solverBodyIdB >= 0)
|
||||
{
|
||||
bodyB = &m_tmpSolverBodyPool[cB.m_solverBodyIdB];
|
||||
deltaVelBDotn += cB.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cB.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
|
||||
}
|
||||
|
||||
|
||||
deltaImpulseB -= deltaVelADotn * cB.m_jacDiagABInv; //m_jacDiagABInv = 1./denom
|
||||
deltaImpulseB -= deltaVelBDotn * cB.m_jacDiagABInv;
|
||||
sumB = btScalar(cB.m_appliedImpulse) + deltaImpulseB;
|
||||
@@ -344,7 +326,8 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
ndofA = cA.m_multiBodyA->getNumDofs() + 6;
|
||||
for (int i = 0; i < ndofA; ++i)
|
||||
deltaVelADotn += m_data.m_jacobians[cA.m_jacAindex + i] * m_data.m_deltaVelocities[cA.m_deltaVelAindex + i];
|
||||
} else if(cA.m_solverBodyIdA >= 0)
|
||||
}
|
||||
else if (cA.m_solverBodyIdA >= 0)
|
||||
{
|
||||
bodyA = &m_tmpSolverBodyPool[cA.m_solverBodyIdA];
|
||||
deltaVelADotn += cA.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cA.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
|
||||
@@ -355,13 +338,13 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
ndofB = cA.m_multiBodyB->getNumDofs() + 6;
|
||||
for (int i = 0; i < ndofB; ++i)
|
||||
deltaVelBDotn += m_data.m_jacobians[cA.m_jacBindex + i] * m_data.m_deltaVelocities[cA.m_deltaVelBindex + i];
|
||||
} else if(cA.m_solverBodyIdB >= 0)
|
||||
}
|
||||
else if (cA.m_solverBodyIdB >= 0)
|
||||
{
|
||||
bodyB = &m_tmpSolverBodyPool[cA.m_solverBodyIdB];
|
||||
deltaVelBDotn += cA.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cA.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
|
||||
}
|
||||
|
||||
|
||||
deltaImpulseA -= deltaVelADotn * cA.m_jacDiagABInv; //m_jacDiagABInv = 1./denom
|
||||
deltaImpulseA -= deltaVelBDotn * cA.m_jacDiagABInv;
|
||||
sumA = btScalar(cA.m_appliedImpulse) + deltaImpulseA;
|
||||
@@ -374,7 +357,6 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
btScalar sumAclipped = btFabs(cA.m_lowerLimit * btSin(angle));
|
||||
btScalar sumBclipped = btFabs(cB.m_lowerLimit * btCos(angle));
|
||||
|
||||
|
||||
if (sumA < -sumAclipped)
|
||||
{
|
||||
deltaImpulseA = -sumAclipped - cA.m_appliedImpulse;
|
||||
@@ -423,10 +405,10 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
|
||||
cA.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex], deltaImpulseA);
|
||||
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
|
||||
} else if(cA.m_solverBodyIdA >= 0)
|
||||
}
|
||||
else if (cA.m_solverBodyIdA >= 0)
|
||||
{
|
||||
bodyA->internalApplyImpulse(cA.m_contactNormal1 * bodyA->internalGetInvMass(), cA.m_angularComponentA, deltaImpulseA);
|
||||
|
||||
}
|
||||
if (cA.m_multiBodyB)
|
||||
{
|
||||
@@ -436,7 +418,8 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
|
||||
cA.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex], deltaImpulseA);
|
||||
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
|
||||
} else if(cA.m_solverBodyIdB >= 0)
|
||||
}
|
||||
else if (cA.m_solverBodyIdB >= 0)
|
||||
{
|
||||
bodyB->internalApplyImpulse(cA.m_contactNormal2 * bodyB->internalGetInvMass(), cA.m_angularComponentB, deltaImpulseA);
|
||||
}
|
||||
@@ -449,7 +432,8 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
|
||||
cB.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex], deltaImpulseB);
|
||||
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
|
||||
} else if(cB.m_solverBodyIdA >= 0)
|
||||
}
|
||||
else if (cB.m_solverBodyIdA >= 0)
|
||||
{
|
||||
bodyA->internalApplyImpulse(cB.m_contactNormal1 * bodyA->internalGetInvMass(), cB.m_angularComponentA, deltaImpulseB);
|
||||
}
|
||||
@@ -461,7 +445,8 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
|
||||
cB.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex], deltaImpulseB);
|
||||
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
|
||||
} else if(cB.m_solverBodyIdB >= 0)
|
||||
}
|
||||
else if (cB.m_solverBodyIdB >= 0)
|
||||
{
|
||||
bodyB->internalApplyImpulse(cB.m_contactNormal2 * bodyB->internalGetInvMass(), cB.m_angularComponentB, deltaImpulseB);
|
||||
}
|
||||
@@ -470,16 +455,12 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
|
||||
return deltaVel;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
|
||||
const btVector3& contactNormal,
|
||||
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
|
||||
btScalar& relaxation,
|
||||
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
|
||||
{
|
||||
|
||||
BT_PROFILE("setupMultiBodyContactConstraint");
|
||||
btVector3 rel_pos1;
|
||||
btVector3 rel_pos2;
|
||||
@@ -514,7 +495,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
{
|
||||
cfm = infoGlobal.m_frictionCFM;
|
||||
erp = infoGlobal.m_frictionERP;
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
cfm = infoGlobal.m_globalCfm;
|
||||
erp = infoGlobal.m_erp2;
|
||||
@@ -525,7 +507,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
cfm = cp.m_contactCFM;
|
||||
if (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_ERP)
|
||||
erp = cp.m_contactERP;
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (cp.m_contactPointFlags & BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING)
|
||||
{
|
||||
@@ -547,7 +530,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
if (solverConstraint.m_linkA < 0)
|
||||
{
|
||||
rel_pos1 = pos1 - multiBodyA->getBasePos();
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
rel_pos1 = pos1 - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
|
||||
}
|
||||
@@ -560,7 +544,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
|
||||
multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
|
||||
m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofA);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex + ndofA);
|
||||
}
|
||||
@@ -578,7 +563,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
|
||||
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
|
||||
solverConstraint.m_contactNormal1 = contactNormal;
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
|
||||
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
|
||||
@@ -586,14 +572,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (multiBodyB)
|
||||
{
|
||||
if (solverConstraint.m_linkB < 0)
|
||||
{
|
||||
rel_pos2 = pos2 - multiBodyB->getBasePos();
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
|
||||
}
|
||||
@@ -620,8 +605,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
|
||||
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
|
||||
solverConstraint.m_contactNormal2 = -contactNormal;
|
||||
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
|
||||
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
|
||||
@@ -631,7 +616,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
}
|
||||
|
||||
{
|
||||
|
||||
btVector3 vec;
|
||||
btScalar denom0 = 0.f;
|
||||
btScalar denom1 = 0.f;
|
||||
@@ -651,7 +635,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
btScalar l = lambdaA[i];
|
||||
denom0 += j * l;
|
||||
}
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb0)
|
||||
{
|
||||
@@ -670,8 +655,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
btScalar l = lambdaB[i];
|
||||
denom1 += j * l;
|
||||
}
|
||||
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb1)
|
||||
{
|
||||
@@ -680,31 +665,27 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
btScalar d = denom0 + denom1 + cfm;
|
||||
if (d > SIMD_EPSILON)
|
||||
{
|
||||
solverConstraint.m_jacDiagABInv = relaxation / (d);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
//disable the constraint row to handle singularity/redundant constraint
|
||||
solverConstraint.m_jacDiagABInv = 0.f;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//compute rhs and remaining solverConstraint fields
|
||||
|
||||
|
||||
|
||||
btScalar restitution = 0.f;
|
||||
btScalar distance = 0;
|
||||
if (!isFriction)
|
||||
{
|
||||
distance = cp.getDistance() + infoGlobal.m_linearSlop;
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
|
||||
{
|
||||
@@ -712,12 +693,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
btScalar rel_vel = 0.f;
|
||||
int ndofA = 0;
|
||||
int ndofB = 0;
|
||||
{
|
||||
|
||||
btVector3 vel1, vel2;
|
||||
if (multiBodyA)
|
||||
{
|
||||
@@ -725,7 +704,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
|
||||
for (int i = 0; i < ndofA; ++i)
|
||||
rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb0)
|
||||
{
|
||||
@@ -741,8 +721,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
|
||||
for (int i = 0; i < ndofB; ++i)
|
||||
rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
|
||||
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb1)
|
||||
{
|
||||
@@ -765,7 +745,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
///warm starting (or zero if disabled)
|
||||
//disable warmstarting for btMultiBody, it has issues gaining energy (==explosion)
|
||||
if (0) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
|
||||
@@ -781,7 +760,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
multiBodyA->applyDeltaVeeMultiDof(deltaV, impulse);
|
||||
|
||||
applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb0)
|
||||
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
|
||||
@@ -792,13 +772,15 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
|
||||
multiBodyB->applyDeltaVeeMultiDof(deltaV, impulse);
|
||||
applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb1)
|
||||
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
|
||||
}
|
||||
}
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
solverConstraint.m_appliedImpulse = 0.f;
|
||||
}
|
||||
@@ -806,20 +788,20 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
solverConstraint.m_appliedPushImpulse = 0.f;
|
||||
|
||||
{
|
||||
|
||||
btScalar positionalError = 0.f;
|
||||
btScalar velocityError = restitution - rel_vel; // * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
|
||||
if (isFriction)
|
||||
{
|
||||
positionalError = -distance * erp / infoGlobal.m_timeStep;
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (distance > 0)
|
||||
{
|
||||
positionalError = 0;
|
||||
velocityError -= distance / infoGlobal.m_timeStep;
|
||||
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
positionalError = -distance * erp / infoGlobal.m_timeStep;
|
||||
}
|
||||
@@ -835,7 +817,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
//combine position and velocity into rhs
|
||||
solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
|
||||
solverConstraint.m_rhsPenetration = 0.f;
|
||||
|
||||
}
|
||||
/*else
|
||||
{
|
||||
@@ -856,11 +837,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
|
||||
}
|
||||
|
||||
solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
|
||||
@@ -871,7 +848,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
btScalar& relaxation,
|
||||
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
|
||||
{
|
||||
|
||||
BT_PROFILE("setupMultiBodyRollingFrictionConstraint");
|
||||
btVector3 rel_pos1;
|
||||
btVector3 rel_pos2;
|
||||
@@ -897,13 +873,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
|
||||
// btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep;
|
||||
|
||||
|
||||
if (multiBodyA)
|
||||
{
|
||||
if (solverConstraint.m_linkA < 0)
|
||||
{
|
||||
rel_pos1 = pos1 - multiBodyA->getBasePos();
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
rel_pos1 = pos1 - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
|
||||
}
|
||||
@@ -916,7 +892,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
|
||||
multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
|
||||
m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofA);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex + ndofA);
|
||||
}
|
||||
@@ -934,7 +911,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
btVector3 torqueAxis0 = -constraintNormal;
|
||||
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
|
||||
solverConstraint.m_contactNormal1 = btVector3(0, 0, 0);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
btVector3 torqueAxis0 = -constraintNormal;
|
||||
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
|
||||
@@ -942,14 +920,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (multiBodyB)
|
||||
{
|
||||
if (solverConstraint.m_linkB < 0)
|
||||
{
|
||||
rel_pos2 = pos2 - multiBodyB->getBasePos();
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
|
||||
}
|
||||
@@ -976,8 +953,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
btVector3 torqueAxis1 = constraintNormal;
|
||||
solverConstraint.m_relpos2CrossNormal = torqueAxis1;
|
||||
solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0);
|
||||
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
btVector3 torqueAxis1 = constraintNormal;
|
||||
solverConstraint.m_relpos2CrossNormal = torqueAxis1;
|
||||
@@ -987,7 +964,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
}
|
||||
|
||||
{
|
||||
|
||||
btScalar denom0 = 0.f;
|
||||
btScalar denom1 = 0.f;
|
||||
btScalar* jacB = 0;
|
||||
@@ -1006,7 +982,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
btScalar l = lambdaA[i];
|
||||
denom0 += j * l;
|
||||
}
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb0)
|
||||
{
|
||||
@@ -1025,8 +1002,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
btScalar l = lambdaB[i];
|
||||
denom1 += j * l;
|
||||
}
|
||||
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb1)
|
||||
{
|
||||
@@ -1035,25 +1012,20 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
btScalar d = denom0 + denom1 + infoGlobal.m_globalCfm;
|
||||
if (d > SIMD_EPSILON)
|
||||
{
|
||||
solverConstraint.m_jacDiagABInv = relaxation / (d);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
//disable the constraint row to handle singularity/redundant constraint
|
||||
solverConstraint.m_jacDiagABInv = 0.f;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//compute rhs and remaining solverConstraint fields
|
||||
|
||||
|
||||
|
||||
btScalar restitution = 0.f;
|
||||
btScalar penetration = isFriction ? 0 : cp.getDistance();
|
||||
|
||||
@@ -1061,7 +1033,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
int ndofA = 0;
|
||||
int ndofB = 0;
|
||||
{
|
||||
|
||||
btVector3 vel1, vel2;
|
||||
if (multiBodyA)
|
||||
{
|
||||
@@ -1069,7 +1040,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
|
||||
for (int i = 0; i < ndofA; ++i)
|
||||
rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb0)
|
||||
{
|
||||
@@ -1083,8 +1055,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
|
||||
for (int i = 0; i < ndofB; ++i)
|
||||
rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
|
||||
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (rb1)
|
||||
{
|
||||
@@ -1105,16 +1077,12 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
solverConstraint.m_appliedImpulse = 0.f;
|
||||
solverConstraint.m_appliedPushImpulse = 0.f;
|
||||
|
||||
{
|
||||
|
||||
btScalar velocityError = 0 - rel_vel; // * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
|
||||
|
||||
|
||||
|
||||
btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
|
||||
|
||||
solverConstraint.m_rhs = velocityImpulse;
|
||||
@@ -1123,11 +1091,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
|
||||
solverConstraint.m_upperLimit = solverConstraint.m_friction;
|
||||
|
||||
solverConstraint.m_cfm = infoGlobal.m_globalCfm * solverConstraint.m_jacDiagABInv;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
|
||||
@@ -1224,7 +1188,6 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
|
||||
// btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA];
|
||||
// btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB];
|
||||
|
||||
|
||||
///avoid collision response between two static objects
|
||||
// if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
|
||||
// return;
|
||||
@@ -1234,12 +1197,10 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
|
||||
|
||||
for (int j = 0; j < manifold->getNumContacts(); j++)
|
||||
{
|
||||
|
||||
btManifoldPoint& cp = manifold->getContactPoint(j);
|
||||
|
||||
if (cp.getDistance() <= manifold->getContactProcessingThreshold())
|
||||
{
|
||||
|
||||
btScalar relaxation;
|
||||
|
||||
int frictionIndex = m_multiBodyNormalContactConstraints.size();
|
||||
@@ -1301,7 +1262,6 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
|
||||
}
|
||||
if (cp.m_combinedRollingFriction > 0)
|
||||
{
|
||||
|
||||
applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
|
||||
applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
|
||||
applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
|
||||
@@ -1339,13 +1299,10 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
|
||||
} else
|
||||
*/
|
||||
{
|
||||
|
||||
|
||||
applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
|
||||
|
||||
|
||||
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
|
||||
{
|
||||
applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
@@ -1358,8 +1315,8 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
|
||||
cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
|
||||
}
|
||||
}
|
||||
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
|
||||
|
||||
@@ -1372,9 +1329,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
|
||||
solverConstraint.m_appliedPushImpulse = 0.f;
|
||||
}
|
||||
|
||||
|
||||
#endif //ENABLE_FRICTION
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1392,7 +1347,8 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol
|
||||
{
|
||||
//the contact doesn't involve any Featherstone btMultiBody, so deal with the regular btRigidBody/btCollisionObject case
|
||||
convertContact(manifold, infoGlobal);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
convertMultiBodyContact(manifold, infoGlobal);
|
||||
}
|
||||
@@ -1400,7 +1356,6 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol
|
||||
|
||||
//also convert the multibody constraints, if any
|
||||
|
||||
|
||||
for (int i = 0; i < m_tmpNumMultiBodyConstraints; i++)
|
||||
{
|
||||
btMultiBodyConstraint* c = m_tmpMultiBodyConstraints[i];
|
||||
@@ -1409,79 +1364,6 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol
|
||||
|
||||
c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static void copyConstraintsFromProxy(btAlignedObjectArray<btMultiBodySolverConstraint>& constraints, const btAlignedObjectArray<btMultiBodySolverConstraint>& constraintsProxy, bool onlyDynamicData)
|
||||
{
|
||||
if (onlyDynamicData)
|
||||
{
|
||||
btAssert(constraints.size() == constraintsProxy.size());
|
||||
for (int i = 0; i < constraintsProxy.size(); ++i)
|
||||
{
|
||||
btMultiBodySolverConstraint& destConstraint = constraints[i];
|
||||
const btMultiBodySolverConstraint& srcConstraint = constraintsProxy[i];
|
||||
|
||||
destConstraint.m_appliedImpulse = srcConstraint.m_appliedImpulse;
|
||||
destConstraint.m_appliedPushImpulse = srcConstraint.m_appliedPushImpulse;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
constraints.resize(constraintsProxy.size());
|
||||
for (int i = 0; i < constraintsProxy.size(); ++i)
|
||||
{
|
||||
constraints[i] = constraintsProxy[i];
|
||||
}
|
||||
}
|
||||
|
||||
static void copyConstraintsToProxy(btAlignedObjectArray<btMultiBodySolverConstraint>& constraintsProxy, btAlignedObjectArray<btMultiBodySolverConstraint>& constraints, bool onlyDynamicData)
|
||||
{
|
||||
if (onlyDynamicData)
|
||||
{
|
||||
btAssert(constraintsProxy.size() == constraints.size());
|
||||
for (int i = 0; i < constraints.size(); ++i)
|
||||
{
|
||||
btMultiBodySolverConstraint& destConstraint = constraintsProxy[i];
|
||||
const btMultiBodySolverConstraint& srcConstraint = constraints[i];
|
||||
|
||||
destConstraint.m_appliedImpulse = srcConstraint.m_appliedImpulse;
|
||||
destConstraint.m_appliedPushImpulse = srcConstraint.m_appliedPushImpulse;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
constraintsProxy.resize(constraints.size());
|
||||
for (int i = 0; i < constraints.size(); ++i)
|
||||
{
|
||||
constraintsProxy[i] = constraints[i];
|
||||
}
|
||||
}
|
||||
|
||||
void btMultiBodyConstraintSolver::setMultiBodyInternalConstraintData(const btMultiBodyInternalConstraintData& data, bool onlyDynamicData)
|
||||
{
|
||||
copyConstraintsFromProxy(m_multiBodyNonContactConstraints, data.m_multiBodyNonContactConstraints, onlyDynamicData);
|
||||
copyConstraintsFromProxy(m_multiBodyNormalContactConstraints, data.m_multiBodyNormalContactConstraints, onlyDynamicData);
|
||||
copyConstraintsFromProxy(m_multiBodyFrictionContactConstraints, data.m_multiBodyFrictionContactConstraints, onlyDynamicData);
|
||||
copyConstraintsFromProxy(m_multiBodyTorsionalFrictionContactConstraints, data.m_multiBodyTorsionalFrictionContactConstraints, onlyDynamicData);
|
||||
|
||||
if (onlyDynamicData)
|
||||
m_data.m_deltaVelocities = data.m_data.m_deltaVelocities;
|
||||
else
|
||||
m_data = data.m_data;
|
||||
}
|
||||
|
||||
void btMultiBodyConstraintSolver::getMultiBodyInternalConstraintData(btMultiBodyInternalConstraintData& data, bool onlyDynamicData)
|
||||
{
|
||||
copyConstraintsToProxy(data.m_multiBodyNonContactConstraints, m_multiBodyNonContactConstraints, onlyDynamicData);
|
||||
copyConstraintsToProxy(data.m_multiBodyNormalContactConstraints, m_multiBodyNormalContactConstraints, onlyDynamicData);
|
||||
copyConstraintsToProxy(data.m_multiBodyFrictionContactConstraints, m_multiBodyFrictionContactConstraints, onlyDynamicData);
|
||||
copyConstraintsToProxy(data.m_multiBodyTorsionalFrictionContactConstraints, m_multiBodyTorsionalFrictionContactConstraints, onlyDynamicData);
|
||||
|
||||
if (onlyDynamicData)
|
||||
data.m_data.m_deltaVelocities = m_data.m_deltaVelocities;
|
||||
else
|
||||
data.m_data = m_data;
|
||||
}
|
||||
|
||||
btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
|
||||
@@ -1511,7 +1393,6 @@ static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodyS
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
|
||||
{
|
||||
#if 1
|
||||
@@ -1524,10 +1405,8 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv
|
||||
c.m_orgConstraint->internalSetAppliedImpulse(c.m_orgDofIndex, c.m_appliedImpulse);
|
||||
}
|
||||
|
||||
|
||||
if (c.m_multiBodyA)
|
||||
{
|
||||
|
||||
c.m_multiBodyA->setCompanionId(-1);
|
||||
btVector3 force = c.m_contactNormal1 * (c.m_appliedImpulse / deltaTime);
|
||||
btVector3 torque = c.m_relpos1CrossNormal * (c.m_appliedImpulse / deltaTime);
|
||||
@@ -1535,7 +1414,8 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv
|
||||
{
|
||||
c.m_multiBodyA->addBaseConstraintForce(force);
|
||||
c.m_multiBodyA->addBaseConstraintTorque(torque);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
c.m_multiBodyA->addLinkConstraintForce(c.m_linkA, force);
|
||||
//b3Printf("force = %f,%f,%f\n",force[0],force[1],force[2]);//[0],torque[1],torque[2]);
|
||||
@@ -1553,14 +1433,14 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv
|
||||
{
|
||||
c.m_multiBodyB->addBaseConstraintForce(force);
|
||||
c.m_multiBodyB->addBaseConstraintTorque(torque);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
{
|
||||
c.m_multiBodyB->addLinkConstraintForce(c.m_linkB, force);
|
||||
//b3Printf("t = %f,%f,%f\n",force[0],force[1],force[2]);//[0],torque[1],torque[2]);
|
||||
c.m_multiBodyB->addLinkConstraintTorque(c.m_linkB, torque);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1578,9 +1458,6 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv
|
||||
c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], c.m_appliedImpulse);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
|
||||
@@ -1588,7 +1465,6 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
|
||||
BT_PROFILE("btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish");
|
||||
int numPoolConstraints = m_multiBodyNormalContactConstraints.size();
|
||||
|
||||
|
||||
//write back the delta v to the multi bodies, either as applied impulse (direct velocity change)
|
||||
//or as applied force, so we can measure the joint reaction forces easier
|
||||
for (int i = 0; i < numPoolConstraints; i++)
|
||||
@@ -1604,14 +1480,12 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++)
|
||||
{
|
||||
btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
|
||||
writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep);
|
||||
}
|
||||
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
|
||||
{
|
||||
BT_PROFILE("warm starting write back");
|
||||
@@ -1635,11 +1509,109 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
|
||||
|
||||
//do a callback here?
|
||||
}
|
||||
#if 0
|
||||
//multibody joint feedback
|
||||
{
|
||||
BT_PROFILE("multi body joint feedback");
|
||||
for (int j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[j];
|
||||
|
||||
//apply the joint feedback into all links of the btMultiBody
|
||||
//todo: double-check the signs of the applied impulse
|
||||
|
||||
if(solverConstraint.m_multiBodyA && solverConstraint.m_multiBodyA->isMultiDof())
|
||||
{
|
||||
applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacAindex,solverConstraint.m_multiBodyA, solverConstraint.m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
|
||||
}
|
||||
if(solverConstraint.m_multiBodyB && solverConstraint.m_multiBodyB->isMultiDof())
|
||||
{
|
||||
applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacBindex,solverConstraint.m_multiBodyB,solverConstraint.m_appliedImpulse*btSimdScalar(-1./infoGlobal.m_timeStep));
|
||||
}
|
||||
#if 0
|
||||
if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyA && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyA->isMultiDof())
|
||||
{
|
||||
applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex],
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_jacAindex,
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyA,
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
|
||||
|
||||
}
|
||||
if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyB && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyB->isMultiDof())
|
||||
{
|
||||
applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex],
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_jacBindex,
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyB,
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse*btSimdScalar(-1./infoGlobal.m_timeStep));
|
||||
}
|
||||
|
||||
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
|
||||
{
|
||||
if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyA && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyA->isMultiDof())
|
||||
{
|
||||
applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1],
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_jacAindex,
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyA,
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
|
||||
}
|
||||
|
||||
if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyB && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyB->isMultiDof())
|
||||
{
|
||||
applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1],
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_jacBindex,
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyB,
|
||||
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse*btSimdScalar(-1./infoGlobal.m_timeStep));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
for (int i=0;i<m_multiBodyNonContactConstraints.size();i++)
|
||||
{
|
||||
const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
|
||||
if(solverConstraint.m_multiBodyA && solverConstraint.m_multiBodyA->isMultiDof())
|
||||
{
|
||||
applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacAindex,solverConstraint.m_multiBodyA, solverConstraint.m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
|
||||
}
|
||||
if(solverConstraint.m_multiBodyB && solverConstraint.m_multiBodyB->isMultiDof())
|
||||
{
|
||||
applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacBindex,solverConstraint.m_multiBodyB,solverConstraint.m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
numPoolConstraints = m_multiBodyNonContactConstraints.size();
|
||||
|
||||
#if 0
|
||||
//@todo: m_originalContactPoint is not initialized for btMultiBodySolverConstraint
|
||||
for (int i=0;i<numPoolConstraints;i++)
|
||||
{
|
||||
const btMultiBodySolverConstraint& c = m_multiBodyNonContactConstraints[i];
|
||||
|
||||
btTypedConstraint* constr = (btTypedConstraint*)c.m_originalContactPoint;
|
||||
btJointFeedback* fb = constr->getJointFeedback();
|
||||
if (fb)
|
||||
{
|
||||
fb->m_appliedForceBodyA += c.m_contactNormal1*c.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
|
||||
fb->m_appliedForceBodyB += c.m_contactNormal2*c.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
|
||||
fb->m_appliedTorqueBodyA += c.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*c.m_appliedImpulse/infoGlobal.m_timeStep;
|
||||
fb->m_appliedTorqueBodyB += c.m_relpos2CrossNormal* constr->getRigidBodyB().getAngularFactor()*c.m_appliedImpulse/infoGlobal.m_timeStep; /*RGM ???? */
|
||||
|
||||
}
|
||||
|
||||
constr->internalSetAppliedImpulse(c.m_appliedImpulse);
|
||||
if (btFabs(c.m_appliedImpulse)>=constr->getBreakingImpulseThreshold())
|
||||
{
|
||||
constr->setEnabled(false);
|
||||
}
|
||||
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
|
||||
}
|
||||
|
||||
|
||||
void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
|
||||
{
|
||||
//printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints);
|
||||
@@ -1652,6 +1624,4 @@ void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodie
|
||||
|
||||
m_tmpMultiBodyConstraints = 0;
|
||||
m_tmpNumMultiBodyConstraints = 0;
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -28,9 +28,7 @@ class btMultiBody;
|
||||
ATTRIBUTE_ALIGNED16(class)
|
||||
btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
|
||||
{
|
||||
|
||||
protected:
|
||||
|
||||
btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
|
||||
|
||||
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
|
||||
@@ -48,7 +46,6 @@ protected:
|
||||
//solve 2 friction directions and clamp against the implicit friction cone
|
||||
btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB);
|
||||
|
||||
|
||||
void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
|
||||
@@ -84,55 +81,15 @@ protected:
|
||||
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
|
||||
void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime);
|
||||
|
||||
public:
|
||||
|
||||
struct btMultiBodyInternalConstraintData
|
||||
{
|
||||
/// Multibody (joint) constraints. This is shared by all the blocks.
|
||||
btMultiBodyConstraint** m_multiBodyConstraints;
|
||||
|
||||
/// Number of multibody (joint) constraints. This is shared by all the
|
||||
/// blocks.
|
||||
int m_numMultiBodyConstraints;
|
||||
|
||||
/// Array of multibody non-contact constraints
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint> m_multiBodyNonContactConstraints;
|
||||
|
||||
/// Array of multibody normal contact constraints
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint> m_multiBodyNormalContactConstraints;
|
||||
|
||||
/// Array of multibody friction contact constraints
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint> m_multiBodyFrictionContactConstraints;
|
||||
|
||||
/// Array of multibody rolling friction contact constraints
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint> m_multiBodyTorsionalFrictionContactConstraints;
|
||||
|
||||
/// Pointer to the block constraint solver's multi body Jacobian data, which
|
||||
/// is shared by all the constraint blocks.
|
||||
btMultiBodyJacobianData m_data;
|
||||
};
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
/// Copies internal constraint data from \p proxy
|
||||
virtual void setMultiBodyInternalConstraintData(const btMultiBodyInternalConstraintData& proxy, bool onlyDynamicData = false);
|
||||
|
||||
/// Copies internal constraint data to \p proxy
|
||||
virtual void getMultiBodyInternalConstraintData(btMultiBodyInternalConstraintData& data, bool onlyDynamicData = false);
|
||||
|
||||
///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
|
||||
virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
|
||||
virtual btScalar solveGroupConvertConstraintPrestep(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
virtual btScalar solveGroupConvertConstraintPoststep(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
virtual btScalar solveSingleIterationNew(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H
|
||||
|
||||
|
||||
Reference in New Issue
Block a user