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preparation for joint limit constraint for Featherstone btMultiBody

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This commit is contained in:
erwin.coumans
2013-10-02 06:25:20 +00:00
parent d8b6a02a7a
commit 36cfbd47a6
8 changed files with 196 additions and 10 deletions
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17
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -18,8 +18,9 @@ subject to the following restrictions:
#include "btMultiBodyLinkCollider.h"
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "btMultiBodyConstraint.h"
#include "LinearMath/btQuickprof.h"
btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
@@ -173,6 +174,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("setupMultiBodyContactConstraint");
btVector3 rel_pos1;
btVector3 rel_pos2;
@@ -484,6 +486,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
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)
{
BT_PROFILE("addMultiBodyFrictionConstraint");
btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
solverConstraint.m_frictionIndex = frictionIndex;
bool isFriction = true;
@@ -576,7 +579,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
/////setup the friction constraints
#define ENABLE_FRICTION
#ifdef ENABLE_FRICTION
solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
solverConstraint.m_frictionIndex = frictionIndex;
#if ROLLING_FRICTION
btVector3 angVelA(0,0,0),angVelB(0,0,0);
if (rb0)
@@ -711,6 +714,16 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol
convertMultiBodyContact(manifold,infoGlobal);
}
}
//also convert the multibody constraints, if any
for (int i=0;i<m_tmpNumMultiBodyConstraints;i++)
{
btMultiBodyConstraint* c = m_tmpMultiBodyConstraints[i];
c->update();
}
}