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implement 'mimic' joint constraint or 'gear' constraint for btMultiBody, add example in pybullet/examples/mimicJointConstraint.py

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This commit is contained in:
Erwin Coumans
2017-06-07 16:22:02 -07:00
parent 60e3887456
commit 46f2f3db4e
7 changed files with 329 additions and 9 deletions
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43
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -10,6 +10,10 @@
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyGearConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -5759,7 +5763,31 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_userConstraintArguments.m_parentFrame[3], clientCmd.m_userConstraintArguments.m_parentFrame[4], clientCmd.m_userConstraintArguments.m_parentFrame[5], clientCmd.m_userConstraintArguments.m_parentFrame[6]));
btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_userConstraintArguments.m_childFrame[3], clientCmd.m_userConstraintArguments.m_childFrame[4], clientCmd.m_userConstraintArguments.m_childFrame[5], clientCmd.m_userConstraintArguments.m_childFrame[6]));
btVector3 jointAxis(clientCmd.m_userConstraintArguments.m_jointAxis[0], clientCmd.m_userConstraintArguments.m_jointAxis[1], clientCmd.m_userConstraintArguments.m_jointAxis[2]);
if (clientCmd.m_userConstraintArguments.m_jointType == eFixedType)
if (clientCmd.m_userConstraintArguments.m_jointType == eGearType)
{
if (childBody && childBody->m_multiBody)
{
if ((clientCmd.m_userConstraintArguments.m_childJointIndex>=-1) && (clientCmd.m_userConstraintArguments.m_childJointIndex <childBody->m_multiBody->getNumLinks()))
{
btMultiBodyGearConstraint* multibodyGear = new btMultiBodyGearConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
multibodyGear->setMaxAppliedImpulse(defaultMaxForce);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyGear);
InteralUserConstraintData userConstraintData;
userConstraintData.m_mbConstraint = multibodyGear;
int uid = m_data->m_userConstraintUIDGenerator++;
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
m_data->m_userConstraints.insert(uid,userConstraintData);
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
}
}
else if (clientCmd.m_userConstraintArguments.m_jointType == eFixedType)
{
if (childBody && childBody->m_multiBody)
{
@@ -5959,9 +5987,22 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{
userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
}
}
if (userConstraintPtr->m_rbConstraint)
{
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce*m_data->m_physicsDeltaTime;
userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
//userConstraintPtr->m_rbConstraint->setMaxAppliedImpulse(maxImp);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{
if (userConstraintPtr->m_rbConstraint->getObjectType()==GEAR_CONSTRAINT_TYPE)