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Added btMultiBodyPoint2Point, it can be used between btMultiBody vs btMultiBody or btMultiBody vs btRigidBody

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Allow picking of btMultiBody, using a btMultiBodyPoint2Point constraint, with limited strength to avoid adding too much energy to the system (= blowup)
Add btMultiBodyJointMotor, it can be used in combination with joint limit (just add the joint limit after the motor, to avoid jitter)
This commit is contained in:
erwin.coumans@gmail.com
2013-10-05 01:46:32 +00:00
parent 2fb686b937
commit 488dd44835
18 changed files with 1418 additions and 475 deletions
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39
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
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@@ -33,6 +33,8 @@ struct btMultiBodyJacobianData
btAlignedObjectArray<btScalar> scratch_r;
btAlignedObjectArray<btVector3> scratch_v;
btAlignedObjectArray<btMatrix3x3> scratch_m;
btAlignedObjectArray<btSolverBody>* m_solverBodyPool;
};
@@ -58,21 +60,32 @@ protected:
// positions. (one per row.)
btAlignedObjectArray<btScalar> m_data;
void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);
void fillMultiBodyConstraintMixed(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
const btVector3& contactNormalOnB,
const btVector3& posAworld, const btVector3& posBworld,
btScalar position,
const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
btScalar fillConstraintRowMultiBodyMultiBody(btMultiBodySolverConstraint& constraintRow,
btMultiBodyJacobianData& data,
btScalar* jacOrgA,btScalar* jacOrgB,
const btContactSolverInfo& infoGlobal,
btScalar desiredVelocity,
btScalar lowerLimit,
btScalar upperLimit);
public:
btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral)
:m_bodyA(bodyA),
m_bodyB(bodyB),
m_linkA(linkA),
m_linkB(linkB),
m_num_rows(numRows),
m_isUnilateral(isUnilateral)
{
m_jac_size_A = (6 + bodyA->getNumLinks());
m_jac_size_both = (m_jac_size_A + (bodyB ? 6 + bodyB->getNumLinks() : 0));
m_pos_offset = ((1 + m_jac_size_both)*m_num_rows);
m_data.resize((2 + m_jac_size_both) * m_num_rows);
}
btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral);
virtual ~btMultiBodyConstraint();
virtual int getIslandIdA() const =0;
virtual int getIslandIdB() const =0;