Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

20
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -103,6 +103,18 @@ void btMultiBodyDynamicsWorld::calculateSimulationIslands()
}
}
//merge islands linked by multibody constraints
{
for (int i=0;i<this->m_multiBodyConstraints.size();i++)
{
btMultiBodyConstraint* c = m_multiBodyConstraints[i];
int tagA = c->getIslandIdA();
int tagB = c->getIslandIdB();
if (tagA>=0 && tagB>=0)
getSimulationIslandManager()->getUnionFind().unite(tagA, tagB);
}
}
//Store the island id in each body
getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
@@ -353,7 +365,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
m_solver->solveMultiBodyGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo,m_debugDrawer,m_dispatcher);
m_bodies.resize(0);
m_manifolds.resize(0);
@@ -386,7 +398,6 @@ btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld ()
void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
btVector3 g = m_gravity;
btAlignedObjectArray<btScalar> scratch_r;
btAlignedObjectArray<btVector3> scratch_v;
btAlignedObjectArray<btMatrix3x3> scratch_m;
@@ -408,6 +419,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i];
}
m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate());
btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
@@ -444,11 +456,11 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
scratch_m.resize(bod->getNumLinks()+1);
bod->clearForcesAndTorques();
bod->addBaseForce(g * bod->getBaseMass());
bod->addBaseForce(m_gravity * bod->getBaseMass());
for (int j = 0; j < bod->getNumLinks(); ++j)
{
bod->addLinkForce(j, g * bod->getLinkMass(j));
bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
}
bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);