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made the multiDof-singleDof disctinction a bit cleaner

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This commit is contained in:
kubas
2014-01-09 00:58:31 +01:00
parent e5372f3712
commit 4eac9a11f3
2 changed files with 51 additions and 73 deletions
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83
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -85,7 +85,8 @@ btMultiBody::btMultiBody(int n_links,
btScalar mass,
const btVector3 &inertia,
bool fixedBase,
bool canSleep)
bool canSleep,
bool multiDof)
: m_baseQuat(0, 0, 0, 1),
m_baseMass(mass),
m_baseInertia(inertia),
@@ -101,54 +102,24 @@ btMultiBody::btMultiBody(int n_links,
m_maxAppliedImpulse(1000.f),
m_hasSelfCollision(true),
m_dofCount(n_links),
__posUpdated(false),
m_posVarCnt(-1) //-1 => not calculated yet/invalid
__posUpdated(false),
m_isMultiDof(multiDof),
m_posVarCnt(0)
{
if(!m_isMultiDof)
{
m_vectorBuf.resize(2*n_links);
m_realBuf.resize(6 + 2*n_links);
m_posVarCnt = n_links;
}
m_links.resize(n_links);
m_vectorBuf.resize(2*n_links);
m_matrixBuf.resize(n_links + 1);
m_realBuf.resize(6 + 2*n_links);
m_basePos.setValue(0, 0, 0);
m_baseForce.setValue(0, 0, 0);
m_baseTorque.setValue(0, 0, 0);
m_isMultiDof = false;
}
btMultiBody::btMultiBody(int n_links, int n_dofs, btScalar mass,
const btVector3 &inertia,
bool fixedBase,
bool canSleep)
: m_baseQuat(0, 0, 0, 1),
m_baseMass(mass),
m_baseInertia(inertia),
m_fixedBase(fixedBase),
m_awake(true),
m_canSleep(canSleep),
m_sleepTimer(0),
m_baseCollider(0),
m_linearDamping(0.04f),
m_angularDamping(0.04f),
m_useGyroTerm(true),
m_maxAppliedImpulse(1000.f),
m_hasSelfCollision(true),
m_dofCount(n_dofs),
__posUpdated(false),
m_posVarCnt(-1) //-1 => not calculated yet/invalid
{
m_links.resize(n_links);
m_realBuf.resize(6 + m_dofCount + m_dofCount*m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices
m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices)
m_matrixBuf.resize(n_links + 1);
m_basePos.setValue(0, 0, 0);
m_basePos.setValue(0, 0, 0);
m_baseForce.setValue(0, 0, 0);
m_baseTorque.setValue(0, 0, 0);
m_isMultiDof = n_links != n_dofs;
}
btMultiBody::~btMultiBody()
@@ -164,6 +135,12 @@ void btMultiBody::setupPrismatic(int i,
const btVector3 &parentComToThisComOffset,
bool disableParentCollision)
{
if(m_isMultiDof)
{
m_dofCount += 1;
m_posVarCnt += 1;
}
m_links[i].m_mass = mass;
m_links[i].m_inertia = inertia;
m_links[i].m_parent = parent;
@@ -201,6 +178,12 @@ void btMultiBody::setupRevolute(int i,
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision)
{
if(m_isMultiDof)
{
m_dofCount += 1;
m_posVarCnt += 1;
}
m_links[i].m_mass = mass;
m_links[i].m_inertia = inertia;
m_links[i].m_parent = parent;
@@ -240,6 +223,8 @@ void btMultiBody::setupSpherical(int i,
bool disableParentCollision)
{
btAssert(m_isMultiDof);
m_dofCount += 3;
m_posVarCnt += 4;
m_links[i].m_mass = mass;
m_links[i].m_inertia = inertia;
@@ -280,6 +265,8 @@ void btMultiBody::setupPlanar(int i,
bool disableParentCollision)
{
btAssert(m_isMultiDof);
m_dofCount += 3;
m_posVarCnt += 3;
m_links[i].m_mass = mass;
m_links[i].m_inertia = inertia;
@@ -315,14 +302,12 @@ void btMultiBody::setupPlanar(int i,
}
#endif
void btMultiBody::forceMultiDof()
void btMultiBody::finalizeMultiDof()
{
if(m_isMultiDof) return;
btAssert(m_isMultiDof);
m_isMultiDof = true;
m_realBuf.resize(6 + m_dofCount + m_dofCount*m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices
m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices)
m_realBuf.resize(6 + m_dofCount + m_dofCount*m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices
m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices)
updateLinksDofOffsets();
}