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Expose slider constraint in RobotSimAPI.

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This commit is contained in:
yunfeibai
2016-08-26 10:35:10 -07:00
parent c29d445b94
commit 5b9b5178f9
4 changed files with 33 additions and 10 deletions
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1
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -759,6 +759,7 @@ b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int
for (int i = 0; i < 3; ++i) {
command->m_createJointArguments.m_jointAxis[i] = info->m_jointAxis[i];
}
command->m_createJointArguments.m_jointType = info->m_jointType;
return (b3SharedMemoryCommandHandle)command;
}

39
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -12,6 +12,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
#include "LinearMath/btHashMap.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
@@ -2268,18 +2269,38 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btVector3 pivotInChild(clientCmd.m_createJointArguments.m_childFrame[0], clientCmd.m_createJointArguments.m_childFrame[1], clientCmd.m_createJointArguments.m_childFrame[2]);
btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_createJointArguments.m_parentFrame[3], clientCmd.m_createJointArguments.m_parentFrame[4], clientCmd.m_createJointArguments.m_parentFrame[5], clientCmd.m_createJointArguments.m_parentFrame[6]));
btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_createJointArguments.m_childFrame[3], clientCmd.m_createJointArguments.m_childFrame[4], clientCmd.m_createJointArguments.m_childFrame[5], clientCmd.m_createJointArguments.m_childFrame[6]));
if (childBody->m_multiBody)
btVector3 jointAxis(clientCmd.m_createJointArguments.m_jointAxis[0], clientCmd.m_createJointArguments.m_jointAxis[1], clientCmd.m_createJointArguments.m_jointAxis[2]);
if (clientCmd.m_createJointArguments.m_jointType == btMultibodyLink::eFixed)
{
btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
multibodyFixed->setMaxAppliedImpulse(2.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed);
if (childBody->m_multiBody)
{
btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
multibodyFixed->setMaxAppliedImpulse(2.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed);
}
else
{
btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild);
rigidbodyFixed->setMaxAppliedImpulse(2.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodyFixed);
}
}
else
else if (clientCmd.m_createJointArguments.m_jointType == btMultibodyLink::ePrismatic)
{
btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild);
rigidbodyFixed->setMaxAppliedImpulse(2.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodyFixed);
if (childBody->m_multiBody)
{
btMultiBodySliderConstraint* multibodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
multibodySlider->setMaxAppliedImpulse(2.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodySlider);
}
else
{
btMultiBodySliderConstraint* rigidbodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
rigidbodySlider->setMaxAppliedImpulse(2.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodySlider);
}
}
}
}

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -375,6 +375,7 @@ struct CreateJointArgs
double m_parentFrame[7];
double m_childFrame[7];
double m_jointAxis[3];
int m_jointType;
};
struct SharedMemoryCommand

2
src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
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@@ -21,7 +21,7 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "LinearMath/btIDebugDraw.h"
#define BTMBSLIDERCONSTRAINT_DIM 6
#define BTMBSLIDERCONSTRAINT_DIM 5
#define EPSILON 0.000001
btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)