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Various nail constraint improvements

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TODO: errors while scene loading / saving
This commit is contained in:
rponom
2009-12-25 00:22:20 +00:00
parent 63bb1bab94
commit 5dd43ab3a2
23 changed files with 603 additions and 314 deletions
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8
Extras/MayaPlugin/constraint/bt_constraint.h
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@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//bt_constraint.h
@@ -29,6 +33,8 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
#include "btBulletDynamicsCommon.h"
#include "shared_ptr.h"
class rigid_body_impl_t;
class bt_constraint_t
{
public:
@@ -40,7 +46,7 @@ protected:
btTypedConstraint* constraint() { return m_constraint.get(); }
void set_constraint(btTypedConstraint *constraint) { return m_constraint.reset(constraint); }
virtual void update_constraint() = 0;
virtual void update_constraint(rigid_body_impl_t* rb) = 0;
public:
friend class bt_rigid_body_t;

6
Extras/MayaPlugin/constraint/bt_hinge_constraint.h
View File

@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//bt_hinge_constraint.h
@@ -97,7 +101,7 @@ public:
hinge->enableAngularMotor(enable, velocity, impulse);
}
virtual void update_constraint()
virtual void update_constraint(rigid_body_impl_t* rb)
{
btHingeConstraint* hc = static_cast<btHingeConstraint*>(m_constraint.get());
btVector3 world = hc->getBFrame().getOrigin();

83
Extras/MayaPlugin/constraint/bt_nail_constraint.h
View File

@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//bt_nail_constraint.h
@@ -58,10 +62,15 @@ public:
}
virtual void get_world_pivot(vec3f &p) const {
// btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get());
// p[0] = p2pc->getPivotInB().x();
// p[1] = p2pc->getPivotInB().y();
// p[2] = p2pc->getPivotInB().z();
btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get());
p[0] = p2pc->getPivotInB().x();
p[1] = p2pc->getPivotInB().y();
p[2] = p2pc->getPivotInB().z();
btVector3 pivotAinW = p2pc->getRigidBodyA().getCenterOfMassTransform()* p2pc->getPivotInA();
p[0] = pivotAinW.x();
p[1] = pivotAinW.y();
p[2] = pivotAinW.z();
}
virtual void set_world(vec3f const &p) {
@@ -69,23 +78,47 @@ public:
btVector3 world(p[0], p[1], p[2]);
btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world);
p2pc->setPivotA(pivotA);
p2pc->setPivotB(world);
p2pc->buildJacobian();
btVector3 pivotB = p2pc->getRigidBodyB().getWorldTransform().inverse() (world);
p2pc->setPivotB(pivotB);
// p2pc->buildJacobian();
}
virtual void get_world(vec3f &p) const {
btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get());
p[0] = p2pc->getPivotInB().x();
p[1] = p2pc->getPivotInB().y();
p[2] = p2pc->getPivotInB().z();
btVector3 pivotAinW = p2pc->getRigidBodyA().getCenterOfMassTransform()* p2pc->getPivotInA();
// p[0] = p2pc->getPivotInB().x();
// p[1] = p2pc->getPivotInB().y();
// p[2] = p2pc->getPivotInB().z();
p[0] = pivotAinW.x();
p[1] = pivotAinW.y();
p[2] = pivotAinW.z();
}
virtual void update_constraint()
virtual void update_constraint(rigid_body_impl_t* rb)
{
btRigidBody* bt_body = static_cast<bt_rigid_body_t*>(rb)->body();
btPoint2PointConstraint* p2pc = static_cast<btPoint2PointConstraint*>(m_constraint.get());
btVector3 world = p2pc->getPivotInB();
btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world);
p2pc->setPivotA(pivotA);
btVector3 world, pivot;
if(bt_body == &p2pc->getRigidBodyA())
{
world = p2pc->getRigidBodyB().getWorldTransform() * p2pc->getPivotInB();
pivot = p2pc->getRigidBodyA().getWorldTransform().inverse() * world;
p2pc->setPivotA(pivot);
}
else if(bt_body == &p2pc->getRigidBodyB())
{
world = p2pc->getRigidBodyA().getWorldTransform() * p2pc->getPivotInA();
pivot = p2pc->getRigidBodyB().getWorldTransform().inverse() * world;
p2pc->setPivotB(pivot);
}
else
{
world.setValue(0.f, 0.f, 0.f);
}
// btVector3 world = p2pc->getPivotInB();
// btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world);
// p2pc->setPivotA(pivotA);
}
protected:
friend class bt_solver_t;
@@ -93,12 +126,34 @@ protected:
bt_nail_constraint_t(rigid_body_impl_t* rb, vec3f const& pivot):
nail_constraint_impl_t()
{
btVector3 pivotW(pivot[0], pivot[1], pivot[2]);
btRigidBody& bt_body = *static_cast<bt_rigid_body_t*>(rb)->body();
btVector3 pivotA = bt_body.getCenterOfMassPosition();
m_constraint.reset(new btPoint2PointConstraint(bt_body, -pivotA));
const btTransform& tr = bt_body.getCenterOfMassTransform();
btTransform iTr = tr.inverse();
btVector3 nPivot = iTr * pivotW;
m_constraint.reset(new btPoint2PointConstraint(bt_body, nPivot));
// btVector3 pivotA = bt_body.getCenterOfMassPosition();
// m_constraint.reset(new btPoint2PointConstraint(bt_body, -pivotA));
rb->add_constraint(this);
}
bt_nail_constraint_t(rigid_body_impl_t* rbA, rigid_body_impl_t* rbB, vec3f const& pivot):
nail_constraint_impl_t()
{
btVector3 pivotW(pivot[0], pivot[1], pivot[2]);
btRigidBody& bt_bodyA = *static_cast<bt_rigid_body_t*>(rbA)->body();
const btTransform& trA = bt_bodyA.getCenterOfMassTransform();
btTransform iTrA = trA.inverse();
btVector3 nPivotA = iTrA * pivotW;
btRigidBody& bt_bodyB = *static_cast<bt_rigid_body_t*>(rbB)->body();
const btTransform& trB = bt_bodyB.getCenterOfMassTransform();
btTransform iTrB = trB.inverse();
btVector3 nPivotB = iTrB * pivotW;
m_constraint.reset(new btPoint2PointConstraint(bt_bodyA, bt_bodyB, nPivotA, nPivotB));
rbA->add_constraint(this);
rbB->add_constraint(this);
}
private:
};

6
Extras/MayaPlugin/constraint/bt_sixdof_constraint.h
View File

@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//bt_sixdof_constraint.h
@@ -94,7 +98,7 @@ public:
*/ p = world;
}
virtual void update_constraint()
virtual void update_constraint(rigid_body_impl_t* rb)
{
btGeneric6DofConstraint* constraint = static_cast<btGeneric6DofConstraint*>(m_constraint.get());
constraint->getFrameOffsetA() = constraint->getRigidBodyA().getCenterOfMassTransform().inverse();

6
Extras/MayaPlugin/constraint/bt_slider_constraint.h
View File

@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//bt_slider_constraint.h
@@ -95,7 +99,7 @@ public:
*/ p = world;
}
virtual void update_constraint()
virtual void update_constraint(rigid_body_impl_t* rb)
{
/* btRigidBody& bt_bodyA = *static_cast<bt_rigid_body_t*>(rbA)->body();
btRigidBody& bt_bodyB = *static_cast<bt_rigid_body_t*>(rbB)->body();

138
Extras/MayaPlugin/constraint/nailConstraintNode.cpp
View File

@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//nailConstraintNode.cpp
@@ -43,7 +47,8 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
MTypeId nailConstraintNode::typeId(0x10033A);
MString nailConstraintNode::typeName("dNailConstraint");
MObject nailConstraintNode::ia_rigidBody;
MObject nailConstraintNode::ia_rigidBodyA;
MObject nailConstraintNode::ia_rigidBodyB;
MObject nailConstraintNode::ia_damping;
MObject nailConstraintNode::ca_constraint;
MObject nailConstraintNode::ca_constraintParam;
@@ -56,10 +61,15 @@ MStatus nailConstraintNode::initialize()
MFnNumericAttribute fnNumericAttr;
MFnMatrixAttribute fnMatrixAttr;
ia_rigidBody = fnMsgAttr.create("inRigidBody", "inrb", &status);
MCHECKSTATUS(status, "creating inRigidBody attribute")
status = addAttribute(ia_rigidBody);
MCHECKSTATUS(status, "adding inRigidBody attribute")
ia_rigidBodyA = fnMsgAttr.create("inRigidBodyA", "inrbA", &status);
MCHECKSTATUS(status, "creating inRigidBodyA attribute")
status = addAttribute(ia_rigidBodyA);
MCHECKSTATUS(status, "adding inRigidBodyA attribute")
ia_rigidBodyB = fnMsgAttr.create("inRigidBodyB", "inrbB", &status);
MCHECKSTATUS(status, "creating inRigidBodyB attribute")
status = addAttribute(ia_rigidBodyB);
MCHECKSTATUS(status, "adding inRigidBodyB attribute")
ia_damping = fnNumericAttr.create("damping", "dmp", MFnNumericData::kDouble, 1.0, &status);
MCHECKSTATUS(status, "creating damping attribute")
@@ -86,11 +96,17 @@ MStatus nailConstraintNode::initialize()
MCHECKSTATUS(status, "adding ca_constraintParam attribute")
status = attributeAffects(ia_rigidBody, ca_constraint);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBody, ca_constraint)")
status = attributeAffects(ia_rigidBodyA, ca_constraint);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyA, ca_constraint)")
status = attributeAffects(ia_rigidBody, ca_constraintParam);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBody, ca_constraintParam)")
status = attributeAffects(ia_rigidBodyA, ca_constraintParam);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyA, ca_constraintParam)")
status = attributeAffects(ia_rigidBodyB, ca_constraint);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyB, ca_constraint)")
status = attributeAffects(ia_rigidBodyB, ca_constraintParam);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyB, ca_constraintParam)")
status = attributeAffects(ia_damping, ca_constraintParam);
MCHECKSTATUS(status, "adding attributeAffects(ia_damping, ca_constraintParam)")
@@ -174,19 +190,34 @@ void nailConstraintNode::draw( M3dView & view, const MDagPath &path,
( style != M3dView::kGouraudShaded && style != M3dView::kFlatShaded )) ) {
glColor3f(1.0, 1.0, 0.0);
}
vec3f pos;
vec3f posA, posB;
rigid_body_t::pointer rigid_bodyB = NULL;
if (m_constraint) {
vec3f world;
m_constraint->get_world(world);
vec3f posA;
quatf rotA;
m_constraint->rigid_body()->get_transform(posA, rotA);
pos = posA - world;
vec3f posT;
quatf rotT;
m_constraint->rigid_bodyA()->get_transform(posT, rotT);
posA = posT - world;
rigid_bodyB = m_constraint->rigid_bodyB();
if(rigid_bodyB)
{
rigid_bodyB->get_transform(posT, rotT);
posB = posT - world;
}
}
glBegin(GL_LINES);
glVertex3f(0.0, 0.0, 0.0);
glVertex3f(pos[0], pos[1], pos[2]);
glVertex3f(posA[0], posA[1], posA[2]);
if(rigid_bodyB)
{
glVertex3f(0.0, 0.0, 0.0);
glVertex3f(posB[0], posB[1], posB[2]);
}
glVertex3f(-1.0, 0.0, 0.0);
glVertex3f(1.0, 0.0, 0.0);
@@ -225,35 +256,83 @@ void nailConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data)
// std::cout << "nailConstraintNode::computeConstraint" << std::endl;
MObject thisObject(thisMObject());
MPlug plgRigidBody(thisObject, ia_rigidBody);
MPlug plgRigidBodyA(thisObject, ia_rigidBodyA);
MPlug plgRigidBodyB(thisObject, ia_rigidBodyB);
MObject update;
//force evaluation of the rigidBody
plgRigidBody.getValue(update);
plgRigidBodyA.getValue(update);
plgRigidBodyB.getValue(update);
rigid_body_t::pointer rigid_body;
if(plgRigidBody.isConnected()) {
rigid_body_t::pointer rigid_bodyA;
if(plgRigidBodyA.isConnected()) {
MPlugArray connections;
plgRigidBody.connectedTo(connections, true, true);
plgRigidBodyA.connectedTo(connections, true, true);
if(connections.length() != 0) {
MFnDependencyNode fnNode(connections[0].node());
if(fnNode.typeId() == rigidBodyNode::typeId) {
rigidBodyNode *pRigidBodyNode = static_cast<rigidBodyNode*>(fnNode.userNode());
rigid_body = pRigidBodyNode->rigid_body();
rigidBodyNode *pRigidBodyNodeA = static_cast<rigidBodyNode*>(fnNode.userNode());
rigid_bodyA = pRigidBodyNodeA->rigid_body();
} else {
std::cout << "nailConstraintNode connected to a non-rigidbody node!" << std::endl;
std::cout << "nailConstraintNode connected to a non-rigidbody node A!" << std::endl;
}
}
}
if(rigid_body) {
rigid_body_t::pointer rigid_bodyB;
if(plgRigidBodyB.isConnected()) {
MPlugArray connections;
plgRigidBodyB.connectedTo(connections, true, true);
if(connections.length() != 0) {
MFnDependencyNode fnNode(connections[0].node());
if(fnNode.typeId() == rigidBodyNode::typeId) {
rigidBodyNode *pRigidBodyNodeB = static_cast<rigidBodyNode*>(fnNode.userNode());
rigid_bodyB = pRigidBodyNodeB->rigid_body();
} else {
std::cout << "nailConstraintNode connected to a non-rigidbody node B!" << std::endl;
}
}
}
if((rigid_bodyA != NULL) && (rigid_bodyB != NULL))
{
constraint_t::pointer constraint = static_cast<constraint_t::pointer>(m_constraint);
solver_t::remove_constraint(constraint);
vec3f posA, posB, posP;
quatf rotA, rotB;
rigid_bodyA->get_transform(posA, rotA);
rigid_bodyB->get_transform(posB, rotB);
posP = posA;
m_constraint = solver_t::create_nail_constraint(rigid_bodyA, rigid_bodyB, posP);
constraint = static_cast<constraint_t::pointer>(m_constraint);
solver_t::add_constraint(constraint);
}
else if(rigid_bodyA)
{
//not connected to a rigid body, put a default one
constraint_t::pointer constraint = static_cast<constraint_t::pointer>(m_constraint);
solver_t::remove_constraint(constraint);
m_constraint = solver_t::create_nail_constraint(rigid_body);
vec3f posA, posP;
quatf rotA;
rigid_bodyA->get_transform(posA, rotA);
posP = posA;
m_constraint = solver_t::create_nail_constraint(rigid_bodyA, posP);
constraint = static_cast<constraint_t::pointer>(m_constraint);
solver_t::add_constraint(constraint);
}
MFnDagNode mDagNode(thisObject);
if(mDagNode.parentCount() == 0)
{
std::cout << "No transform for nail constraint found!" << std::endl;
}
else
{
MFnTransform mTransform(mDagNode.parent(0));
vec3f constrPos;
m_constraint->get_world(constrPos);
mTransform.setTranslation(MVector(constrPos[0], constrPos[1], constrPos[2]), MSpace::kTransform);
}
data.outputValue(ca_constraint).set(true);
data.setClean(plug);
}
@@ -293,7 +372,14 @@ void nailConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data)
std::cout << "pivot (" << pivot[0] << "," << pivot[0] << "," << pivot[0] << ")" << std::endl;
*/
// std::cout << "mtranslation (" << mtranslation[0] << "," << mtranslation[0] << "," << mtranslation[0] << ")" << std::endl;
m_constraint->set_world(vec3f((float) mtranslation[0], (float) mtranslation[1], (float) mtranslation[2]));
float deltaX = world[0] - float(mtranslation.x);
float deltaY = world[1] - float(mtranslation.y);
float deltaZ = world[2] - float(mtranslation.z);
float deltaSq = deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ;
if(deltaSq > 0.000001f)
{
m_constraint->set_world(vec3f((float) mtranslation[0], (float) mtranslation[1], (float) mtranslation[2]));
}
}
}

7
Extras/MayaPlugin/constraint/nailConstraintNode.h
View File

@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//nailConstraintNode.h
@@ -66,7 +70,8 @@ public:
public:
//Attributes
static MObject ia_rigidBody;
static MObject ia_rigidBodyA;
static MObject ia_rigidBodyB;
static MObject ia_damping;
static MObject ca_constraint;

22
Extras/MayaPlugin/constraint/nail_constraint.h
View File

@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//nail_constraint.h
@@ -39,7 +43,8 @@ public:
typedef shared_ptr<nail_constraint_t> pointer;
//
rigid_body_t::pointer rigid_body() { return m_rigid_body; }
rigid_body_t::pointer rigid_bodyA() { return m_rigid_bodyA; }
rigid_body_t::pointer rigid_bodyB() { return m_rigid_bodyB; }
//
void set_pivotA(vec3f const& p) {
@@ -81,14 +86,23 @@ public:
protected:
friend class solver_t;
nail_constraint_t(nail_constraint_impl_t* impl, rigid_body_t::pointer& rigid_body):
nail_constraint_t(nail_constraint_impl_t* impl, rigid_body_t::pointer& rigid_bodyA):
constraint_t(impl),
m_rigid_body(rigid_body)
m_rigid_bodyA(rigid_bodyA),
m_rigid_bodyB(NULL)
{
}
nail_constraint_t(nail_constraint_impl_t* impl, rigid_body_t::pointer& rigid_bodyA, rigid_body_t::pointer& rigid_bodyB):
constraint_t(impl),
m_rigid_bodyA(rigid_bodyA),
m_rigid_bodyB(rigid_bodyB)
{
}
private:
rigid_body_t::pointer m_rigid_body;
rigid_body_t::pointer m_rigid_bodyA;
rigid_body_t::pointer m_rigid_bodyB;
};