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

RK4 for floating systems too

Browse Source
This commit is contained in:
kubas
2014-01-09 01:01:03 +01:00
parent c5594a5826
commit 66fdc1704b
2 changed files with 106 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -306,8 +306,8 @@ void btMultiBody::finalizeMultiDof()
{
btAssert(m_isMultiDof);
m_realBuf.resize(6 + m_dofCount + m_dofCount*m_dofCount + m_posVarCnt); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector
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 + 6 + m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector (6 base "vels" + joint "vels")
m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices)
updateLinksDofOffsets();
}
@@ -1058,7 +1058,7 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
scratch_v.resize(8*num_links + 6);
scratch_m.resize(4*num_links + 4);
btScalar * r_ptr = &scratch_r[0];
//btScalar * r_ptr = &scratch_r[0];
btScalar * output = &scratch_r[m_dofCount]; // "output" holds the q_double_dot results
btVector3 * v_ptr = &scratch_v[0];
@@ -1188,14 +1188,14 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
// for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
// mod2 += getJointVelMultiDof(i)[dof]*getJointVelMultiDof(i)[dof];
// btScalar angvel = sqrt(mod2);
// btScalar maxAngVel = 6;//SIMD_HALF_PI * 0.075;
// btScalar step = 1; //dt
// if (angvel*step > maxAngVel)
// {
// btScalar angvel = sqrt(mod2);
// btScalar maxAngVel = 6;//SIMD_HALF_PI * 0.075;
// btScalar step = 1; //dt
// if (angvel*step > maxAngVel)
// {
// btScalar * qd = getJointVelMultiDof(i);
// for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
// qd[dof] *= (maxAngVel/step) /angvel;
// qd[dof] *= (maxAngVel/step) /angvel;
// }
//}
@@ -2460,8 +2460,15 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd
{
int num_links = getNumLinks();
// step position by adding dt * velocity
btVector3 v = getBaseVel();
m_basePos += dt * v;
//btVector3 v = getBaseVel();
//m_basePos += dt * v;
//
btScalar *pBasePos = (pq ? &pq[4] : m_basePos);
btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety)
//
pBasePos[0] += dt * pBaseVel[0];
pBasePos[1] += dt * pBaseVel[1];
pBasePos[2] += dt * pBaseVel[2];
///////////////////////////////
//local functor for quaternion integration (to avoid error prone redundancy)
@@ -2510,7 +2517,28 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd
} pQuatUpdateFun;
///////////////////////////////
pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt);
//pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt);
//
btScalar *pBaseQuat = pq ? pq : m_baseQuat;
btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety)
//
static btQuaternion baseQuat; baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]);
static btVector3 baseOmega; baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]);
pQuatUpdateFun(baseOmega, baseQuat, true, dt);
pBaseQuat[0] = baseQuat.x();
pBaseQuat[1] = baseQuat.y();
pBaseQuat[2] = baseQuat.z();
pBaseQuat[3] = baseQuat.w();
//printf("pBaseOmega = %.4f %.4f %.4f\n", pBaseOmega->x(), pBaseOmega->y(), pBaseOmega->z());
//printf("pBaseVel = %.4f %.4f %.4f\n", pBaseVel->x(), pBaseVel->y(), pBaseVel->z());
//printf("baseQuat = %.4f %.4f %.4f %.4f\n", pBaseQuat->x(), pBaseQuat->y(), pBaseQuat->z(), pBaseQuat->w());
if(pq)
pq += 7;
if(pqd)
pqd += 6;
// Finally we can update m_jointPos for each of the m_links
for (int i = 0; i < num_links; ++i)
@@ -2529,7 +2557,6 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd
}
case btMultibodyLink::eSpherical:
{
//btScalar *pJointVel = getJointVelMultiDof(i);
static btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]);
static btQuaternion jointOri; jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]);
pQuatUpdateFun(jointVel, jointOri, false, dt);