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add joint feedback (applied force and applied torque for a constraint)

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This commit is contained in:
erwin.coumans
2012-10-05 05:37:12 +00:00
parent 394bb103f0
commit 6be2689f01
4 changed files with 54 additions and 2 deletions
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2
Demos/ConstraintDemo/CMakeLists.txt
View File

@@ -36,12 +36,14 @@ IF (USE_GLUT)
TARGET AppConstraintDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}/Debug
)
ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppConstraintDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}/Debug
)
ENDIF(CMAKE_CL_64)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)

22
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1038,6 +1038,18 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
for (i=0;i<numConstraints;i++)
{
btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
btJointFeedback* fb = constraints[i]->getJointFeedback();
if (fb)
{
fb->m_appliedForceBodyA.setZero();
fb->m_appliedTorqueBodyA.setZero();
fb->m_appliedForceBodyB.setZero();
fb->m_appliedTorqueBodyB.setZero();
}
if (constraints[i]->isEnabled())
{
}
if (constraints[i]->isEnabled())
{
constraints[i]->getInfo1(&info1);
@@ -1565,6 +1577,16 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
{
const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
btJointFeedback* fb = constr->getJointFeedback();
if (fb)
{
fb->m_appliedForceBodyA += solverConstr.m_contactNormal*solverConstr.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
fb->m_appliedForceBodyB += -solverConstr.m_contactNormal*solverConstr.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
fb->m_appliedTorqueBodyB += -solverConstr.m_relpos1CrossNormal* constr->getRigidBodyB().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
}
constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
if (btFabs(solverConstr.m_appliedImpulse)>=constr->getBreakingImpulseThreshold())
{

6
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
View File

@@ -32,7 +32,8 @@ m_overrideNumSolverIterations(-1),
m_rbA(rbA),
m_rbB(getFixedBody()),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
m_jointFeedback(0)
{
}
@@ -48,7 +49,8 @@ m_overrideNumSolverIterations(-1),
m_rbA(rbA),
m_rbB(rbB),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
m_jointFeedback(0)
{
}

26
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
View File

@@ -53,6 +53,15 @@ enum btConstraintParams
#endif
ATTRIBUTE_ALIGNED16(struct) btJointFeedback
{
btVector3 m_appliedForceBodyA;
btVector3 m_appliedTorqueBodyA;
btVector3 m_appliedForceBodyB;
btVector3 m_appliedTorqueBodyB;
};
///TypedConstraint is the baseclass for Bullet constraints and vehicles
ATTRIBUTE_ALIGNED16(class) btTypedConstraint : public btTypedObject
{
@@ -82,6 +91,7 @@ protected:
btRigidBody& m_rbB;
btScalar m_appliedImpulse;
btScalar m_dbgDrawSize;
btJointFeedback* m_jointFeedback;
///internal method used by the constraint solver, don't use them directly
btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
@@ -250,6 +260,22 @@ public:
return m_userConstraintPtr;
}
void setJointFeedback(btJointFeedback* jointFeedback)
{
m_jointFeedback = jointFeedback;
}
const btJointFeedback* getJointFeedback() const
{
return m_jointFeedback;
}
btJointFeedback* getJointFeedback()
{
return m_jointFeedback;
}
int getUid() const
{
return m_userConstraintId;