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implement joint reaction forces for mobilizer motor/limit, by passing the constraint forces as 'external forces' and going through the Articulated Body Algorithm

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minor refactor for forwardKinematics, store the cached world transform in each btMultiBody::link
This commit is contained in:
erwin coumans
2015-06-19 15:51:24 -07:00
parent 89edc40d61
commit 6e9eb13235
9 changed files with 178 additions and 91 deletions
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8
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -122,7 +122,7 @@ struct btMultibodyLink
struct btMultiBodyJointFeedback* m_jointFeedback;
btVector3 m_worldPosition;
btTransform m_cachedWorldTransform;//this cache is updated when calling btMultiBody::forwardKinematics
// ctor: set some sensible defaults
btMultibodyLink()
@@ -135,9 +135,10 @@ struct btMultibodyLink
m_dofCount(0),
m_posVarCount(0),
m_jointType(btMultibodyLink::eInvalid),
m_jointFeedback(0),
m_worldPosition(0,0,0)
m_jointFeedback(0)
{
m_inertiaLocal.setValue(1, 1, 1);
setAxisTop(0, 0., 0., 0.);
setAxisBottom(0, 1., 0., 0.);
@@ -150,6 +151,7 @@ struct btMultibodyLink
m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f;
m_jointPos[3] = 1.f; //"quat.w"
m_jointTorque[0] = m_jointTorque[1] = m_jointTorque[2] = m_jointTorque[3] = m_jointTorque[4] = m_jointTorque[5] = 0.f;
m_cachedWorldTransform.setIdentity();
}
// routine to update m_cachedRotParentToThis and m_cachedRVector