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separate external force solve from constraint solve and eliminate damping in external force solve

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This commit is contained in:
Xuchen Han
2019-07-10 16:08:46 -07:00
parent c4e316f005
commit 77d670ae41
2 changed files with 295 additions and 282 deletions
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575
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -421,288 +421,7 @@ void btMultiBodyDynamicsWorld::forwardKinematics()
}
void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
forwardKinematics();
BT_PROFILE("solveConstraints");
clearMultiBodyConstraintForces();
m_sortedConstraints.resize(m_constraints.size());
int i;
for (i = 0; i < getNumConstraints(); i++)
{
m_sortedConstraints[i] = m_constraints[i];
}
m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2());
btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size());
for (i = 0; i < m_multiBodyConstraints.size(); i++)
{
m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i];
}
m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate());
btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
{
BT_PROFILE("btMultiBody addForce");
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bool isSleeping = false;
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
{
isSleeping = true;
}
for (int b = 0; b < bod->getNumLinks(); b++)
{
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
isSleeping = true;
}
if (!isSleeping)
{
//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd)
m_scratch_v.resize(bod->getNumLinks() + 1);
m_scratch_m.resize(bod->getNumLinks() + 1);
bod->addBaseForce(m_gravity * bod->getBaseMass());
for (int j = 0; j < bod->getNumLinks(); ++j)
{
bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
}
} //if (!isSleeping)
}
}
#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
{
BT_PROFILE("btMultiBody stepVelocities");
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bool isSleeping = false;
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
{
isSleeping = true;
}
for (int b = 0; b < bod->getNumLinks(); b++)
{
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
isSleeping = true;
}
if (!isSleeping)
{
//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd)
m_scratch_v.resize(bod->getNumLinks() + 1);
m_scratch_m.resize(bod->getNumLinks() + 1);
bool doNotUpdatePos = false;
bool isConstraintPass = false;
{
if (!bod->isUsingRK4Integration())
{
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
}
else
{
//
int numDofs = bod->getNumDofs() + 6;
int numPosVars = bod->getNumPosVars() + 7;
btAlignedObjectArray<btScalar> scratch_r2;
scratch_r2.resize(2 * numPosVars + 8 * numDofs);
//convenience
btScalar* pMem = &scratch_r2[0];
btScalar* scratch_q0 = pMem;
pMem += numPosVars;
btScalar* scratch_qx = pMem;
pMem += numPosVars;
btScalar* scratch_qd0 = pMem;
pMem += numDofs;
btScalar* scratch_qd1 = pMem;
pMem += numDofs;
btScalar* scratch_qd2 = pMem;
pMem += numDofs;
btScalar* scratch_qd3 = pMem;
pMem += numDofs;
btScalar* scratch_qdd0 = pMem;
pMem += numDofs;
btScalar* scratch_qdd1 = pMem;
pMem += numDofs;
btScalar* scratch_qdd2 = pMem;
pMem += numDofs;
btScalar* scratch_qdd3 = pMem;
pMem += numDofs;
btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]);
/////
//copy q0 to scratch_q0 and qd0 to scratch_qd0
scratch_q0[0] = bod->getWorldToBaseRot().x();
scratch_q0[1] = bod->getWorldToBaseRot().y();
scratch_q0[2] = bod->getWorldToBaseRot().z();
scratch_q0[3] = bod->getWorldToBaseRot().w();
scratch_q0[4] = bod->getBasePos().x();
scratch_q0[5] = bod->getBasePos().y();
scratch_q0[6] = bod->getBasePos().z();
//
for (int link = 0; link < bod->getNumLinks(); ++link)
{
for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof)
scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof];
}
//
for (int dof = 0; dof < numDofs; ++dof)
scratch_qd0[dof] = bod->getVelocityVector()[dof];
////
struct
{
btMultiBody* bod;
btScalar *scratch_qx, *scratch_q0;
void operator()()
{
for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof)
scratch_qx[dof] = scratch_q0[dof];
}
} pResetQx = {bod, scratch_qx, scratch_q0};
//
struct
{
void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size)
{
for (int i = 0; i < size; ++i)
pVal[i] = pCurVal[i] + dt * pDer[i];
}
} pEulerIntegrate;
//
struct
{
void operator()(btMultiBody* pBody, const btScalar* pData)
{
btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector());
for (int i = 0; i < pBody->getNumDofs() + 6; ++i)
pVel[i] = pData[i];
}
} pCopyToVelocityVector;
//
struct
{
void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size)
{
for (int i = 0; i < size; ++i)
pDst[i] = pSrc[start + i];
}
} pCopy;
//
btScalar h = solverInfo.m_timeStep;
#define output &m_scratch_r[bod->getNumDofs()]
//calc qdd0 from: q0 & qd0
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd0, 0, numDofs);
//calc q1 = q0 + h/2 * qd0
pResetQx();
bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0);
//calc qd1 = qd0 + h/2 * qdd0
pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs);
//
//calc qdd1 from: q1 & qd1
pCopyToVelocityVector(bod, scratch_qd1);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd1, 0, numDofs);
//calc q2 = q0 + h/2 * qd1
pResetQx();
bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1);
//calc qd2 = qd0 + h/2 * qdd1
pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs);
//
//calc qdd2 from: q2 & qd2
pCopyToVelocityVector(bod, scratch_qd2);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd2, 0, numDofs);
//calc q3 = q0 + h * qd2
pResetQx();
bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2);
//calc qd3 = qd0 + h * qdd2
pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs);
//
//calc qdd3 from: q3 & qd3
pCopyToVelocityVector(bod, scratch_qd3);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd3, 0, numDofs);
//
//calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3)
//calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3)
btAlignedObjectArray<btScalar> delta_q;
delta_q.resize(numDofs);
btAlignedObjectArray<btScalar> delta_qd;
delta_qd.resize(numDofs);
for (int i = 0; i < numDofs; ++i)
{
delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]);
delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]);
//delta_q[i] = h*scratch_qd0[i];
//delta_qd[i] = h*scratch_qdd0[i];
}
//
pCopyToVelocityVector(bod, scratch_qd0);
bod->applyDeltaVeeMultiDof(&delta_qd[0], 1);
//
if (!doNotUpdatePos)
{
btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector());
pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs();
for (int i = 0; i < numDofs; ++i)
pRealBuf[i] = delta_q[i];
//bod->stepPositionsMultiDof(1, 0, &delta_q[0]);
bod->setPosUpdated(true);
}
//ugly hack which resets the cached data to t0 (needed for constraint solver)
{
for (int link = 0; link < bod->getNumLinks(); ++link)
bod->getLink(link).updateCacheMultiDof();
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
}
}
}
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
bod->clearForcesAndTorques();
#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
} //if (!isSleeping)
}
}
solveExternalForces(solverInfo);
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
@@ -760,6 +479,298 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
}
}
void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo)
{
forwardKinematics();
BT_PROFILE("solveConstraints");
clearMultiBodyConstraintForces();
m_sortedConstraints.resize(m_constraints.size());
int i;
for (i = 0; i < getNumConstraints(); i++)
{
m_sortedConstraints[i] = m_constraints[i];
}
m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2());
btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size());
for (i = 0; i < m_multiBodyConstraints.size(); i++)
{
m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i];
}
m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate());
btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
{
BT_PROFILE("btMultiBody addForce");
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bool isSleeping = false;
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
{
isSleeping = true;
}
for (int b = 0; b < bod->getNumLinks(); b++)
{
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
isSleeping = true;
}
if (!isSleeping)
{
//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd)
m_scratch_v.resize(bod->getNumLinks() + 1);
m_scratch_m.resize(bod->getNumLinks() + 1);
bod->addBaseForce(m_gravity * bod->getBaseMass());
for (int j = 0; j < bod->getNumLinks(); ++j)
{
bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
}
} //if (!isSleeping)
}
}
#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
{
BT_PROFILE("btMultiBody stepVelocities");
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bool isSleeping = false;
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
{
isSleeping = true;
}
for (int b = 0; b < bod->getNumLinks(); b++)
{
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
isSleeping = true;
}
if (!isSleeping)
{
//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd)
m_scratch_v.resize(bod->getNumLinks() + 1);
m_scratch_m.resize(bod->getNumLinks() + 1);
bool doNotUpdatePos = false;
bool isConstraintPass = false;
{
if (!bod->isUsingRK4Integration())
{
const btScalar linearDamp = bod->getLinearDamping();
// const btScalar angularDamp = bod->getAngularDamping();
bod->setLinearDamping(0);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
bod->setLinearDamping(linearDamp);
// bod->setAngularDamping(angularDamp);
}
else
{
//
int numDofs = bod->getNumDofs() + 6;
int numPosVars = bod->getNumPosVars() + 7;
btAlignedObjectArray<btScalar> scratch_r2;
scratch_r2.resize(2 * numPosVars + 8 * numDofs);
//convenience
btScalar* pMem = &scratch_r2[0];
btScalar* scratch_q0 = pMem;
pMem += numPosVars;
btScalar* scratch_qx = pMem;
pMem += numPosVars;
btScalar* scratch_qd0 = pMem;
pMem += numDofs;
btScalar* scratch_qd1 = pMem;
pMem += numDofs;
btScalar* scratch_qd2 = pMem;
pMem += numDofs;
btScalar* scratch_qd3 = pMem;
pMem += numDofs;
btScalar* scratch_qdd0 = pMem;
pMem += numDofs;
btScalar* scratch_qdd1 = pMem;
pMem += numDofs;
btScalar* scratch_qdd2 = pMem;
pMem += numDofs;
btScalar* scratch_qdd3 = pMem;
pMem += numDofs;
btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]);
/////
//copy q0 to scratch_q0 and qd0 to scratch_qd0
scratch_q0[0] = bod->getWorldToBaseRot().x();
scratch_q0[1] = bod->getWorldToBaseRot().y();
scratch_q0[2] = bod->getWorldToBaseRot().z();
scratch_q0[3] = bod->getWorldToBaseRot().w();
scratch_q0[4] = bod->getBasePos().x();
scratch_q0[5] = bod->getBasePos().y();
scratch_q0[6] = bod->getBasePos().z();
//
for (int link = 0; link < bod->getNumLinks(); ++link)
{
for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof)
scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof];
}
//
for (int dof = 0; dof < numDofs; ++dof)
scratch_qd0[dof] = bod->getVelocityVector()[dof];
////
struct
{
btMultiBody* bod;
btScalar *scratch_qx, *scratch_q0;
void operator()()
{
for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof)
scratch_qx[dof] = scratch_q0[dof];
}
} pResetQx = {bod, scratch_qx, scratch_q0};
//
struct
{
void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size)
{
for (int i = 0; i < size; ++i)
pVal[i] = pCurVal[i] + dt * pDer[i];
}
} pEulerIntegrate;
//
struct
{
void operator()(btMultiBody* pBody, const btScalar* pData)
{
btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector());
for (int i = 0; i < pBody->getNumDofs() + 6; ++i)
pVel[i] = pData[i];
}
} pCopyToVelocityVector;
//
struct
{
void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size)
{
for (int i = 0; i < size; ++i)
pDst[i] = pSrc[start + i];
}
} pCopy;
//
btScalar h = solverInfo.m_timeStep;
#define output &m_scratch_r[bod->getNumDofs()]
//calc qdd0 from: q0 & qd0
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd0, 0, numDofs);
//calc q1 = q0 + h/2 * qd0
pResetQx();
bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0);
//calc qd1 = qd0 + h/2 * qdd0
pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs);
//
//calc qdd1 from: q1 & qd1
pCopyToVelocityVector(bod, scratch_qd1);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd1, 0, numDofs);
//calc q2 = q0 + h/2 * qd1
pResetQx();
bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1);
//calc qd2 = qd0 + h/2 * qdd1
pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs);
//
//calc qdd2 from: q2 & qd2
pCopyToVelocityVector(bod, scratch_qd2);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd2, 0, numDofs);
//calc q3 = q0 + h * qd2
pResetQx();
bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2);
//calc qd3 = qd0 + h * qdd2
pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs);
//
//calc qdd3 from: q3 & qd3
pCopyToVelocityVector(bod, scratch_qd3);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd3, 0, numDofs);
//
//calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3)
//calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3)
btAlignedObjectArray<btScalar> delta_q;
delta_q.resize(numDofs);
btAlignedObjectArray<btScalar> delta_qd;
delta_qd.resize(numDofs);
for (int i = 0; i < numDofs; ++i)
{
delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]);
delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]);
//delta_q[i] = h*scratch_qd0[i];
//delta_qd[i] = h*scratch_qdd0[i];
}
//
pCopyToVelocityVector(bod, scratch_qd0);
bod->applyDeltaVeeMultiDof(&delta_qd[0], 1);
//
if (!doNotUpdatePos)
{
btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector());
pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs();
for (int i = 0; i < numDofs; ++i)
pRealBuf[i] = delta_q[i];
//bod->stepPositionsMultiDof(1, 0, &delta_q[0]);
bod->setPosUpdated(true);
}
//ugly hack which resets the cached data to t0 (needed for constraint solver)
{
for (int link = 0; link < bod->getNumLinks(); ++link)
bod->getLink(link).updateCacheMultiDof();
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
}
}
}
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
bod->clearForcesAndTorques();
#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
} //if (!isSleeping)
}
}
}
void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
btDiscreteDynamicsWorld::integrateTransforms(timeStep);

2
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
View File

@@ -111,6 +111,8 @@ public:
virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver);
virtual void setConstraintSolver(btConstraintSolver* solver);
virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const;
virtual void solveExternalForces(btContactSolverInfo& solverInfo);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H