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move global from btMultiBody into dynamicsWorld.getSolverInfo

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This commit is contained in:
Erwin Coumans
2018-11-05 10:50:03 -08:00
parent ac18c95ea1
commit 882252f8c0
9 changed files with 64 additions and 48 deletions
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2
Extras/InverseDynamics/invdyn_bullet_comparison.cpp
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@@ -176,7 +176,7 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
btAlignedObjectArray<btQuaternion> world_to_local; btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin; btAlignedObjectArray<btVector3> local_origin;
btmb->forwardKinematics(world_to_local, local_origin); btmb->forwardKinematics(world_to_local, local_origin);
btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass); btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false);
// read generalized accelerations back from btMultiBody // read generalized accelerations back from btMultiBody
// the mapping from scratch variables to accelerations is taken from the implementation // the mapping from scratch variables to accelerations is taken from the implementation

9
examples/MultiBody/InvertedPendulumPDControl.cpp
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@@ -48,9 +48,6 @@ InvertedPendulumPDControl::~InvertedPendulumPDControl()
{ {
} }
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans, bool fixedBase) btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans, bool fixedBase)
{ {
@@ -315,8 +312,10 @@ void InvertedPendulumPDControl::initPhysics()
} }
int upAxis = 1; int upAxis = 1;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true; m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis); m_guiHelper->setUpAxis(upAxis);

9
examples/MultiBody/MultiBodyConstraintFeedback.cpp
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@@ -44,14 +44,9 @@ MultiBodyConstraintFeedbackSetup::~MultiBodyConstraintFeedbackSetup()
{ {
} }
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
void MultiBodyConstraintFeedbackSetup::initPhysics() void MultiBodyConstraintFeedbackSetup::initPhysics()
{ {
int upAxis = 2; int upAxis = 2;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis); m_guiHelper->setUpAxis(upAxis);
btVector4 colors[4] = btVector4 colors[4] =
@@ -69,6 +64,10 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
//btIDebugDraw::DBG_DrawConstraints //btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits); +btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
//create a static ground object //create a static ground object
if (1) if (1)
{ {

9
examples/MultiBody/TestJointTorqueSetup.cpp
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@@ -44,15 +44,10 @@ TestJointTorqueSetup::~TestJointTorqueSetup()
{ {
} }
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
void TestJointTorqueSetup::initPhysics() void TestJointTorqueSetup::initPhysics()
{ {
int upAxis = 1; int upAxis = 1;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis); m_guiHelper->setUpAxis(upAxis);
@@ -71,6 +66,10 @@ void TestJointTorqueSetup::initPhysics()
//btIDebugDraw::DBG_DrawConstraints //btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits); +btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
//create a static ground object //create a static ground object
if (1) if (1)
{ {

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -96,8 +96,6 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif #endif
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
int gInternalSimFlags = 0; int gInternalSimFlags = 0;
bool gResetSimulation = 0; bool gResetSimulation = 0;
@@ -7697,11 +7695,11 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[2] = grav[2]; serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[2] = grav[2];
serverCmd.m_simulationParameterResultArgs.m_internalSimFlags = gInternalSimFlags; serverCmd.m_simulationParameterResultArgs.m_internalSimFlags = gInternalSimFlags;
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode = 0; serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode = 0;
if (gJointFeedbackInWorldSpace) if (m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace)
{ {
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_WORLD_SPACE; serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_WORLD_SPACE;
} }
if (gJointFeedbackInJointFrame) if (m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame)
{ {
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_JOINT_FRAME; serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_JOINT_FRAME;
} }
@@ -7747,8 +7745,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE) if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE)
{ {
gJointFeedbackInWorldSpace = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_WORLD_SPACE) != 0; m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_WORLD_SPACE) != 0;
gJointFeedbackInJointFrame = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_JOINT_FRAME) != 0; m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_JOINT_FRAME) != 0;
} }
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_DELTA_TIME) if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_DELTA_TIME)

4
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -62,6 +62,8 @@ struct btContactSolverInfoData
btScalar m_singleAxisRollingFrictionThreshold; btScalar m_singleAxisRollingFrictionThreshold;
btScalar m_leastSquaresResidualThreshold; btScalar m_leastSquaresResidualThreshold;
btScalar m_restitutionVelocityThreshold; btScalar m_restitutionVelocityThreshold;
bool m_jointFeedbackInWorldSpace;
bool m_jointFeedbackInJointFrame;
}; };
struct btContactSolverInfo : public btContactSolverInfoData struct btContactSolverInfo : public btContactSolverInfoData
@@ -94,6 +96,8 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_singleAxisRollingFrictionThreshold = 1e30f; ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows. m_singleAxisRollingFrictionThreshold = 1e30f; ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
m_leastSquaresResidualThreshold = 0.f; m_leastSquaresResidualThreshold = 0.f;
m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
m_jointFeedbackInWorldSpace = false;
m_jointFeedbackInJointFrame = false;
} }
}; };

17
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -30,9 +30,6 @@
//#include "Bullet3Common/b3Logging.h" //#include "Bullet3Common/b3Logging.h"
// #define INCLUDE_GYRO_TERM // #define INCLUDE_GYRO_TERM
///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals
bool gJointFeedbackInWorldSpace = false;
bool gJointFeedbackInJointFrame = false;
namespace namespace
{ {
@@ -718,10 +715,12 @@ inline btMatrix3x3 outerProduct(const btVector3 &v0, const btVector3 &v1) //ren
// //
void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt, void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt,
btAlignedObjectArray<btScalar> &scratch_r, btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v, btAlignedObjectArray<btVector3> &scratch_v,
btAlignedObjectArray<btMatrix3x3> &scratch_m, btAlignedObjectArray<btMatrix3x3> &scratch_m,
bool isConstraintPass) bool isConstraintPass,
bool jointFeedbackInWorldSpace,
bool jointFeedbackInJointFrame)
{ {
// Implement Featherstone's algorithm to calculate joint accelerations (q_double_dot) // Implement Featherstone's algorithm to calculate joint accelerations (q_double_dot)
// and the base linear & angular accelerations. // and the base linear & angular accelerations.
@@ -1124,7 +1123,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
btVector3 angularBotVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_bottomVec; btVector3 angularBotVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_bottomVec;
btVector3 linearTopVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_topVec; btVector3 linearTopVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_topVec;
if (gJointFeedbackInJointFrame) if (jointFeedbackInJointFrame)
{ {
//shift the reaction forces to the joint frame //shift the reaction forces to the joint frame
//linear (force) component is the same //linear (force) component is the same
@@ -1132,7 +1131,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
angularBotVec = angularBotVec - linearTopVec.cross(m_links[i].m_dVector); angularBotVec = angularBotVec - linearTopVec.cross(m_links[i].m_dVector);
} }
if (gJointFeedbackInWorldSpace) if (jointFeedbackInWorldSpace)
{ {
if (isConstraintPass) if (isConstraintPass)
{ {

21
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -338,17 +338,20 @@ public:
btAlignedObjectArray<btScalar> & scratch_r, btAlignedObjectArray<btScalar> & scratch_r,
btAlignedObjectArray<btVector3> & scratch_v, btAlignedObjectArray<btVector3> & scratch_v,
btAlignedObjectArray<btMatrix3x3> & scratch_m, btAlignedObjectArray<btMatrix3x3> & scratch_m,
bool isConstraintPass = false); bool isConstraintPass,
bool jointFeedbackInWorldSpace,
bool jointFeedbackInJointFrame
);
///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead ///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
void stepVelocitiesMultiDof(btScalar dt, //void stepVelocitiesMultiDof(btScalar dt,
btAlignedObjectArray<btScalar> & scratch_r, // btAlignedObjectArray<btScalar> & scratch_r,
btAlignedObjectArray<btVector3> & scratch_v, // btAlignedObjectArray<btVector3> & scratch_v,
btAlignedObjectArray<btMatrix3x3> & scratch_m, // btAlignedObjectArray<btMatrix3x3> & scratch_m,
bool isConstraintPass = false) // bool isConstraintPass = false)
{ //{
computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass); // computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false);
} //}
// calcAccelerationDeltasMultiDof // calcAccelerationDeltasMultiDof
// input: force vector (in same format as jacobian, i.e.: // input: force vector (in same format as jacobian, i.e.:

31
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -491,11 +491,14 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_scratch_v.resize(bod->getNumLinks() + 1); m_scratch_v.resize(bod->getNumLinks() + 1);
m_scratch_m.resize(bod->getNumLinks() + 1); m_scratch_m.resize(bod->getNumLinks() + 1);
bool doNotUpdatePos = false; bool doNotUpdatePos = false;
bool isConstraintPass = false;
{ {
if (!bod->isUsingRK4Integration()) if (!bod->isUsingRK4Integration())
{ {
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m); bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
} }
else else
{ {
@@ -593,7 +596,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
btScalar h = solverInfo.m_timeStep; btScalar h = solverInfo.m_timeStep;
#define output &m_scratch_r[bod->getNumDofs()] #define output &m_scratch_r[bod->getNumDofs()]
//calc qdd0 from: q0 & qd0 //calc qdd0 from: q0 & qd0
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m); 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); pCopy(output, scratch_qdd0, 0, numDofs);
//calc q1 = q0 + h/2 * qd0 //calc q1 = q0 + h/2 * qd0
pResetQx(); pResetQx();
@@ -603,7 +608,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
// //
//calc qdd1 from: q1 & qd1 //calc qdd1 from: q1 & qd1
pCopyToVelocityVector(bod, scratch_qd1); pCopyToVelocityVector(bod, scratch_qd1);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m); 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); pCopy(output, scratch_qdd1, 0, numDofs);
//calc q2 = q0 + h/2 * qd1 //calc q2 = q0 + h/2 * qd1
pResetQx(); pResetQx();
@@ -613,7 +620,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
// //
//calc qdd2 from: q2 & qd2 //calc qdd2 from: q2 & qd2
pCopyToVelocityVector(bod, scratch_qd2); pCopyToVelocityVector(bod, scratch_qd2);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m); 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); pCopy(output, scratch_qdd2, 0, numDofs);
//calc q3 = q0 + h * qd2 //calc q3 = q0 + h * qd2
pResetQx(); pResetQx();
@@ -623,7 +632,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
// //
//calc qdd3 from: q3 & qd3 //calc qdd3 from: q3 & qd3
pCopyToVelocityVector(bod, scratch_qd3); pCopyToVelocityVector(bod, scratch_qd3);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m); 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); pCopy(output, scratch_qdd3, 0, numDofs);
// //
@@ -660,7 +671,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{ {
for (int link = 0; link < bod->getNumLinks(); ++link) for (int link = 0; link < bod->getNumLinks(); ++link)
bod->getLink(link).updateCacheMultiDof(); bod->getLink(link).updateCacheMultiDof();
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m); bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
} }
} }
} }
@@ -708,7 +721,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
if (!bod->isUsingRK4Integration()) if (!bod->isUsingRK4Integration())
{ {
bool isConstraintPass = true; bool isConstraintPass = true;
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass); bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
} }
} }
} }