diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index b04bc4f95..a25a9c988 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -24,6 +24,7 @@ #include "btMultiBody.h" #include "btMultiBodyLink.h" #include "btMultiBodyLinkCollider.h" +#include "LinearMath/btTransformUtil.h" // #define INCLUDE_GYRO_TERM @@ -32,13 +33,6 @@ namespace { const btScalar SLEEP_TIMEOUT = btScalar(2); // in seconds } - - - -// -// Various spatial helper functions -// - namespace { void SpatialTransform(const btMatrix3x3 &rotation_matrix, // rotates vectors in 'from' frame to vectors in 'to' frame const btVector3 &displacement, // vector from origin of 'from' frame to origin of 'to' frame, in 'to' coordinates @@ -59,7 +53,7 @@ namespace { btVector3 &bottom_out) { top_out = rotation_matrix.transpose() * top_in; - bottom_out = rotation_matrix.transpose() * (bottom_in + displacement.cross(top_in)); + bottom_out = rotation_matrix.transpose() * (bottom_in + displacement.cross(top_in)); } btScalar SpatialDotProduct(const btVector3 &a_top, @@ -69,6 +63,17 @@ namespace { { return a_bottom.dot(b_top) + a_top.dot(b_bottom); } + + void SpatialCrossProduct(const btVector3 &a_top, + const btVector3 &a_bottom, + const btVector3 &b_top, + const btVector3 &b_bottom, + btVector3 &top_out, + btVector3 &bottom_out) + { + top_out = a_top.cross(b_top); + bottom_out = a_bottom.cross(b_top) + a_top.cross(b_bottom); + } } @@ -79,31 +84,67 @@ namespace { btMultiBody::btMultiBody(int n_links, btScalar mass, const btVector3 &inertia, - bool fixed_base_, - bool can_sleep_) - : base_quat(0, 0, 0, 1), - base_mass(mass), - base_inertia(inertia), + bool fixedBase, + bool canSleep) + : m_baseQuat(0, 0, 0, 1), + m_baseMass(mass), + m_baseInertia(inertia), - fixed_base(fixed_base_), - awake(true), - can_sleep(can_sleep_), - sleep_timer(0), + m_fixedBase(fixedBase), + m_awake(true), + m_canSleep(canSleep), + m_sleepTimer(0), m_baseCollider(0), m_linearDamping(0.04f), m_angularDamping(0.04f), m_useGyroTerm(true), m_maxAppliedImpulse(1000.f), - m_hasSelfCollision(true) + m_hasSelfCollision(true), + m_dofCount(n_links) { - links.resize(n_links); + m_links.resize(n_links); - vector_buf.resize(2*n_links); - matrix_buf.resize(n_links + 1); - m_real_buf.resize(6 + 2*n_links); - base_pos.setValue(0, 0, 0); - base_force.setValue(0, 0, 0); - base_torque.setValue(0, 0, 0); + m_vectorBuf.resize(2*n_links); + m_matrixBuf.resize(n_links + 1); + m_realBuf.resize(6 + 2*n_links); + m_basePos.setValue(0, 0, 0); + m_baseForce.setValue(0, 0, 0); + m_baseTorque.setValue(0, 0, 0); + + m_isMultiDof = false; +} + +btMultiBody::btMultiBody(int n_links, int n_dofs, btScalar mass, + const btVector3 &inertia, + bool fixedBase, + bool canSleep) + : m_baseQuat(0, 0, 0, 1), + m_baseMass(mass), + m_baseInertia(inertia), + + m_fixedBase(fixedBase), + m_awake(true), + m_canSleep(canSleep), + m_sleepTimer(0), + m_baseCollider(0), + m_linearDamping(0.04f), + m_angularDamping(0.04f), + m_useGyroTerm(true), + m_maxAppliedImpulse(1000.f), + m_hasSelfCollision(true), + m_dofCount(n_dofs) +{ + m_links.resize(n_links); + + m_realBuf.resize(6 + m_dofCount + m_dofCount*m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices) + m_matrixBuf.resize(n_links + 1); + + m_basePos.setValue(0, 0, 0); + m_baseForce.setValue(0, 0, 0); + m_baseTorque.setValue(0, 0, 0); + + m_isMultiDof = n_links != n_dofs; } btMultiBody::~btMultiBody() @@ -114,98 +155,242 @@ void btMultiBody::setupPrismatic(int i, btScalar mass, const btVector3 &inertia, int parent, - const btQuaternion &rot_parent_to_this, - const btVector3 &joint_axis, - const btVector3 &r_vector_when_q_zero, + const btQuaternion &rotParentToThis, + const btVector3 &jointAxis, + const btVector3 &parentComToThisComOffset, bool disableParentCollision) { - links[i].mass = mass; - links[i].inertia = inertia; - links[i].parent = parent; - links[i].zero_rot_parent_to_this = rot_parent_to_this; - links[i].axis_top.setValue(0,0,0); - links[i].axis_bottom = joint_axis; - links[i].e_vector = r_vector_when_q_zero; - links[i].is_revolute = false; - links[i].cached_rot_parent_to_this = rot_parent_to_this; - if (disableParentCollision) - links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION; + m_links[i].m_mass = mass; + m_links[i].m_inertia = inertia; + m_links[i].m_parent = parent; + m_links[i].m_zeroRotParentToThis = rotParentToThis; + m_links[i].setAxisTop(0, 0., 0., 0.); + m_links[i].setAxisBottom(0, jointAxis); + m_links[i].m_eVector = parentComToThisComOffset; + m_links[i].m_cachedRotParentToThis = rotParentToThis; - links[i].updateCache(); + m_links[i].m_jointType = btMultibodyLink::ePrismatic; + m_links[i].m_dofCount = 1; + m_links[i].m_posVarCount = 1; + m_links[i].m_jointPos[0] = 0.f; + m_links[i].m_jointTorque[0] = 0.f; + + if (disableParentCollision) + m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION; + // + if(m_isMultiDof) + m_links[i].updateCacheMultiDof(); + else + m_links[i].updateCache(); + // + if(m_isMultiDof) + updateLinksDofOffsets(); } void btMultiBody::setupRevolute(int i, btScalar mass, const btVector3 &inertia, int parent, - const btQuaternion &zero_rot_parent_to_this, - const btVector3 &joint_axis, - const btVector3 &parent_axis_position, - const btVector3 &my_axis_position, + const btQuaternion &rotParentToThis, + const btVector3 &jointAxis, + const btVector3 &parentComToThisPivotOffset, + const btVector3 &thisPivotToThisComOffset, bool disableParentCollision) { - links[i].mass = mass; - links[i].inertia = inertia; - links[i].parent = parent; - links[i].zero_rot_parent_to_this = zero_rot_parent_to_this; - links[i].axis_top = joint_axis; - links[i].axis_bottom = joint_axis.cross(my_axis_position); - links[i].d_vector = my_axis_position; - links[i].e_vector = parent_axis_position; - links[i].is_revolute = true; + m_links[i].m_mass = mass; + m_links[i].m_inertia = inertia; + m_links[i].m_parent = parent; + m_links[i].m_zeroRotParentToThis = rotParentToThis; + m_links[i].setAxisTop(0, jointAxis); + m_links[i].setAxisBottom(0, jointAxis.cross(thisPivotToThisComOffset)); + m_links[i].m_dVector = thisPivotToThisComOffset; + m_links[i].m_eVector = parentComToThisPivotOffset; + + m_links[i].m_jointType = btMultibodyLink::eRevolute; + m_links[i].m_dofCount = 1; + m_links[i].m_posVarCount = 1; + m_links[i].m_jointPos[0] = 0.f; + m_links[i].m_jointTorque[0] = 0.f; + if (disableParentCollision) - links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION; - links[i].updateCache(); + m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION; + // + if(m_isMultiDof) + m_links[i].updateCacheMultiDof(); + else + m_links[i].updateCache(); + // + if(m_isMultiDof) + updateLinksDofOffsets(); } +void btMultiBody::setupSpherical(int i, + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &rotParentToThis, + const btVector3 &parentComToThisPivotOffset, + const btVector3 &thisPivotToThisComOffset, + bool disableParentCollision) +{ + btAssert(m_isMultiDof); + m_links[i].m_mass = mass; + m_links[i].m_inertia = inertia; + m_links[i].m_parent = parent; + m_links[i].m_zeroRotParentToThis = rotParentToThis; + m_links[i].m_dVector = thisPivotToThisComOffset; + m_links[i].m_eVector = parentComToThisPivotOffset; + + m_links[i].m_jointType = btMultibodyLink::eSpherical; + m_links[i].m_dofCount = 3; + m_links[i].m_posVarCount = 4; + m_links[i].setAxisTop(0, 1.f, 0.f, 0.f); + m_links[i].setAxisTop(1, 0.f, 1.f, 0.f); + m_links[i].setAxisTop(2, 0.f, 0.f, 1.f); + m_links[i].setAxisBottom(0, m_links[i].getAxisTop(0).cross(thisPivotToThisComOffset)); + m_links[i].setAxisBottom(1, m_links[i].getAxisTop(1).cross(thisPivotToThisComOffset)); + m_links[i].setAxisBottom(2, m_links[i].getAxisTop(2).cross(thisPivotToThisComOffset)); + m_links[i].m_jointPos[0] = m_links[i].m_jointPos[1] = m_links[i].m_jointPos[2] = 0.f; m_links[i].m_jointPos[3] = 1.f; + m_links[i].m_jointTorque[0] = m_links[i].m_jointTorque[1] = m_links[i].m_jointTorque[2] = 0.f; + + + if (disableParentCollision) + m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION; + // + m_links[i].updateCacheMultiDof(); + // + updateLinksDofOffsets(); +} + +#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS +void btMultiBody::setupPlanar(int i, + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &rotParentToThis, + const btVector3 &rotationAxis, + const btVector3 &parentComToThisComOffset, + bool disableParentCollision) +{ + btAssert(m_isMultiDof); + + m_links[i].m_mass = mass; + m_links[i].m_inertia = inertia; + m_links[i].m_parent = parent; + m_links[i].m_zeroRotParentToThis = rotParentToThis; + m_links[i].m_dVector.setZero(); + m_links[i].m_eVector = parentComToThisComOffset; + + // + static btVector3 vecNonParallelToRotAxis(1, 0, 0); + if(rotationAxis.normalized().dot(vecNonParallelToRotAxis) > 0.999) + vecNonParallelToRotAxis.setValue(0, 1, 0); + // + + m_links[i].m_jointType = btMultibodyLink::ePlanar; + m_links[i].m_dofCount = 3; + m_links[i].m_posVarCount = 3; + m_links[i].getAxisTop(0) = rotationAxis.normalized(); + m_links[i].getAxisTop(1).setZero(); + m_links[i].getAxisTop(2).setZero(); + m_links[i].getAxisBottom(0).setZero(); + m_links[i].getAxisBottom(1) = m_links[i].getAxisTop(0).cross(vecNonParallelToRotAxis); + m_links[i].getAxisBottom(2) = m_links[i].getAxisBottom(1).cross(m_links[i].getAxisTop(0)); + m_links[i].m_jointPos[0] = m_links[i].m_jointPos[1] = m_links[i].m_jointPos[2] = 0.f; + m_links[i].m_jointTorque[0] = m_links[i].m_jointTorque[1] = m_links[i].m_jointTorque[2] = 0.f; + + if (disableParentCollision) + m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION; + // + m_links[i].updateCacheMultiDof(); + // + updateLinksDofOffsets(); +} +#endif + +void btMultiBody::forceMultiDof() +{ + if(m_isMultiDof) return; + + m_isMultiDof = true; + + m_realBuf.resize(6 + m_dofCount + m_dofCount*m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices) + + updateLinksDofOffsets(); +} int btMultiBody::getParent(int i) const { - return links[i].parent; + return m_links[i].m_parent; } btScalar btMultiBody::getLinkMass(int i) const { - return links[i].mass; + return m_links[i].m_mass; } const btVector3 & btMultiBody::getLinkInertia(int i) const { - return links[i].inertia; + return m_links[i].m_inertia; } btScalar btMultiBody::getJointPos(int i) const { - return links[i].joint_pos; + return m_links[i].m_jointPos[0]; } btScalar btMultiBody::getJointVel(int i) const { - return m_real_buf[6 + i]; + return m_realBuf[6 + i]; +} + +btScalar * btMultiBody::getJointPosMultiDof(int i) +{ + return &m_links[i].m_jointPos[0]; +} + +btScalar * btMultiBody::getJointVelMultiDof(int i) +{ + return &m_realBuf[6 + m_links[i].m_dofOffset]; } void btMultiBody::setJointPos(int i, btScalar q) { - links[i].joint_pos = q; - links[i].updateCache(); + m_links[i].m_jointPos[0] = q; + m_links[i].updateCache(); +} + +void btMultiBody::setJointPosMultiDof(int i, btScalar *q) +{ + for(int pos = 0; pos < m_links[i].m_posVarCount; ++pos) + m_links[i].m_jointPos[pos] = q[pos]; + + m_links[i].updateCacheMultiDof(); } void btMultiBody::setJointVel(int i, btScalar qdot) { - m_real_buf[6 + i] = qdot; + m_realBuf[6 + i] = qdot; +} + +void btMultiBody::setJointVelMultiDof(int i, btScalar *qdot) +{ + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + m_realBuf[6 + m_links[i].m_dofOffset + dof] = qdot[dof]; } const btVector3 & btMultiBody::getRVector(int i) const { - return links[i].cached_r_vector; + return m_links[i].m_cachedRVector; } const btQuaternion & btMultiBody::getParentToLocalRot(int i) const { - return links[i].cached_rot_parent_to_this; + return m_links[i].m_cachedRotParentToThis; } btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const @@ -260,20 +445,20 @@ void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const { int num_links = getNumLinks(); // Calculates the velocities of each link (and the base) in its local frame - omega[0] = quatRotate(base_quat ,getBaseOmega()); - vel[0] = quatRotate(base_quat ,getBaseVel()); + omega[0] = quatRotate(m_baseQuat ,getBaseOmega()); + vel[0] = quatRotate(m_baseQuat ,getBaseVel()); for (int i = 0; i < num_links; ++i) { - const int parent = links[i].parent; + const int parent = m_links[i].m_parent; // transform parent vel into this frame, store in omega[i+1], vel[i+1] - SpatialTransform(btMatrix3x3(links[i].cached_rot_parent_to_this), links[i].cached_r_vector, + SpatialTransform(btMatrix3x3(m_links[i].m_cachedRotParentToThis), m_links[i].m_cachedRVector, omega[parent+1], vel[parent+1], omega[i+1], vel[i+1]); // now add qidot * shat_i - omega[i+1] += getJointVel(i) * links[i].axis_top; - vel[i+1] += getJointVel(i) * links[i].axis_bottom; + omega[i+1] += getJointVel(i) * m_links[i].getAxisTop(0); + vel[i+1] += getJointVel(i) * m_links[i].getAxisBottom(0); } } @@ -286,12 +471,12 @@ btScalar btMultiBody::getKineticEnergy() const compTreeLinkVelocities(&omega[0], &vel[0]); // we will do the factor of 0.5 at the end - btScalar result = base_mass * vel[0].dot(vel[0]); - result += omega[0].dot(base_inertia * omega[0]); + btScalar result = m_baseMass * vel[0].dot(vel[0]); + result += omega[0].dot(m_baseInertia * omega[0]); for (int i = 0; i < num_links; ++i) { - result += links[i].mass * vel[i+1].dot(vel[i+1]); - result += omega[i+1].dot(links[i].inertia * omega[i+1]); + result += m_links[i].m_mass * vel[i+1].dot(vel[i+1]); + result += omega[i+1].dot(m_links[i].m_inertia * omega[i+1]); } return 0.5f * result; @@ -306,12 +491,12 @@ btVector3 btMultiBody::getAngularMomentum() const btAlignedObjectArray rot_from_world;rot_from_world.resize(num_links+1); compTreeLinkVelocities(&omega[0], &vel[0]); - rot_from_world[0] = base_quat; - btVector3 result = quatRotate(rot_from_world[0].inverse() , (base_inertia * omega[0])); + rot_from_world[0] = m_baseQuat; + btVector3 result = quatRotate(rot_from_world[0].inverse() , (m_baseInertia * omega[0])); for (int i = 0; i < num_links; ++i) { - rot_from_world[i+1] = links[i].cached_rot_parent_to_this * rot_from_world[links[i].parent+1]; - result += (quatRotate(rot_from_world[i+1].inverse() , (links[i].inertia * omega[i+1]))); + rot_from_world[i+1] = m_links[i].m_cachedRotParentToThis * rot_from_world[m_links[i].m_parent+1]; + result += (quatRotate(rot_from_world[i+1].inverse() , (m_links[i].m_inertia * omega[i+1]))); } return result; @@ -320,13 +505,14 @@ btVector3 btMultiBody::getAngularMomentum() const void btMultiBody::clearForcesAndTorques() { - base_force.setValue(0, 0, 0); - base_torque.setValue(0, 0, 0); + m_baseForce.setValue(0, 0, 0); + m_baseTorque.setValue(0, 0, 0); + for (int i = 0; i < getNumLinks(); ++i) { - links[i].applied_force.setValue(0, 0, 0); - links[i].applied_torque.setValue(0, 0, 0); - links[i].joint_torque = 0; + m_links[i].m_appliedForce.setValue(0, 0, 0); + m_links[i].m_appliedTorque.setValue(0, 0, 0); + m_links[i].m_jointTorque[0] = m_links[i].m_jointTorque[1] = m_links[i].m_jointTorque[2] = m_links[i].m_jointTorque[3] = m_links[i].m_jointTorque[4] = m_links[i].m_jointTorque[5] = 0.f; } } @@ -334,54 +520,69 @@ void btMultiBody::clearVelocities() { for (int i = 0; i < 6 + getNumLinks(); ++i) { - m_real_buf[i] = 0.f; + m_realBuf[i] = 0.f; } } void btMultiBody::addLinkForce(int i, const btVector3 &f) { - links[i].applied_force += f; + m_links[i].m_appliedForce += f; } void btMultiBody::addLinkTorque(int i, const btVector3 &t) { - links[i].applied_torque += t; + m_links[i].m_appliedTorque += t; } void btMultiBody::addJointTorque(int i, btScalar Q) { - links[i].joint_torque += Q; + m_links[i].m_jointTorque[0] += Q; +} + +void btMultiBody::addJointTorqueMultiDof(int i, int dof, btScalar Q) +{ + m_links[i].m_jointTorque[dof] += Q; +} + +void btMultiBody::addJointTorqueMultiDof(int i, const btScalar *Q) +{ + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + m_links[i].m_jointTorque[dof] = Q[dof]; } const btVector3 & btMultiBody::getLinkForce(int i) const { - return links[i].applied_force; + return m_links[i].m_appliedForce; } const btVector3 & btMultiBody::getLinkTorque(int i) const { - return links[i].applied_torque; + return m_links[i].m_appliedTorque; } btScalar btMultiBody::getJointTorque(int i) const { - return links[i].joint_torque; + return m_links[i].m_jointTorque[0]; } +btScalar * btMultiBody::getJointTorqueMultiDof(int i) +{ + return &m_links[i].m_jointTorque[0]; +} -inline btMatrix3x3 vecMulVecTranspose(const btVector3& v0, const btVector3& v1Transposed) +inline btMatrix3x3 outerProduct(const btVector3& v0, const btVector3& v1) //renamed it from vecMulVecTranspose (http://en.wikipedia.org/wiki/Outer_product); maybe it should be moved to btVector3 like dot and cross? { btVector3 row0 = btVector3( - v0.x() * v1Transposed.x(), - v0.x() * v1Transposed.y(), - v0.x() * v1Transposed.z()); + v0.x() * v1.x(), + v0.x() * v1.y(), + v0.x() * v1.z()); btVector3 row1 = btVector3( - v0.y() * v1Transposed.x(), - v0.y() * v1Transposed.y(), - v0.y() * v1Transposed.z()); + v0.y() * v1.x(), + v0.y() * v1.y(), + v0.y() * v1.z()); btVector3 row2 = btVector3( - v0.z() * v1Transposed.x(), - v0.z() * v1Transposed.y(), - v0.z() * v1Transposed.z()); + v0.z() * v1.x(), + v0.z() * v1.y(), + v0.z() * v1.z()); btMatrix3x3 m(row0[0],row0[1],row0[2], row1[0],row1[1],row1[2], @@ -389,6 +590,831 @@ inline btMatrix3x3 vecMulVecTranspose(const btVector3& v0, const btVector3& v1Tr return m; } +#define vecMulVecTranspose(v0, v1Transposed) outerProduct(v0, v1Transposed) +// + +#ifndef TEST_SPATIAL_ALGEBRA_LAYER +void btMultiBody::stepVelocitiesMultiDof(btScalar dt, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v, + btAlignedObjectArray &scratch_m) +{ + // Implement Featherstone's algorithm to calculate joint accelerations (q_double_dot) + // and the base linear & angular accelerations. + + // We apply damping forces in this routine as well as any external forces specified by the + // caller (via addBaseForce etc). + + // output should point to an array of 6 + num_links reals. + // Format is: 3 angular accelerations (in world frame), 3 linear accelerations (in world frame), + // num_links joint acceleration values. + + int num_links = getNumLinks(); + + const btScalar DAMPING_K1_LINEAR = m_linearDamping; + const btScalar DAMPING_K2_LINEAR = m_linearDamping; + + const btScalar DAMPING_K1_ANGULAR = m_angularDamping; + const btScalar DAMPING_K2_ANGULAR= m_angularDamping; + + btVector3 base_vel = getBaseVel(); + btVector3 base_omega = getBaseOmega(); + + // Temporary matrices/vectors -- use scratch space from caller + // so that we don't have to keep reallocating every frame + + scratch_r.resize(2*m_dofCount + 6); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount + scratch_v.resize(8*num_links + 6); + scratch_m.resize(4*num_links + 4); + + 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]; + + // vhat_i (top = angular, bottom = linear part) + btVector3 * vel_top_angular = v_ptr; v_ptr += num_links + 1; + btVector3 * vel_bottom_linear = v_ptr; v_ptr += num_links + 1; + + // zhat_i^A + btVector3 * zeroAccForce = v_ptr; v_ptr += num_links + 1; + btVector3 * zeroAccTorque = v_ptr; v_ptr += num_links + 1; + + // chat_i (note NOT defined for the base) + btVector3 * coriolis_top_angular = v_ptr; v_ptr += num_links; + btVector3 * coriolis_bottom_linear = v_ptr; v_ptr += num_links; + + // top left, top right and bottom left blocks of Ihat_i^A. + // bottom right block = transpose of top left block and is not stored. + // Note: the top right and bottom left blocks are always symmetric matrices, but we don't make use of this fact currently. + btMatrix3x3 * inertia_top_left = &scratch_m[num_links + 1]; + btMatrix3x3 * inertia_top_right = &scratch_m[2*num_links + 2]; + btMatrix3x3 * inertia_bottom_left = &scratch_m[3*num_links + 3]; + + // Cached 3x3 rotation matrices from parent frame to this frame. + btMatrix3x3 * rot_from_parent = &m_matrixBuf[0]; + btMatrix3x3 * rot_from_world = &scratch_m[0]; + + // hhat_i, ahat_i + // hhat is NOT stored for the base (but ahat is) + btVector3 * h_top = m_dofCount > 0 ? &m_vectorBuf[0] : 0; + btVector3 * h_bottom = m_dofCount > 0 ? &m_vectorBuf[m_dofCount] : 0; + btVector3 * accel_top = v_ptr; v_ptr += num_links + 1; + btVector3 * accel_bottom = v_ptr; v_ptr += num_links + 1; + + // Y_i, invD_i + btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0; + btScalar * Y = &scratch_r[0]; + ///////////////// + + // ptr to the joint accel part of the output + btScalar * joint_accel = output + 6; + + // Start of the algorithm proper. + + // First 'upward' loop. + // Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich. + + rot_from_parent[0] = btMatrix3x3(m_baseQuat); //m_baseQuat assumed to be alias!? + + vel_top_angular[0] = rot_from_parent[0] * base_omega; + vel_bottom_linear[0] = rot_from_parent[0] * base_vel; + + if (m_fixedBase) + { + zeroAccForce[0] = zeroAccTorque[0] = btVector3(0,0,0); + } + else + { + zeroAccForce[0] = - (rot_from_parent[0] * (m_baseForce + - m_baseMass*(DAMPING_K1_LINEAR+DAMPING_K2_LINEAR*base_vel.norm())*base_vel)); + + zeroAccTorque[0] = + - (rot_from_parent[0] * m_baseTorque); + + if (m_useGyroTerm) + zeroAccTorque[0]+=vel_top_angular[0].cross( m_baseInertia * vel_top_angular[0] ); + + zeroAccTorque[0] += m_baseInertia * vel_top_angular[0] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[0].norm()); + + //NOTE: Coriolis terms are missing! (left like so following Stephen's code) + } + + inertia_top_left[0] = btMatrix3x3(0,0,0,0,0,0,0,0,0); + + + inertia_top_right[0].setValue(m_baseMass, 0, 0, + 0, m_baseMass, 0, + 0, 0, m_baseMass); + inertia_bottom_left[0].setValue(m_baseInertia[0], 0, 0, + 0, m_baseInertia[1], 0, + 0, 0, m_baseInertia[2]); + + rot_from_world[0] = rot_from_parent[0]; + + for (int i = 0; i < num_links; ++i) { + const int parent = m_links[i].m_parent; + rot_from_parent[i+1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis); + + + rot_from_world[i+1] = rot_from_parent[i+1] * rot_from_world[parent+1]; + + // vhat_i = i_xhat_p(i) * vhat_p(i) + SpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, + vel_top_angular[parent+1], vel_bottom_linear[parent+1], + vel_top_angular[i+1], vel_bottom_linear[i+1]); + ////////////////////////////////////////////////////////////// + + // now set vhat_i to its true value by doing + // vhat_i += qidot * shat_i + btVector3 joint_vel_spat_top, joint_vel_spat_bottom; + joint_vel_spat_top.setZero(); joint_vel_spat_bottom.setZero(); + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + joint_vel_spat_top += getJointVelMultiDof(i)[dof] * m_links[i].getAxisTop(dof); + joint_vel_spat_bottom += getJointVelMultiDof(i)[dof] * m_links[i].getAxisBottom(dof); + } + + vel_top_angular[i+1] += joint_vel_spat_top; + vel_bottom_linear[i+1] += joint_vel_spat_bottom; + + // we can now calculate chat_i + // remember vhat_i is really vhat_p(i) (but in current frame) at this point + SpatialCrossProduct(vel_top_angular[i+1], vel_bottom_linear[i+1], joint_vel_spat_top, joint_vel_spat_bottom, coriolis_top_angular[i], coriolis_bottom_linear[i]); + + // calculate zhat_i^A + // + //external forces + zeroAccForce[i+1] = -(rot_from_world[i+1] * (m_links[i].m_appliedForce)); + zeroAccTorque[i+1] = -(rot_from_world[i+1] * m_links[i].m_appliedTorque); + // + //DAMPING TERMS (ONLY) + zeroAccForce[i+1] += m_links[i].m_mass * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR*vel_bottom_linear[i+1].norm()) * vel_bottom_linear[i+1]; + zeroAccTorque[i+1] += m_links[i].m_inertia * vel_top_angular[i+1] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[i+1].norm()); + + // calculate Ihat_i^A + inertia_top_left[i+1] = btMatrix3x3(0,0,0,0,0,0,0,0,0);//::Zero(); + inertia_top_right[i+1].setValue(m_links[i].m_mass, 0, 0, + 0, m_links[i].m_mass, 0, + 0, 0, m_links[i].m_mass); + inertia_bottom_left[i+1].setValue(m_links[i].m_inertia[0], 0, 0, + 0, m_links[i].m_inertia[1], 0, + 0, 0, m_links[i].m_inertia[2]); + + + //// + //p += v x* Iv - done in a simpler way + if(m_useGyroTerm) + zeroAccTorque[i+1] += vel_top_angular[i+1].cross( m_links[i].m_inertia * vel_top_angular[i+1] ); + // + coriolis_bottom_linear[i] += vel_top_angular[i+1].cross(vel_bottom_linear[i+1]) - (rot_from_parent[i+1] * (vel_top_angular[parent+1].cross(vel_bottom_linear[parent+1]))); + //coriolis_bottom_linear[i].setZero(); + + //printf("w[%d] = [%.4f %.4f %.4f]\n", i, vel_top_angular[i+1].x(), vel_top_angular[i+1].y(), vel_top_angular[i+1].z()); + //printf("v[%d] = [%.4f %.4f %.4f]\n", i, vel_bottom_linear[i+1].x(), vel_bottom_linear[i+1].y(), vel_bottom_linear[i+1].z()); + //printf("c[%d] = [%.4f %.4f %.4f]\n", i, coriolis_bottom_linear[i].x(), coriolis_bottom_linear[i].y(), coriolis_bottom_linear[i].z()); + } + + static btScalar D[36]; //it's dofxdof for each body so asingle 6x6 D matrix will do + // 'Downward' loop. + // (part of TreeForwardDynamics in Mirtich.) + for (int i = num_links - 1; i >= 0; --i) + { + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btVector3 &h_t = h_top[m_links[i].m_dofOffset + dof]; + btVector3 &h_b = h_bottom[m_links[i].m_dofOffset + dof]; + + //pFunMultSpatVecTimesSpatMat2(m_links[i].m_axesTop[dof], m_links[i].m_axesBottom[dof], inertia_top_left[i+1], inertia_top_right[i+1], inertia_bottom_left[i+1], h_t, h_b); + { + h_t = inertia_top_left[i+1] * m_links[i].getAxisTop(dof) + inertia_top_right[i+1] * m_links[i].getAxisBottom(dof); + h_b = inertia_bottom_left[i+1] * m_links[i].getAxisTop(dof) + inertia_top_left[i+1].transpose() * m_links[i].getAxisBottom(dof); + } + + btScalar *D_row = &D[dof * m_links[i].m_dofCount]; + for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) + { + D_row[dof2] = SpatialDotProduct(m_links[i].getAxisTop(dof2), m_links[i].getAxisBottom(dof2), h_t, h_b); + } + + Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof] + - SpatialDotProduct(m_links[i].getAxisTop(dof), m_links[i].getAxisBottom(dof), zeroAccForce[i+1], zeroAccTorque[i+1]) + - SpatialDotProduct(h_t, h_b, coriolis_top_angular[i], coriolis_bottom_linear[i]) + ; + } + + const int parent = m_links[i].m_parent; + + btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset]; + switch(m_links[i].m_jointType) + { + case btMultibodyLink::ePrismatic: + case btMultibodyLink::eRevolute: + { + invDi[0] = 1.0f / D[0]; + break; + } + case btMultibodyLink::eSpherical: +#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS + case btMultibodyLink::ePlanar: +#endif + { + static btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]); + static btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse(); + + //unroll the loop? + for(int row = 0; row < 3; ++row) + for(int col = 0; col < 3; ++col) + invDi[row * 3 + col] = invD3x3[row][col]; + + break; + } + } + + + static btVector3 tmp_top[6]; //move to scratch mem or other buffers? (12 btVector3 will suffice) + static btVector3 tmp_bottom[6]; + + //for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + //{ + // tmp_top[dof].setZero(); + // tmp_bottom[dof].setZero(); + + // for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) + // { + // btVector3 &h_t = h_top[m_links[i].m_dofOffset + dof2]; + // btVector3 &h_b = h_bottom[m_links[i].m_dofOffset + dof2]; + // // + // tmp_top[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * h_b; + // tmp_bottom[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * h_t; + // } + //} + + //btMatrix3x3 TL = inertia_top_left[i+1], TR = inertia_top_right[i+1], BL = inertia_bottom_left[i+1]; + + //for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + //{ + // btVector3 &h_t = h_top[m_links[i].m_dofOffset + dof]; + // btVector3 &h_b = h_bottom[m_links[i].m_dofOffset + dof]; + + // TL -= outerProduct(h_t, tmp_top[dof]); + // TR -= outerProduct(h_t, tmp_bottom[dof]); + // BL -= outerProduct(h_b, tmp_top[dof]); + //} + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + tmp_top[dof].setZero(); + tmp_bottom[dof].setZero(); + + for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) + { + btVector3 &h_t = h_top[m_links[i].m_dofOffset + dof2]; + btVector3 &h_b = h_bottom[m_links[i].m_dofOffset + dof2]; + // + tmp_top[dof] += invDi[dof2 * m_links[i].m_dofCount + dof] * h_t; + tmp_bottom[dof] += invDi[dof2 * m_links[i].m_dofCount + dof] * h_b; + } + } + + btMatrix3x3 TL = inertia_top_left[i+1], TR = inertia_top_right[i+1], BL = inertia_bottom_left[i+1]; + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btVector3 &h_t = h_top[m_links[i].m_dofOffset + dof]; + btVector3 &h_b = h_bottom[m_links[i].m_dofOffset + dof]; + + TL -= outerProduct(h_t, tmp_bottom[dof]); + TR -= outerProduct(h_t, tmp_top[dof]); + BL -= outerProduct(h_b, tmp_bottom[dof]); + } + + + btMatrix3x3 r_cross; + r_cross.setValue( + 0, -m_links[i].m_cachedRVector[2], m_links[i].m_cachedRVector[1], + m_links[i].m_cachedRVector[2], 0, -m_links[i].m_cachedRVector[0], + -m_links[i].m_cachedRVector[1], m_links[i].m_cachedRVector[0], 0); + + inertia_top_left[parent+1] += rot_from_parent[i+1].transpose() * ( TL - TR * r_cross ) * rot_from_parent[i+1]; + inertia_top_right[parent+1] += rot_from_parent[i+1].transpose() * TR * rot_from_parent[i+1]; + inertia_bottom_left[parent+1] += rot_from_parent[i+1].transpose() * + (r_cross * (TL - TR * r_cross) + BL - TL.transpose() * r_cross) * rot_from_parent[i+1]; + + + btVector3 in_top, in_bottom, out_top, out_bottom; + + static btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; definitely move to buffers; num_dof of btScalar would cover all bodies but acutally 6 btScalars will also be okay + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + invD_times_Y[dof] = 0.f; + + for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) + { + invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2]; + } + } + + in_top = zeroAccForce[i+1] + + inertia_top_left[i+1] * coriolis_top_angular[i] + + inertia_top_right[i+1] * coriolis_bottom_linear[i]; + + in_bottom = zeroAccTorque[i+1] + + inertia_bottom_left[i+1] * coriolis_top_angular[i] + + inertia_top_left[i+1].transpose() * coriolis_bottom_linear[i]; + + //unroll the loop? + for(int row = 0; row < 3; ++row) + { + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btVector3 &h_t = h_top[m_links[i].m_dofOffset + dof]; + btVector3 &h_b = h_bottom[m_links[i].m_dofOffset + dof]; + + in_top[row] += h_t[row] * invD_times_Y[dof]; + in_bottom[row] += h_b[row] * invD_times_Y[dof]; + } + } + + InverseSpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, + in_top, in_bottom, out_top, out_bottom); + + zeroAccForce[parent+1] += out_top; + zeroAccTorque[parent+1] += out_bottom; + } + + + // Second 'upward' loop + // (part of TreeForwardDynamics in Mirtich) + + if (m_fixedBase) + { + accel_top[0] = accel_bottom[0] = btVector3(0,0,0); + } + else + { + if (num_links > 0) + { + m_cachedInertiaTopLeft = inertia_top_left[0]; + m_cachedInertiaTopRight = inertia_top_right[0]; + m_cachedInertiaLowerLeft = inertia_bottom_left[0]; + m_cachedInertiaLowerRight= inertia_top_left[0].transpose(); + + } + btVector3 rhs_top (zeroAccForce[0][0], zeroAccForce[0][1], zeroAccForce[0][2]); + btVector3 rhs_bot (zeroAccTorque[0][0], zeroAccTorque[0][1], zeroAccTorque[0][2]); + float result[6]; + + solveImatrix(rhs_top, rhs_bot, result); + for (int i = 0; i < 3; ++i) { + accel_top[0][i] = -result[i]; + accel_bottom[0][i] = -result[i+3]; + } + + } + + static btScalar Y_minus_hT_a[6]; //it's dofx1 for each body so a single 6x1 temp is enough + // now do the loop over the m_links + for (int i = 0; i < num_links; ++i) { + const int parent = m_links[i].m_parent; + + SpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, + accel_top[parent+1], accel_bottom[parent+1], + accel_top[i+1], accel_bottom[i+1]); + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btVector3 &h_t = h_top[m_links[i].m_dofOffset + dof]; + btVector3 &h_b = h_bottom[m_links[i].m_dofOffset + dof]; + + Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - SpatialDotProduct(h_t, h_b, accel_top[i+1], accel_bottom[i+1]); + } + + btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset]; + mulMatrix(invDi, Y_minus_hT_a, m_links[i].m_dofCount, m_links[i].m_dofCount, m_links[i].m_dofCount, 1, &joint_accel[m_links[i].m_dofOffset]); + + accel_top[i+1] += coriolis_top_angular[i]; + accel_bottom[i+1] += coriolis_bottom_linear[i]; + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + accel_top[i+1] += joint_accel[m_links[i].m_dofOffset + dof] * m_links[i].getAxisTop(dof); + accel_bottom[i+1] += joint_accel[m_links[i].m_dofOffset + dof] * m_links[i].getAxisBottom(dof); + } + } + + // transform base accelerations back to the world frame. + btVector3 omegadot_out = rot_from_parent[0].transpose() * accel_top[0]; + output[0] = omegadot_out[0]; + output[1] = omegadot_out[1]; + output[2] = omegadot_out[2]; + + btVector3 vdot_out = rot_from_parent[0].transpose() * accel_bottom[0]; + output[3] = vdot_out[0]; + output[4] = vdot_out[1]; + output[5] = vdot_out[2]; + + ///////////////// + //printf("q = ["); + //printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f ", m_baseQuat.x(), m_baseQuat.y(), m_baseQuat.z(), m_baseQuat.w(), m_basePos.x(), m_basePos.y(), m_basePos.z()); + //for(int link = 0; link < getNumLinks(); ++link) + // for(int dof = 0; dof < m_links[link].m_dofCount; ++dof) + // printf("%.6f ", m_links[link].m_jointPos[dof]); + //printf("]\n"); + //// + //printf("qd = ["); + //for(int dof = 0; dof < getNumDofs() + 6; ++dof) + // printf("%.6f ", m_realBuf[dof]); + //printf("]\n"); + //printf("qdd = ["); + //for(int dof = 0; dof < getNumDofs() + 6; ++dof) + // printf("%.6f ", output[dof]); + //printf("]\n"); + ///////////////// + + // Final step: add the accelerations (times dt) to the velocities. + applyDeltaVeeMultiDof(output, dt); +} + +#else //i.e. TEST_SPATIAL_ALGEBRA_LAYER +void btMultiBody::stepVelocitiesMultiDof(btScalar dt, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v, + btAlignedObjectArray &scratch_m) +{ + // Implement Featherstone's algorithm to calculate joint accelerations (q_double_dot) + // and the base linear & angular accelerations. + + // We apply damping forces in this routine as well as any external forces specified by the + // caller (via addBaseForce etc). + + // output should point to an array of 6 + num_links reals. + // Format is: 3 angular accelerations (in world frame), 3 linear accelerations (in world frame), + // num_links joint acceleration values. + + int num_links = getNumLinks(); + + const btScalar DAMPING_K1_LINEAR = m_linearDamping; + const btScalar DAMPING_K2_LINEAR = m_linearDamping; + + const btScalar DAMPING_K1_ANGULAR = m_angularDamping; + const btScalar DAMPING_K2_ANGULAR= m_angularDamping; + + btVector3 base_vel = getBaseVel(); + btVector3 base_omega = getBaseOmega(); + + // Temporary matrices/vectors -- use scratch space from caller + // so that we don't have to keep reallocating every frame + + scratch_r.resize(2*m_dofCount + 6); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount + scratch_v.resize(8*num_links + 6); + scratch_m.resize(4*num_links + 4); + + 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]; + + // vhat_i (top = angular, bottom = linear part) + btSpatialMotionVector *spatVel = (btSpatialMotionVector *)v_ptr; + v_ptr += num_links * 2 + 2; + // + // zhat_i^A + btSpatialForceVector * zeroAccSpatFrc = (btSpatialForceVector *)v_ptr; + v_ptr += num_links * 2 + 2; + // + // chat_i (note NOT defined for the base) + btSpatialMotionVector * spatCoriolisAcc = (btSpatialMotionVector *)v_ptr; + v_ptr += num_links * 2; + // + // Ihat_i^A. + btSymmetricSpatialDyad * spatInertia = (btSymmetricSpatialDyad *)&scratch_m[num_links + 1]; + + // Cached 3x3 rotation matrices from parent frame to this frame. + btMatrix3x3 * rot_from_parent = &m_matrixBuf[0]; + btMatrix3x3 * rot_from_world = &scratch_m[0]; + + // hhat_i, ahat_i + // hhat is NOT stored for the base (but ahat is) + btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0); + btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr; + v_ptr += num_links * 2 + 2; + // + // Y_i, invD_i + btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0; + btScalar * Y = &scratch_r[0]; + // + //aux variables + static btSpatialMotionVector spatJointVel; //spatial velocity due to the joint motion (i.e. without predecessors' influence) + static btScalar D[36]; //"D" matrix; it's dofxdof for each body so asingle 6x6 D matrix will do + static btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies + static btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel) + static btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough + static btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors + static btSpatialTransformationMatrix fromParent; //spatial transform from parent to child + static btSymmetricSpatialDyad dyadTemp; //inertia matrix temp + ///////////////// + + // ptr to the joint accel part of the output + btScalar * joint_accel = output + 6; + + // Start of the algorithm proper. + + // First 'upward' loop. + // Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich. + + rot_from_parent[0] = btMatrix3x3(m_baseQuat); //m_baseQuat assumed to be alias!? + + //create the vector of spatial velocity of the base by transforming global-coor linear and angular velocities into base-local coordinates + spatVel[0].setVector(rot_from_parent[0] * base_omega, rot_from_parent[0] * base_vel); + + if (m_fixedBase) + { + zeroAccSpatFrc[0].setZero(); + } + else + { + //external forces + zeroAccSpatFrc[0].setVector(-(rot_from_parent[0] * m_baseTorque), -(rot_from_parent[0] * m_baseForce)); + + //adding damping terms (only) + btScalar linDampMult = 1., angDampMult = 10.; + zeroAccSpatFrc[0].addVector(angDampMult * m_baseInertia * spatVel[0].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[0].getAngular().norm()), + linDampMult * m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().norm())); + + // + //p += vhat x Ihat vhat - done in a simpler way + if (m_useGyroTerm) + zeroAccSpatFrc[0].addAngular(spatVel[0].getAngular().cross(m_baseInertia * spatVel[0].getAngular())); + // + zeroAccSpatFrc[0].addLinear(m_baseMass * spatVel[0].getAngular().cross(spatVel[0].getLinear())); + } + + + //init the spatial AB inertia (it has the simple form thanks to choosing local body frames origins at their COMs) + spatInertia[0].setMatrix( btMatrix3x3(0,0,0,0,0,0,0,0,0), + // + btMatrix3x3(m_baseMass, 0, 0, + 0, m_baseMass, 0, + 0, 0, m_baseMass), + // + btMatrix3x3(m_baseInertia[0], 0, 0, + 0, m_baseInertia[1], 0, + 0, 0, m_baseInertia[2]) + ); + + rot_from_world[0] = rot_from_parent[0]; + + for (int i = 0; i < num_links; ++i) { + const int parent = m_links[i].m_parent; + rot_from_parent[i+1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis); + + fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector; + + rot_from_world[i+1] = rot_from_parent[i+1] * rot_from_world[parent+1]; + + // vhat_i = i_xhat_p(i) * vhat_p(i) + fromParent.transform(spatVel[parent+1], spatVel[i+1]); + //nice alternative below (using operator *) but it generates temps + ////////////////////////////////////////////////////////////// + + // now set vhat_i to its true value by doing + // vhat_i += qidot * shat_i + spatJointVel.setZero(); + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + spatJointVel += m_links[i].m_axes[dof] * getJointVelMultiDof(i)[dof]; + + // remember vhat_i is really vhat_p(i) (but in current frame) at this point => we need to add velocity across the inboard joint + spatVel[i+1] += spatJointVel; + // + // vhat_i is vhat_p(i) transformed to local coors + the velocity across the i-th inboard joint + //spatVel[i+1] = fromParent * spatVel[parent+1] + spatJointVel; + + // we can now calculate chat_i + spatVel[i+1].cross(spatJointVel, spatCoriolisAcc[i]); + + // calculate zhat_i^A + // + //external forces + zeroAccSpatFrc[i+1].setVector(-(rot_from_world[i+1] * m_links[i].m_appliedTorque), -(rot_from_world[i+1] * m_links[i].m_appliedForce)); + // + //adding damping terms (only) + btScalar linDampMult = 1., angDampMult = 10.; + zeroAccSpatFrc[i+1].addVector(angDampMult * m_links[i].m_inertia * spatVel[i+1].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[i+1].getAngular().norm()), + linDampMult * m_links[i].m_mass * spatVel[i+1].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[i+1].getLinear().norm())); + + // calculate Ihat_i^A + //init the spatial AB inertia (it has the simple form thanks to choosing local body frames origins at their COMs) + spatInertia[i+1].setMatrix( btMatrix3x3(0,0,0,0,0,0,0,0,0), + // + btMatrix3x3(m_links[i].m_mass, 0, 0, + 0, m_links[i].m_mass, 0, + 0, 0, m_links[i].m_mass), + // + btMatrix3x3(m_links[i].m_inertia[0], 0, 0, + 0, m_links[i].m_inertia[1], 0, + 0, 0, m_links[i].m_inertia[2]) + ); + // + //p += vhat x Ihat vhat - done in a simpler way + if(m_useGyroTerm) + zeroAccSpatFrc[i+1].addAngular(spatVel[i+1].getAngular().cross(m_baseInertia * spatVel[i+1].getAngular())); + // + zeroAccSpatFrc[i+1].addLinear(m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear())); + + + //printf("w[%d] = [%.4f %.4f %.4f]\n", i, vel_top_angular[i+1].x(), vel_top_angular[i+1].y(), vel_top_angular[i+1].z()); + //printf("v[%d] = [%.4f %.4f %.4f]\n", i, vel_bottom_linear[i+1].x(), vel_bottom_linear[i+1].y(), vel_bottom_linear[i+1].z()); + //printf("c[%d] = [%.4f %.4f %.4f]\n", i, coriolis_bottom_linear[i].x(), coriolis_bottom_linear[i].y(), coriolis_bottom_linear[i].z()); + } + + // 'Downward' loop. + // (part of TreeForwardDynamics in Mirtich.) + for (int i = num_links - 1; i >= 0; --i) + { + const int parent = m_links[i].m_parent; + fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector; + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + // + hDof = spatInertia[i+1] * m_links[i].m_axes[dof]; + // + Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof] + - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1]) + - spatCoriolisAcc[i].dot(hDof) + ; + } + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btScalar *D_row = &D[dof * m_links[i].m_dofCount]; + for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) + { + btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; + D_row[dof2] = m_links[i].m_axes[dof].dot(hDof2); + } + } + + btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset]; + switch(m_links[i].m_jointType) + { + case btMultibodyLink::ePrismatic: + case btMultibodyLink::eRevolute: + { + invDi[0] = 1.0f / D[0]; + break; + } + case btMultibodyLink::eSpherical: +#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS + case btMultibodyLink::ePlanar: +#endif + { + static btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]); + static btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse(); + + //unroll the loop? + for(int row = 0; row < 3; ++row) + { + for(int col = 0; col < 3; ++col) + { + invDi[row * 3 + col] = invD3x3[row][col]; + } + } + + break; + } + } + + //determine h*D^{-1} + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + spatForceVecTemps[dof].setZero(); + + for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) + { + btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; + // + spatForceVecTemps[dof] += hDof2 * invDi[dof2 * m_links[i].m_dofCount + dof]; + } + } + + dyadTemp = spatInertia[i+1]; + + //determine (h*D^{-1}) * h^{T} + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + // + dyadTemp -= symmetricSpatialOuterProduct(hDof, spatForceVecTemps[dof]); + } + + fromParent.transformInverse(dyadTemp, spatInertia[parent+1], btSpatialTransformationMatrix::Add); + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + invD_times_Y[dof] = 0.f; + + for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) + { + invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2]; + } + } + + spatForceVecTemps[0] = zeroAccSpatFrc[i+1] + spatInertia[i+1] * spatCoriolisAcc[i]; + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + // + spatForceVecTemps[0] += hDof * invD_times_Y[dof]; + } + + fromParent.transformInverse(spatForceVecTemps[0], spatForceVecTemps[1]); + + zeroAccSpatFrc[parent+1] += spatForceVecTemps[1]; + } + + + // Second 'upward' loop + // (part of TreeForwardDynamics in Mirtich) + + if (m_fixedBase) + { + spatAcc[0].setZero(); + } + else + { + if (num_links > 0) + { + m_cachedInertiaTopLeft = spatInertia[0].m_topLeftMat; + m_cachedInertiaTopRight = spatInertia[0].m_topRightMat; + m_cachedInertiaLowerLeft = spatInertia[0].m_bottomLeftMat; + m_cachedInertiaLowerRight= spatInertia[0].m_topLeftMat.transpose(); + + } + + solveImatrix(zeroAccSpatFrc[0], result); + spatAcc[0] = -result; + } + + // now do the loop over the m_links + for (int i = 0; i < num_links; ++i) + { + const int parent = m_links[i].m_parent; + fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector; + + fromParent.transform(spatAcc[parent+1], spatAcc[i+1]); + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + // + Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i+1].dot(hDof); + } + + btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset]; + mulMatrix(invDi, Y_minus_hT_a, m_links[i].m_dofCount, m_links[i].m_dofCount, m_links[i].m_dofCount, 1, &joint_accel[m_links[i].m_dofOffset]); + + spatAcc[i+1] += spatCoriolisAcc[i]; + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + spatAcc[i+1] += m_links[i].m_axes[dof] * joint_accel[m_links[i].m_dofOffset + dof]; + } + + // transform base accelerations back to the world frame. + btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular(); + output[0] = omegadot_out[0]; + output[1] = omegadot_out[1]; + output[2] = omegadot_out[2]; + + btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear())); + output[3] = vdot_out[0]; + output[4] = vdot_out[1]; + output[5] = vdot_out[2]; + + ///////////////// + //printf("q = ["); + //printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f ", m_baseQuat.x(), m_baseQuat.y(), m_baseQuat.z(), m_baseQuat.w(), m_basePos.x(), m_basePos.y(), m_basePos.z()); + //for(int link = 0; link < getNumLinks(); ++link) + // for(int dof = 0; dof < m_links[link].m_dofCount; ++dof) + // printf("%.6f ", m_links[link].m_jointPos[dof]); + //printf("]\n"); + //// + //printf("qd = ["); + //for(int dof = 0; dof < getNumDofs() + 6; ++dof) + // printf("%.6f ", m_realBuf[dof]); + //printf("]\n"); + //printf("qdd = ["); + //for(int dof = 0; dof < getNumDofs() + 6; ++dof) + // printf("%.6f ", output[dof]); + //printf("]\n"); + ///////////////// + + // Final step: add the accelerations (times dt) to the velocities. + applyDeltaVeeMultiDof(output, dt); +} +#endif + void btMultiBody::stepVelocities(btScalar dt, btAlignedObjectArray &scratch_r, @@ -447,19 +1473,19 @@ void btMultiBody::stepVelocities(btScalar dt, btMatrix3x3 * inertia_bottom_left = &scratch_m[3*num_links + 3]; // Cached 3x3 rotation matrices from parent frame to this frame. - btMatrix3x3 * rot_from_parent = &matrix_buf[0]; + btMatrix3x3 * rot_from_parent = &m_matrixBuf[0]; btMatrix3x3 * rot_from_world = &scratch_m[0]; // hhat_i, ahat_i // hhat is NOT stored for the base (but ahat is) - btVector3 * h_top = num_links > 0 ? &vector_buf[0] : 0; - btVector3 * h_bottom = num_links > 0 ? &vector_buf[num_links] : 0; + btVector3 * h_top = num_links > 0 ? &m_vectorBuf[0] : 0; + btVector3 * h_bottom = num_links > 0 ? &m_vectorBuf[num_links] : 0; btVector3 * accel_top = v_ptr; v_ptr += num_links + 1; btVector3 * accel_bottom = v_ptr; v_ptr += num_links + 1; // Y_i, D_i btScalar * Y = r_ptr; r_ptr += num_links; - btScalar * D = num_links > 0 ? &m_real_buf[6 + num_links] : 0; + btScalar * D = num_links > 0 ? &m_realBuf[6 + num_links] : 0; // ptr to the joint accel part of the output btScalar * joint_accel = output + 6; @@ -470,24 +1496,24 @@ void btMultiBody::stepVelocities(btScalar dt, // First 'upward' loop. // Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich. - rot_from_parent[0] = btMatrix3x3(base_quat); + rot_from_parent[0] = btMatrix3x3(m_baseQuat); vel_top_angular[0] = rot_from_parent[0] * base_omega; vel_bottom_linear[0] = rot_from_parent[0] * base_vel; - if (fixed_base) { + if (m_fixedBase) { zero_acc_top_angular[0] = zero_acc_bottom_linear[0] = btVector3(0,0,0); } else { - zero_acc_top_angular[0] = - (rot_from_parent[0] * (base_force - - base_mass*(DAMPING_K1_LINEAR+DAMPING_K2_LINEAR*base_vel.norm())*base_vel)); + zero_acc_top_angular[0] = - (rot_from_parent[0] * (m_baseForce + - m_baseMass*(DAMPING_K1_LINEAR+DAMPING_K2_LINEAR*base_vel.norm())*base_vel)); zero_acc_bottom_linear[0] = - - (rot_from_parent[0] * base_torque); + - (rot_from_parent[0] * m_baseTorque); if (m_useGyroTerm) - zero_acc_bottom_linear[0]+=vel_top_angular[0].cross( base_inertia * vel_top_angular[0] ); + zero_acc_bottom_linear[0]+=vel_top_angular[0].cross( m_baseInertia * vel_top_angular[0] ); - zero_acc_bottom_linear[0] += base_inertia * vel_top_angular[0] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[0].norm()); + zero_acc_bottom_linear[0] += m_baseInertia * vel_top_angular[0] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[0].norm()); } @@ -496,64 +1522,64 @@ void btMultiBody::stepVelocities(btScalar dt, inertia_top_left[0] = btMatrix3x3(0,0,0,0,0,0,0,0,0);//::Zero(); - inertia_top_right[0].setValue(base_mass, 0, 0, - 0, base_mass, 0, - 0, 0, base_mass); - inertia_bottom_left[0].setValue(base_inertia[0], 0, 0, - 0, base_inertia[1], 0, - 0, 0, base_inertia[2]); + inertia_top_right[0].setValue(m_baseMass, 0, 0, + 0, m_baseMass, 0, + 0, 0, m_baseMass); + inertia_bottom_left[0].setValue(m_baseInertia[0], 0, 0, + 0, m_baseInertia[1], 0, + 0, 0, m_baseInertia[2]); rot_from_world[0] = rot_from_parent[0]; for (int i = 0; i < num_links; ++i) { - const int parent = links[i].parent; - rot_from_parent[i+1] = btMatrix3x3(links[i].cached_rot_parent_to_this); + const int parent = m_links[i].m_parent; + rot_from_parent[i+1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis); rot_from_world[i+1] = rot_from_parent[i+1] * rot_from_world[parent+1]; // vhat_i = i_xhat_p(i) * vhat_p(i) - SpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + SpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, vel_top_angular[parent+1], vel_bottom_linear[parent+1], vel_top_angular[i+1], vel_bottom_linear[i+1]); // we can now calculate chat_i // remember vhat_i is really vhat_p(i) (but in current frame) at this point - coriolis_bottom_linear[i] = vel_top_angular[i+1].cross(vel_top_angular[i+1].cross(links[i].cached_r_vector)) - + 2 * vel_top_angular[i+1].cross(links[i].axis_bottom) * getJointVel(i); - if (links[i].is_revolute) { - coriolis_top_angular[i] = vel_top_angular[i+1].cross(links[i].axis_top) * getJointVel(i); - coriolis_bottom_linear[i] += (getJointVel(i) * getJointVel(i)) * links[i].axis_top.cross(links[i].axis_bottom); + coriolis_bottom_linear[i] = vel_top_angular[i+1].cross(vel_top_angular[i+1].cross(m_links[i].m_cachedRVector)) + + 2 * vel_top_angular[i+1].cross(m_links[i].getAxisBottom(0)) * getJointVel(i); + if (m_links[i].m_jointType == btMultibodyLink::eRevolute) { + coriolis_top_angular[i] = vel_top_angular[i+1].cross(m_links[i].getAxisTop(0)) * getJointVel(i); + coriolis_bottom_linear[i] += (getJointVel(i) * getJointVel(i)) * m_links[i].getAxisTop(0).cross(m_links[i].getAxisBottom(0)); } else { coriolis_top_angular[i] = btVector3(0,0,0); } // now set vhat_i to its true value by doing // vhat_i += qidot * shat_i - vel_top_angular[i+1] += getJointVel(i) * links[i].axis_top; - vel_bottom_linear[i+1] += getJointVel(i) * links[i].axis_bottom; + vel_top_angular[i+1] += getJointVel(i) * m_links[i].getAxisTop(0); + vel_bottom_linear[i+1] += getJointVel(i) * m_links[i].getAxisBottom(0); // calculate zhat_i^A - zero_acc_top_angular[i+1] = - (rot_from_world[i+1] * (links[i].applied_force)); - zero_acc_top_angular[i+1] += links[i].mass * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR*vel_bottom_linear[i+1].norm()) * vel_bottom_linear[i+1]; + zero_acc_top_angular[i+1] = - (rot_from_world[i+1] * (m_links[i].m_appliedForce)); + zero_acc_top_angular[i+1] += m_links[i].m_mass * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR*vel_bottom_linear[i+1].norm()) * vel_bottom_linear[i+1]; zero_acc_bottom_linear[i+1] = - - (rot_from_world[i+1] * links[i].applied_torque); + - (rot_from_world[i+1] * m_links[i].m_appliedTorque); if (m_useGyroTerm) { - zero_acc_bottom_linear[i+1] += vel_top_angular[i+1].cross( links[i].inertia * vel_top_angular[i+1] ); + zero_acc_bottom_linear[i+1] += vel_top_angular[i+1].cross( m_links[i].m_inertia * vel_top_angular[i+1] ); } - zero_acc_bottom_linear[i+1] += links[i].inertia * vel_top_angular[i+1] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[i+1].norm()); + zero_acc_bottom_linear[i+1] += m_links[i].m_inertia * vel_top_angular[i+1] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[i+1].norm()); // calculate Ihat_i^A inertia_top_left[i+1] = btMatrix3x3(0,0,0,0,0,0,0,0,0);//::Zero(); - inertia_top_right[i+1].setValue(links[i].mass, 0, 0, - 0, links[i].mass, 0, - 0, 0, links[i].mass); - inertia_bottom_left[i+1].setValue(links[i].inertia[0], 0, 0, - 0, links[i].inertia[1], 0, - 0, 0, links[i].inertia[2]); + inertia_top_right[i+1].setValue(m_links[i].m_mass, 0, 0, + 0, m_links[i].m_mass, 0, + 0, 0, m_links[i].m_mass); + inertia_bottom_left[i+1].setValue(m_links[i].m_inertia[0], 0, 0, + 0, m_links[i].m_inertia[1], 0, + 0, 0, m_links[i].m_inertia[2]); } @@ -561,15 +1587,15 @@ void btMultiBody::stepVelocities(btScalar dt, // (part of TreeForwardDynamics in Mirtich.) for (int i = num_links - 1; i >= 0; --i) { - h_top[i] = inertia_top_left[i+1] * links[i].axis_top + inertia_top_right[i+1] * links[i].axis_bottom; - h_bottom[i] = inertia_bottom_left[i+1] * links[i].axis_top + inertia_top_left[i+1].transpose() * links[i].axis_bottom; - btScalar val = SpatialDotProduct(links[i].axis_top, links[i].axis_bottom, h_top[i], h_bottom[i]); + h_top[i] = inertia_top_left[i+1] * m_links[i].getAxisTop(0) + inertia_top_right[i+1] * m_links[i].getAxisBottom(0); + h_bottom[i] = inertia_bottom_left[i+1] * m_links[i].getAxisTop(0) + inertia_top_left[i+1].transpose() * m_links[i].getAxisBottom(0); + btScalar val = SpatialDotProduct(m_links[i].getAxisTop(0), m_links[i].getAxisBottom(0), h_top[i], h_bottom[i]); D[i] = val; - Y[i] = links[i].joint_torque - - SpatialDotProduct(links[i].axis_top, links[i].axis_bottom, zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]) + Y[i] = m_links[i].m_jointTorque[0] + - SpatialDotProduct(m_links[i].getAxisTop(0), m_links[i].getAxisBottom(0), zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]) - SpatialDotProduct(h_top[i], h_bottom[i], coriolis_top_angular[i], coriolis_bottom_linear[i]); - const int parent = links[i].parent; + const int parent = m_links[i].m_parent; // Ip += pXi * (Ii - hi hi' / Di) * iXp @@ -585,9 +1611,9 @@ void btMultiBody::stepVelocities(btScalar dt, btMatrix3x3 r_cross; r_cross.setValue( - 0, -links[i].cached_r_vector[2], links[i].cached_r_vector[1], - links[i].cached_r_vector[2], 0, -links[i].cached_r_vector[0], - -links[i].cached_r_vector[1], links[i].cached_r_vector[0], 0); + 0, -m_links[i].m_cachedRVector[2], m_links[i].m_cachedRVector[1], + m_links[i].m_cachedRVector[2], 0, -m_links[i].m_cachedRVector[0], + -m_links[i].m_cachedRVector[1], m_links[i].m_cachedRVector[0], 0); inertia_top_left[parent+1] += rot_from_parent[i+1].transpose() * ( TL - TR * r_cross ) * rot_from_parent[i+1]; inertia_top_right[parent+1] += rot_from_parent[i+1].transpose() * TR * rot_from_parent[i+1]; @@ -606,7 +1632,7 @@ void btMultiBody::stepVelocities(btScalar dt, + inertia_bottom_left[i+1] * coriolis_top_angular[i] + inertia_top_left[i+1].transpose() * coriolis_bottom_linear[i] + Y_over_D * h_bottom[i]; - InverseSpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + InverseSpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, in_top, in_bottom, out_top, out_bottom); zero_acc_top_angular[parent+1] += out_top; zero_acc_bottom_linear[parent+1] += out_bottom; @@ -616,7 +1642,7 @@ void btMultiBody::stepVelocities(btScalar dt, // Second 'upward' loop // (part of TreeForwardDynamics in Mirtich) - if (fixed_base) + if (m_fixedBase) { accel_top[0] = accel_bottom[0] = btVector3(0,0,0); } @@ -631,10 +1657,10 @@ void btMultiBody::stepVelocities(btScalar dt, //Imatrix.block<3,3>(3,3) = inertia_top_left[0].transpose(); //cached_imatrix_lu.reset(new Eigen::LU >(Imatrix)); // TODO: Avoid memory allocation here? - cached_inertia_top_left = inertia_top_left[0]; - cached_inertia_top_right = inertia_top_right[0]; - cached_inertia_lower_left = inertia_bottom_left[0]; - cached_inertia_lower_right= inertia_top_left[0].transpose(); + m_cachedInertiaTopLeft = inertia_top_left[0]; + m_cachedInertiaTopRight = inertia_top_right[0]; + m_cachedInertiaLowerLeft = inertia_bottom_left[0]; + m_cachedInertiaLowerRight= inertia_top_left[0].transpose(); } btVector3 rhs_top (zero_acc_top_angular[0][0], zero_acc_top_angular[0][1], zero_acc_top_angular[0][2]); @@ -650,15 +1676,15 @@ void btMultiBody::stepVelocities(btScalar dt, } - // now do the loop over the links + // now do the loop over the m_links for (int i = 0; i < num_links; ++i) { - const int parent = links[i].parent; - SpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + const int parent = m_links[i].m_parent; + SpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, accel_top[parent+1], accel_bottom[parent+1], accel_top[i+1], accel_bottom[i+1]); joint_accel[i] = (Y[i] - SpatialDotProduct(h_top[i], h_bottom[i], accel_top[i+1], accel_bottom[i+1])) / D[i]; - accel_top[i+1] += coriolis_top_angular[i] + joint_accel[i] * links[i].axis_top; - accel_bottom[i+1] += coriolis_bottom_linear[i] + joint_accel[i] * links[i].axis_bottom; + accel_top[i+1] += coriolis_top_angular[i] + joint_accel[i] * m_links[i].getAxisTop(0); + accel_bottom[i+1] += coriolis_bottom_linear[i] + joint_accel[i] * m_links[i].getAxisBottom(0); } // transform base accelerations back to the world frame. @@ -671,38 +1697,55 @@ void btMultiBody::stepVelocities(btScalar dt, output[3] = vdot_out[0]; output[4] = vdot_out[1]; output[5] = vdot_out[2]; + + ///////////////// + //printf("q = ["); + //printf("%.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f", m_baseQuat.x(), m_baseQuat.y(), m_baseQuat.z(), m_baseQuat.w(), m_basePos.x(), m_basePos.y(), m_basePos.z()); + //for(int link = 0; link < getNumLinks(); ++link) + // printf("%.2f ", m_links[link].m_jointPos[0]); + //printf("]\n"); + //// + //printf("qd = ["); + //for(int dof = 0; dof < getNumLinks() + 6; ++dof) + // printf("%.2f ", m_realBuf[dof]); + //printf("]\n"); + //// + //printf("qdd = ["); + //for(int dof = 0; dof < getNumLinks() + 6; ++dof) + // printf("%.2f ", output[dof]); + //printf("]\n"); + ///////////////// + // Final step: add the accelerations (times dt) to the velocities. applyDeltaVee(output, dt); } - - void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const { int num_links = getNumLinks(); ///solve I * x = rhs, so the result = invI * rhs if (num_links == 0) { - // in the case of 0 links (i.e. a plain rigid body, not a multibody) rhs * invI is easier - result[0] = rhs_bot[0] / base_inertia[0]; - result[1] = rhs_bot[1] / base_inertia[1]; - result[2] = rhs_bot[2] / base_inertia[2]; - result[3] = rhs_top[0] / base_mass; - result[4] = rhs_top[1] / base_mass; - result[5] = rhs_top[2] / base_mass; + // in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier + result[0] = rhs_bot[0] / m_baseInertia[0]; + result[1] = rhs_bot[1] / m_baseInertia[1]; + result[2] = rhs_bot[2] / m_baseInertia[2]; + result[3] = rhs_top[0] / m_baseMass; + result[4] = rhs_top[1] / m_baseMass; + result[5] = rhs_top[2] / m_baseMass; } else { /// Special routine for calculating the inverse of a spatial inertia matrix ///the 6x6 matrix is stored as 4 blocks of 3x3 matrices - btMatrix3x3 Binv = cached_inertia_top_right.inverse()*-1.f; - btMatrix3x3 tmp = cached_inertia_lower_right * Binv; - btMatrix3x3 invIupper_right = (tmp * cached_inertia_top_left + cached_inertia_lower_left).inverse(); - tmp = invIupper_right * cached_inertia_lower_right; + btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse()*-1.f; + btMatrix3x3 tmp = m_cachedInertiaLowerRight * Binv; + btMatrix3x3 invIupper_right = (tmp * m_cachedInertiaTopLeft + m_cachedInertiaLowerLeft).inverse(); + tmp = invIupper_right * m_cachedInertiaLowerRight; btMatrix3x3 invI_upper_left = (tmp * Binv); btMatrix3x3 invI_lower_right = (invI_upper_left).transpose(); - tmp = cached_inertia_top_left * invI_upper_left; + tmp = m_cachedInertiaTopLeft * invI_upper_left; tmp[0][0]-= 1.0; tmp[1][1]-= 1.0; tmp[2][2]-= 1.0; @@ -727,6 +1770,406 @@ void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bo } } +#ifdef TEST_SPATIAL_ALGEBRA_LAYER +void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const +{ + int num_links = getNumLinks(); + ///solve I * x = rhs, so the result = invI * rhs + if (num_links == 0) + { + // in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier + result.setAngular(rhs.getAngular() / m_baseInertia); + result.setLinear(rhs.getLinear() / m_baseMass); + } else + { + /// Special routine for calculating the inverse of a spatial inertia matrix + ///the 6x6 matrix is stored as 4 blocks of 3x3 matrices + btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse()*-1.f; + btMatrix3x3 tmp = m_cachedInertiaLowerRight * Binv; + btMatrix3x3 invIupper_right = (tmp * m_cachedInertiaTopLeft + m_cachedInertiaLowerLeft).inverse(); + tmp = invIupper_right * m_cachedInertiaLowerRight; + btMatrix3x3 invI_upper_left = (tmp * Binv); + btMatrix3x3 invI_lower_right = (invI_upper_left).transpose(); + tmp = m_cachedInertiaTopLeft * invI_upper_left; + tmp[0][0]-= 1.0; + tmp[1][1]-= 1.0; + tmp[2][2]-= 1.0; + btMatrix3x3 invI_lower_left = (Binv * tmp); + + //multiply result = invI * rhs + { + btVector3 vtop = invI_upper_left*rhs.getLinear(); + btVector3 tmp; + tmp = invIupper_right * rhs.getAngular(); + vtop += tmp; + btVector3 vbot = invI_lower_left*rhs.getLinear(); + tmp = invI_lower_right * rhs.getAngular(); + vbot += tmp; + result.setVector(vtop, vbot); + } + + } +} +#endif + +void btMultiBody::mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const +{ + for (int row = 0; row < rowsA; row++) + { + for (int col = 0; col < colsB; col++) + { + pC[row * colsB + col] = 0.f; + for (int inner = 0; inner < rowsB; inner++) + { + pC[row * colsB + col] += pA[row * colsA + inner] * pB[col + inner * colsB]; + } + } + } +} + +#ifndef TEST_SPATIAL_ALGEBRA_LAYER +void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output, + btAlignedObjectArray &scratch_r, btAlignedObjectArray &scratch_v) const +{ + // Temporary matrices/vectors -- use scratch space from caller + // so that we don't have to keep reallocating every frame + + int num_links = getNumLinks(); + int m_dofCount = getNumDofs(); + scratch_r.resize(m_dofCount); + scratch_v.resize(4*num_links + 4); + + btScalar * r_ptr = m_dofCount ? &scratch_r[0] : 0; + btVector3 * v_ptr = &scratch_v[0]; + + // zhat_i^A (scratch space) + btVector3 * zeroAccForce = v_ptr; v_ptr += num_links + 1; + btVector3 * zeroAccTorque = v_ptr; v_ptr += num_links + 1; + + // rot_from_parent (cached from calcAccelerations) + const btMatrix3x3 * rot_from_parent = &m_matrixBuf[0]; + + // hhat (cached), accel (scratch) + // hhat is NOT stored for the base (but ahat is) + const btVector3 * h_top = m_dofCount > 0 ? &m_vectorBuf[0] : 0; + const btVector3 * h_bottom = m_dofCount > 0 ? &m_vectorBuf[m_dofCount] : 0; + btVector3 * accel_top = v_ptr; v_ptr += num_links + 1; + btVector3 * accel_bottom = v_ptr; v_ptr += num_links + 1; + + // Y_i (scratch), invD_i (cached) + const btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0; + btScalar * Y = r_ptr; + //////////////// + + // First 'upward' loop. + // Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich. + + btVector3 input_force(force[3],force[4],force[5]); + btVector3 input_torque(force[0],force[1],force[2]); + + // Fill in zero_acc + // -- set to force/torque on the base, zero otherwise + if (m_fixedBase) + { + zeroAccForce[0] = zeroAccTorque[0] = btVector3(0,0,0); + } else + { + zeroAccForce[0] = - (rot_from_parent[0] * input_force); + zeroAccTorque[0] = - (rot_from_parent[0] * input_torque); + } + for (int i = 0; i < num_links; ++i) + { + zeroAccForce[i+1] = zeroAccTorque[i+1] = btVector3(0,0,0); + } + + // 'Downward' loop. + // (part of TreeForwardDynamics in Mirtich.) + for (int i = num_links - 1; i >= 0; --i) + { + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btScalar sdp = -SpatialDotProduct(m_links[i].getAxisTop(dof), m_links[i].getAxisBottom(dof), zeroAccForce[i+1], zeroAccTorque[i+1]); + + Y[m_links[i].m_dofOffset + dof] = force[6 + m_links[i].m_dofOffset + dof] + - SpatialDotProduct(m_links[i].getAxisTop(dof), m_links[i].getAxisBottom(dof), zeroAccForce[i+1], zeroAccTorque[i+1]) + ; + } + + btScalar aa = Y[i]; + const int parent = m_links[i].m_parent; + + btVector3 in_top, in_bottom, out_top, out_bottom; + const btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset]; + + static btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; definitely move to buffers; num_dof of btScalar would cover all bodies but acutally 6 btScalars will also be okay + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + invD_times_Y[dof] = 0.f; + + for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) + { + invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2]; + } + } + + // Zp += pXi * (Zi + hi*Yi/Di) + in_top = zeroAccForce[i+1]; + in_bottom = zeroAccTorque[i+1]; + + //unroll the loop? + for(int row = 0; row < 3; ++row) + { + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + const btVector3 &h_t = h_top[m_links[i].m_dofOffset + dof]; + const btVector3 &h_b = h_bottom[m_links[i].m_dofOffset + dof]; + + in_top[row] += h_t[row] * invD_times_Y[dof]; + in_bottom[row] += h_b[row] * invD_times_Y[dof]; + } + } + + InverseSpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, + in_top, in_bottom, out_top, out_bottom); + zeroAccForce[parent+1] += out_top; + zeroAccTorque[parent+1] += out_bottom; + } + + // ptr to the joint accel part of the output + btScalar * joint_accel = output + 6; + + + // Second 'upward' loop + // (part of TreeForwardDynamics in Mirtich) + + if (m_fixedBase) + { + accel_top[0] = accel_bottom[0] = btVector3(0,0,0); + } + else + { + btVector3 rhs_top (zeroAccForce[0][0], zeroAccForce[0][1], zeroAccForce[0][2]); + btVector3 rhs_bot (zeroAccTorque[0][0], zeroAccTorque[0][1], zeroAccTorque[0][2]); + float result[6]; + + solveImatrix(rhs_top, rhs_bot, result); + for (int i = 0; i < 3; ++i) { + accel_top[0][i] = -result[i]; + accel_bottom[0][i] = -result[i+3]; + } + + } + + static btScalar Y_minus_hT_a[6]; //it's dofx1 for each body so a single 6x1 temp is enough + // now do the loop over the m_links + for (int i = 0; i < num_links; ++i) { + const int parent = m_links[i].m_parent; + + SpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, + accel_top[parent+1], accel_bottom[parent+1], + accel_top[i+1], accel_bottom[i+1]); + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + const btVector3 &h_t = h_top[m_links[i].m_dofOffset + dof]; + const btVector3 &h_b = h_bottom[m_links[i].m_dofOffset + dof]; + + Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - SpatialDotProduct(h_t, h_b, accel_top[i+1], accel_bottom[i+1]); + } + + const btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset]; + mulMatrix(const_cast(invDi), Y_minus_hT_a, m_links[i].m_dofCount, m_links[i].m_dofCount, m_links[i].m_dofCount, 1, &joint_accel[m_links[i].m_dofOffset]); + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + accel_top[i+1] += joint_accel[m_links[i].m_dofOffset + dof] * m_links[i].getAxisTop(dof); + accel_bottom[i+1] += joint_accel[m_links[i].m_dofOffset + dof] * m_links[i].getAxisBottom(dof); + } + } + + // transform base accelerations back to the world frame. + btVector3 omegadot_out; + omegadot_out = rot_from_parent[0].transpose() * accel_top[0]; + output[0] = omegadot_out[0]; + output[1] = omegadot_out[1]; + output[2] = omegadot_out[2]; + + btVector3 vdot_out; + vdot_out = rot_from_parent[0].transpose() * accel_bottom[0]; + + output[3] = vdot_out[0]; + output[4] = vdot_out[1]; + output[5] = vdot_out[2]; + + ///////////////// + //printf("delta = ["); + //for(int dof = 0; dof < getNumDofs() + 6; ++dof) + // printf("%.2f ", output[dof]); + //printf("]\n"); + ///////////////// +} +#else //i.e. TEST_SPATIAL_ALGEBRA_LAYER +void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output, + btAlignedObjectArray &scratch_r, btAlignedObjectArray &scratch_v) const +{ + // Temporary matrices/vectors -- use scratch space from caller + // so that we don't have to keep reallocating every frame + + int num_links = getNumLinks(); + scratch_r.resize(m_dofCount); + scratch_v.resize(4*num_links + 4); + + btScalar * r_ptr = m_dofCount ? &scratch_r[0] : 0; + btVector3 * v_ptr = &scratch_v[0]; + + // zhat_i^A (scratch space) + btSpatialForceVector * zeroAccSpatFrc = (btSpatialForceVector *)v_ptr; + v_ptr += num_links * 2 + 2; + + // rot_from_parent (cached from calcAccelerations) + const btMatrix3x3 * rot_from_parent = &m_matrixBuf[0]; + + // hhat (cached), accel (scratch) + // hhat is NOT stored for the base (but ahat is) + const btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0); + btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr; + v_ptr += num_links * 2 + 2; + + // Y_i (scratch), invD_i (cached) + const btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0; + btScalar * Y = r_ptr; + //////////////// + //aux variables + static btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies + static btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel) + static btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough + static btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors + static btSpatialTransformationMatrix fromParent; + ///////////////// + + // First 'upward' loop. + // Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich. + + // Fill in zero_acc + // -- set to force/torque on the base, zero otherwise + if (m_fixedBase) + { + zeroAccSpatFrc[0].setZero(); + } else + { + //test forces + fromParent.m_rotMat = rot_from_parent[0]; + fromParent.transformRotationOnly(btSpatialForceVector(-force[0],-force[1],-force[2], -force[3],-force[4],-force[5]), zeroAccSpatFrc[0]); + } + for (int i = 0; i < num_links; ++i) + { + zeroAccSpatFrc[i+1].setZero(); + } + + // 'Downward' loop. + // (part of TreeForwardDynamics in Mirtich.) + for (int i = num_links - 1; i >= 0; --i) + { + const int parent = m_links[i].m_parent; + fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector; + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + Y[m_links[i].m_dofOffset + dof] = force[6 + m_links[i].m_dofOffset + dof] + - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1]) + ; + } + + btVector3 in_top, in_bottom, out_top, out_bottom; + const btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset]; + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + invD_times_Y[dof] = 0.f; + + for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) + { + invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2]; + } + } + + // Zp += pXi * (Zi + hi*Yi/Di) + spatForceVecTemps[0] = zeroAccSpatFrc[i+1]; + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + // + spatForceVecTemps[0] += hDof * invD_times_Y[dof]; + } + + + fromParent.transformInverse(spatForceVecTemps[0], spatForceVecTemps[1]); + + zeroAccSpatFrc[parent+1] += spatForceVecTemps[1]; + } + + // ptr to the joint accel part of the output + btScalar * joint_accel = output + 6; + + + // Second 'upward' loop + // (part of TreeForwardDynamics in Mirtich) + + if (m_fixedBase) + { + spatAcc[0].setZero(); + } + else + { + solveImatrix(zeroAccSpatFrc[0], result); + spatAcc[0] = -result; + + } + + // now do the loop over the m_links + for (int i = 0; i < num_links; ++i) + { + const int parent = m_links[i].m_parent; + fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector; + + fromParent.transform(spatAcc[parent+1], spatAcc[i+1]); + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + // + Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i+1].dot(hDof); + } + + const btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset]; + mulMatrix(const_cast(invDi), Y_minus_hT_a, m_links[i].m_dofCount, m_links[i].m_dofCount, m_links[i].m_dofCount, 1, &joint_accel[m_links[i].m_dofOffset]); + + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + spatAcc[i+1] += m_links[i].m_axes[dof] * joint_accel[m_links[i].m_dofOffset + dof]; + } + + // transform base accelerations back to the world frame. + btVector3 omegadot_out; + omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular(); + output[0] = omegadot_out[0]; + output[1] = omegadot_out[1]; + output[2] = omegadot_out[2]; + + btVector3 vdot_out; + vdot_out = rot_from_parent[0].transpose() * spatAcc[0].getLinear(); + output[3] = vdot_out[0]; + output[4] = vdot_out[1]; + output[5] = vdot_out[2]; + + ///////////////// + //printf("delta = ["); + //for(int dof = 0; dof < getNumDofs() + 6; ++dof) + // printf("%.2f ", output[dof]); + //printf("]\n"); + ///////////////// +} +#endif void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output, @@ -746,17 +2189,17 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output btVector3 * zero_acc_bottom_linear = v_ptr; v_ptr += num_links + 1; // rot_from_parent (cached from calcAccelerations) - const btMatrix3x3 * rot_from_parent = &matrix_buf[0]; + const btMatrix3x3 * rot_from_parent = &m_matrixBuf[0]; // hhat (cached), accel (scratch) - const btVector3 * h_top = num_links > 0 ? &vector_buf[0] : 0; - const btVector3 * h_bottom = num_links > 0 ? &vector_buf[num_links] : 0; + const btVector3 * h_top = num_links > 0 ? &m_vectorBuf[0] : 0; + const btVector3 * h_bottom = num_links > 0 ? &m_vectorBuf[num_links] : 0; btVector3 * accel_top = v_ptr; v_ptr += num_links + 1; btVector3 * accel_bottom = v_ptr; v_ptr += num_links + 1; // Y_i (scratch), D_i (cached) btScalar * Y = r_ptr; r_ptr += num_links; - const btScalar * D = num_links > 0 ? &m_real_buf[6 + num_links] : 0; + const btScalar * D = num_links > 0 ? &m_realBuf[6 + num_links] : 0; btAssert(num_links == 0 || r_ptr - &scratch_r[0] == scratch_r.size()); btAssert(v_ptr - &scratch_v[0] == scratch_v.size()); @@ -771,7 +2214,7 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output // Fill in zero_acc // -- set to force/torque on the base, zero otherwise - if (fixed_base) + if (m_fixedBase) { zero_acc_top_angular[0] = zero_acc_bottom_linear[0] = btVector3(0,0,0); } else @@ -787,18 +2230,18 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output // 'Downward' loop. for (int i = num_links - 1; i >= 0; --i) { - - Y[i] = - SpatialDotProduct(links[i].axis_top, links[i].axis_bottom, zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]); + btScalar sdp = -SpatialDotProduct(m_links[i].getAxisTop(0), m_links[i].getAxisBottom(0), zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]); + Y[i] = - SpatialDotProduct(m_links[i].getAxisTop(0), m_links[i].getAxisBottom(0), zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]); Y[i] += force[6 + i]; // add joint torque - const int parent = links[i].parent; + const int parent = m_links[i].m_parent; // Zp += pXi * (Zi + hi*Yi/Di) btVector3 in_top, in_bottom, out_top, out_bottom; const btScalar Y_over_D = Y[i] / D[i]; in_top = zero_acc_top_angular[i+1] + Y_over_D * h_top[i]; in_bottom = zero_acc_bottom_linear[i+1] + Y_over_D * h_bottom[i]; - InverseSpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + InverseSpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, in_top, in_bottom, out_top, out_bottom); zero_acc_top_angular[parent+1] += out_top; zero_acc_bottom_linear[parent+1] += out_bottom; @@ -808,7 +2251,7 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output btScalar * joint_accel = output + 6; // Second 'upward' loop - if (fixed_base) + if (m_fixedBase) { accel_top[0] = accel_bottom[0] = btVector3(0,0,0); } else @@ -827,15 +2270,16 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output } - // now do the loop over the links + // now do the loop over the m_links for (int i = 0; i < num_links; ++i) { - const int parent = links[i].parent; - SpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + const int parent = m_links[i].m_parent; + SpatialTransform(rot_from_parent[i+1], m_links[i].m_cachedRVector, accel_top[parent+1], accel_bottom[parent+1], accel_top[i+1], accel_bottom[i+1]); - joint_accel[i] = (Y[i] - SpatialDotProduct(h_top[i], h_bottom[i], accel_top[i+1], accel_bottom[i+1])) / D[i]; - accel_top[i+1] += joint_accel[i] * links[i].axis_top; - accel_bottom[i+1] += joint_accel[i] * links[i].axis_bottom; + btScalar Y_minus_hT_a = (Y[i] - SpatialDotProduct(h_top[i], h_bottom[i], accel_top[i+1], accel_bottom[i+1])); + joint_accel[i] = Y_minus_hT_a / D[i]; + accel_top[i+1] += joint_accel[i] * m_links[i].getAxisTop(0); + accel_bottom[i+1] += joint_accel[i] * m_links[i].getAxisBottom(0); } // transform base accelerations back to the world frame. @@ -851,6 +2295,15 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output output[3] = vdot_out[0]; output[4] = vdot_out[1]; output[5] = vdot_out[2]; + + ///////////////// + //printf("delta = ["); + //for(int dof = 0; dof < getNumLinks() + 6; ++dof) + // printf("%.2f ", output[dof]); + //printf("]\n"); + ///////////////// + + int dummy = 0; } void btMultiBody::stepPositions(btScalar dt) @@ -858,7 +2311,7 @@ void btMultiBody::stepPositions(btScalar dt) int num_links = getNumLinks(); // step position by adding dt * velocity btVector3 v = getBaseVel(); - base_pos += dt * v; + m_basePos += dt * v; // "exponential map" method for the rotation btVector3 base_omega = getBaseOmega(); @@ -870,22 +2323,235 @@ void btMultiBody::stepPositions(btScalar dt) const btScalar xsq = omega_times_dt * omega_times_dt; // |omega|^2 * dt^2 const btScalar sin_term = dt * (xsq / 48.0f - 0.5f); // -sin(0.5*dt*|omega|) / |omega| const btScalar cos_term = 1.0f - xsq / 8.0f; // cos(0.5*dt*|omega|) - base_quat = base_quat * btQuaternion(sin_term * base_omega[0],sin_term * base_omega[1],sin_term * base_omega[2],cos_term); + m_baseQuat = m_baseQuat * btQuaternion(sin_term * base_omega[0],sin_term * base_omega[1],sin_term * base_omega[2],cos_term); } else { - base_quat = base_quat * btQuaternion(base_omega / omega_norm,-omega_times_dt); + m_baseQuat = m_baseQuat * btQuaternion(base_omega / omega_norm,-omega_times_dt); } // Make sure the quaternion represents a valid rotation. // (Not strictly necessary, but helps prevent any round-off errors from building up.) - base_quat.normalize(); + m_baseQuat.normalize(); - // Finally we can update joint_pos for each of the links + // Finally we can update m_jointPos for each of the m_links for (int i = 0; i < num_links; ++i) { float jointVel = getJointVel(i); - links[i].joint_pos += dt * jointVel; - links[i].updateCache(); + m_links[i].m_jointPos[0] += dt * jointVel; + m_links[i].updateCache(); + } +} + +void btMultiBody::stepPositionsMultiDof(btScalar dt) +{ + int num_links = getNumLinks(); + // step position by adding dt * velocity + btVector3 v = getBaseVel(); + m_basePos += dt * v; + + /////////////////////////////// + //local functor for quaternion integration (to avoid error prone redundancy) + struct + { + //"exponential map" based on btTransformUtil::integrateTransform(..) + void operator() (const btVector3 &omega, btQuaternion &quat, bool baseBody, btScalar dt) + { + //baseBody => quat is alias and omega is global coor + //!baseBody => quat is alibi and omega is local coor + + btVector3 axis; + btVector3 angvel; + + if(!baseBody) + angvel = quatRotate(quat, omega); //if quat is not m_baseQuat, it is alibi => ok + else + angvel = omega; + + btScalar fAngle = angvel.length(); + //limit the angular motion + if (fAngle * dt > ANGULAR_MOTION_THRESHOLD) + { + fAngle = btScalar(0.5)*SIMD_HALF_PI / dt; + } + + if ( fAngle < btScalar(0.001) ) + { + // use Taylor's expansions of sync function + axis = angvel*( btScalar(0.5)*dt-(dt*dt*dt)*(btScalar(0.020833333333))*fAngle*fAngle ); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel*( btSin(btScalar(0.5)*fAngle*dt)/fAngle ); + } + + if(!baseBody) + quat = btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat; + else + quat = quat * btQuaternion(-axis.x(),-axis.y(),-axis.z(),btCos( fAngle*dt*btScalar(0.5) )); + //equivalent to: quat = (btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat.inverse()).inverse(); + + quat.normalize(); + } + } pQuatUpdateFun; + /////////////////////////////// + + pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); + + // Finally we can update m_jointPos for each of the m_links + for (int i = 0; i < num_links; ++i) + { + switch(m_links[i].m_jointType) + { + case btMultibodyLink::ePrismatic: + case btMultibodyLink::eRevolute: + { + btScalar jointVel = getJointVelMultiDof(i)[0]; + m_links[i].m_jointPos[0] += dt * jointVel; + break; + } + case btMultibodyLink::eSpherical: + { + btScalar *pJointVel = getJointVelMultiDof(i); + static btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); + static btQuaternion jointOri; jointOri.setValue(m_links[i].m_jointPos[0], m_links[i].m_jointPos[1], m_links[i].m_jointPos[2], m_links[i].m_jointPos[3]); + pQuatUpdateFun(jointVel, jointOri, false, dt); + m_links[i].m_jointPos[0] = jointOri.x(); m_links[i].m_jointPos[1] = jointOri.y(); m_links[i].m_jointPos[2] = jointOri.z(); m_links[i].m_jointPos[3] = jointOri.w(); + break; + } +#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS + case btMultibodyLink::ePlanar: + { + m_links[i].m_jointPos[0] += dt * getJointVelMultiDof(i)[0]; + + btVector3 q0_coors_qd1qd2 = getJointVelMultiDof(i)[1] * m_links[i].getAxisBottom(1) + getJointVelMultiDof(i)[2] * m_links[i].getAxisBottom(2); + btVector3 no_q0_coors_qd1qd2 = quatRotate(btQuaternion(m_links[i].getAxisTop(0), m_links[i].m_jointPos[0]), q0_coors_qd1qd2); + m_links[i].m_jointPos[1] += m_links[i].getAxisBottom(1).dot(no_q0_coors_qd1qd2) * dt; + m_links[i].m_jointPos[2] += m_links[i].getAxisBottom(2).dot(no_q0_coors_qd1qd2) * dt; + + break; + } +#endif + } + + m_links[i].updateCacheMultiDof(); + } +} + +void btMultiBody::fillContactJacobianMultiDof(int link, + const btVector3 &contact_point, + const btVector3 &normal, + btScalar *jac, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v, + btAlignedObjectArray &scratch_m) const +{ + // temporary space + int num_links = getNumLinks(); + int m_dofCount = getNumDofs(); + scratch_v.resize(2*num_links + 2); + scratch_m.resize(num_links + 1); + + btVector3 * v_ptr = &scratch_v[0]; + btVector3 * p_minus_com = v_ptr; v_ptr += num_links + 1; + btVector3 * n_local = v_ptr; v_ptr += num_links + 1; + btAssert(v_ptr - &scratch_v[0] == scratch_v.size()); + + scratch_r.resize(m_dofCount); + btScalar * results = num_links > 0 ? &scratch_r[0] : 0; + + btMatrix3x3 * rot_from_world = &scratch_m[0]; + + const btVector3 p_minus_com_world = contact_point - m_basePos; + + rot_from_world[0] = btMatrix3x3(m_baseQuat); + + p_minus_com[0] = rot_from_world[0] * p_minus_com_world; + n_local[0] = rot_from_world[0] * normal; + + // omega coeffients first. + btVector3 omega_coeffs; + omega_coeffs = p_minus_com_world.cross(normal); + jac[0] = omega_coeffs[0]; + jac[1] = omega_coeffs[1]; + jac[2] = omega_coeffs[2]; + // then v coefficients + jac[3] = normal[0]; + jac[4] = normal[1]; + jac[5] = normal[2]; + + // Set remaining jac values to zero for now. + for (int i = 6; i < 6 + m_dofCount; ++i) + { + jac[i] = 0; + } + + // Qdot coefficients, if necessary. + if (num_links > 0 && link > -1) { + + // TODO: speed this up -- don't calculate for m_links we don't need. + // (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions, + // which is resulting in repeated work being done...) + + // calculate required normals & positions in the local frames. + for (int i = 0; i < num_links; ++i) { + + // transform to local frame + const int parent = m_links[i].m_parent; + const btMatrix3x3 mtx(m_links[i].m_cachedRotParentToThis); + rot_from_world[i+1] = mtx * rot_from_world[parent+1]; + + n_local[i+1] = mtx * n_local[parent+1]; + p_minus_com[i+1] = mtx * p_minus_com[parent+1] - m_links[i].m_cachedRVector; + + // calculate the jacobian entry + switch(m_links[i].m_jointType) + { + case btMultibodyLink::eRevolute: + { + results[m_links[i].m_dofOffset] = n_local[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com[i+1]) + m_links[i].getAxisBottom(0)); + break; + } + case btMultibodyLink::ePrismatic: + { + results[m_links[i].m_dofOffset] = n_local[i+1].dot(m_links[i].getAxisBottom(0)); + break; + } + case btMultibodyLink::eSpherical: + { + results[m_links[i].m_dofOffset + 0] = n_local[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com[i+1]) + m_links[i].getAxisBottom(0)); + results[m_links[i].m_dofOffset + 1] = n_local[i+1].dot(m_links[i].getAxisTop(1).cross(p_minus_com[i+1]) + m_links[i].getAxisBottom(1)); + results[m_links[i].m_dofOffset + 2] = n_local[i+1].dot(m_links[i].getAxisTop(2).cross(p_minus_com[i+1]) + m_links[i].getAxisBottom(2)); + + break; + } +#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS + case btMultibodyLink::ePlanar: + { + results[m_links[i].m_dofOffset + 0] = n_local[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com[i+1]));// + m_links[i].getAxisBottom(0)); + results[m_links[i].m_dofOffset + 1] = n_local[i+1].dot(m_links[i].getAxisBottom(1)); + results[m_links[i].m_dofOffset + 2] = n_local[i+1].dot(m_links[i].getAxisBottom(2)); + + break; + } +#endif + } + + } + + // Now copy through to output. + //printf("jac[%d] = ", link); + while (link != -1) + { + for(int dof = 0; dof < m_links[link].m_dofCount; ++dof) + { + jac[6 + m_links[link].m_dofOffset + dof] = results[m_links[link].m_dofOffset + dof]; + //printf("%.2f\t", jac[6 + m_links[link].m_dofOffset + dof]); + } + + link = m_links[link].m_parent; + } + //printf("]\n"); } } @@ -912,9 +2578,9 @@ void btMultiBody::fillContactJacobian(int link, btMatrix3x3 * rot_from_world = &scratch_m[0]; - const btVector3 p_minus_com_world = contact_point - base_pos; + const btVector3 p_minus_com_world = contact_point - m_basePos; - rot_from_world[0] = btMatrix3x3(base_quat); + rot_from_world[0] = btMatrix3x3(m_baseQuat); p_minus_com[0] = rot_from_world[0] * p_minus_com_world; n_local[0] = rot_from_world[0] * normal; @@ -938,7 +2604,7 @@ void btMultiBody::fillContactJacobian(int link, // Qdot coefficients, if necessary. if (num_links > 0 && link > -1) { - // TODO: speed this up -- don't calculate for links we don't need. + // TODO: speed this up -- don't calculate for m_links we don't need. // (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions, // which is resulting in repeated work being done...) @@ -946,64 +2612,76 @@ void btMultiBody::fillContactJacobian(int link, for (int i = 0; i < num_links; ++i) { // transform to local frame - const int parent = links[i].parent; - const btMatrix3x3 mtx(links[i].cached_rot_parent_to_this); + const int parent = m_links[i].m_parent; + const btMatrix3x3 mtx(m_links[i].m_cachedRotParentToThis); rot_from_world[i+1] = mtx * rot_from_world[parent+1]; n_local[i+1] = mtx * n_local[parent+1]; - p_minus_com[i+1] = mtx * p_minus_com[parent+1] - links[i].cached_r_vector; + p_minus_com[i+1] = mtx * p_minus_com[parent+1] - m_links[i].m_cachedRVector; // calculate the jacobian entry - if (links[i].is_revolute) { - results[i] = n_local[i+1].dot( links[i].axis_top.cross(p_minus_com[i+1]) + links[i].axis_bottom ); + if (m_links[i].m_jointType == btMultibodyLink::eRevolute) { + results[i] = n_local[i+1].dot( m_links[i].getAxisTop(0).cross(p_minus_com[i+1]) + m_links[i].getAxisBottom(0) ); } else { - results[i] = n_local[i+1].dot( links[i].axis_bottom ); + results[i] = n_local[i+1].dot( m_links[i].getAxisBottom(0) ); } } // Now copy through to output. - while (link != -1) { + //printf("jac[%d] = ", link); + while (link != -1) + { jac[6 + link] = results[link]; - link = links[link].parent; + //printf("%.2f\t", jac[6 + link]); + link = m_links[link].m_parent; } + //printf("]\n"); } } void btMultiBody::wakeUp() { - awake = true; + m_awake = true; } void btMultiBody::goToSleep() { - awake = false; + m_awake = false; } void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep) { int num_links = getNumLinks(); extern bool gDisableDeactivation; - if (!can_sleep || gDisableDeactivation) + if (!m_canSleep || gDisableDeactivation) { - awake = true; - sleep_timer = 0; + m_awake = true; + m_sleepTimer = 0; return; } // motion is computed as omega^2 + v^2 + (sum of squares of joint velocities) btScalar motion = 0; - for (int i = 0; i < 6 + num_links; ++i) { - motion += m_real_buf[i] * m_real_buf[i]; - } + if(m_isMultiDof) + { + for (int i = 0; i < 6 + m_dofCount; ++i) + motion += m_realBuf[i] * m_realBuf[i]; + } + else + { + for (int i = 0; i < 6 + num_links; ++i) + motion += m_realBuf[i] * m_realBuf[i]; + } + if (motion < SLEEP_EPSILON) { - sleep_timer += timestep; - if (sleep_timer > SLEEP_TIMEOUT) { + m_sleepTimer += timestep; + if (m_sleepTimer > SLEEP_TIMEOUT) { goToSleep(); } } else { - sleep_timer = 0; - if (!awake) + m_sleepTimer = 0; + if (!m_awake) wakeUp(); } } diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h index 9f2e99abd..048e3341c 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.h +++ b/src/BulletDynamics/Featherstone/btMultiBody.h @@ -45,21 +45,28 @@ public: // initialization // - btMultiBody(int n_links, // NOT including the base + btMultiBody(int n_links, // NOT including the base btScalar mass, // mass of base const btVector3 &inertia, // inertia of base, in base frame; assumed diagonal - bool fixed_base_, // whether the base is fixed (true) or can move (false) - bool can_sleep_); + bool fixedBase, // whether the base is fixed (true) or can move (false) + bool canSleep); - ~btMultiBody(); + btMultiBody(int n_links, // NOT including the base + int n_dofs, // NOT including 6 floating base dofs + btScalar mass, // mass of base + const btVector3 &inertia, // inertia of base, in base frame; assumed diagonal + bool fixedBase, // whether the base is fixed (true) or can move (false) + bool canSleep); + + ~btMultiBody(); void setupPrismatic(int i, // 0 to num_links-1 btScalar mass, const btVector3 &inertia, // in my frame; assumed diagonal int parent, - const btQuaternion &rot_parent_to_this, // rotate points in parent frame to my frame. - const btVector3 &joint_axis, // in my frame - const btVector3 &r_vector_when_q_zero, // vector from parent COM to my COM, in my frame, when q = 0. + const btQuaternion &rotParentToThis, // rotate points in parent frame to my frame. + const btVector3 &jointAxis, // in my frame + const btVector3 &parentComToThisComOffset, // vector from parent COM to my COM, in my frame, when q = 0. bool disableParentCollision=false ); @@ -67,20 +74,40 @@ public: btScalar mass, const btVector3 &inertia, int parent, - const btQuaternion &zero_rot_parent_to_this, // rotate points in parent frame to this frame, when q = 0 - const btVector3 &joint_axis, // in my frame - const btVector3 &parent_axis_position, // vector from parent COM to joint axis, in PARENT frame - const btVector3 &my_axis_position, // vector from joint axis to my COM, in MY frame + const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0 + const btVector3 &jointAxis, // in my frame + const btVector3 &parentComToThisPivotOffset, // vector from parent COM to joint axis, in PARENT frame + const btVector3 &thisPivotToThisComOffset, // vector from joint axis to my COM, in MY frame bool disableParentCollision=false); + + void setupSpherical(int i, // 0 to num_links-1 + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0 + const btVector3 &parentComToThisPivotOffset, // vector from parent COM to joint axis, in PARENT frame + const btVector3 &thisPivotToThisComOffset, // vector from joint axis to my COM, in MY frame + bool disableParentCollision=false); + +#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS + void setupPlanar(int i, // 0 to num_links-1 + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0 + const btVector3 &rotationAxis, + const btVector3 &parentComToThisComOffset, // vector from parent COM to this COM, in PARENT frame + bool disableParentCollision=false); +#endif const btMultibodyLink& getLink(int index) const { - return links[index]; + return m_links[index]; } btMultibodyLink& getLink(int index) { - return links[index]; + return m_links[index]; } @@ -106,12 +133,13 @@ public: // - // get number of links, masses, moments of inertia + // get number of m_links, masses, moments of inertia // - int getNumLinks() const { return links.size(); } - btScalar getBaseMass() const { return base_mass; } - const btVector3 & getBaseInertia() const { return base_inertia; } + int getNumLinks() const { return m_links.size(); } + int getNumDofs() const { return m_dofCount; } + btScalar getBaseMass() const { return m_baseMass; } + const btVector3 & getBaseInertia() const { return m_baseInertia; } btScalar getLinkMass(int i) const; const btVector3 & getLinkInertia(int i) const; @@ -120,55 +148,60 @@ public: // change mass (incomplete: can only change base mass and inertia at present) // - void setBaseMass(btScalar mass) { base_mass = mass; } - void setBaseInertia(const btVector3 &inertia) { base_inertia = inertia; } + void setBaseMass(btScalar mass) { m_baseMass = mass; } + void setBaseInertia(const btVector3 &inertia) { m_baseInertia = inertia; } // // get/set pos/vel/rot/omega for the base link // - const btVector3 & getBasePos() const { return base_pos; } // in world frame + const btVector3 & getBasePos() const { return m_basePos; } // in world frame const btVector3 getBaseVel() const { - return btVector3(m_real_buf[3],m_real_buf[4],m_real_buf[5]); + return btVector3(m_realBuf[3],m_realBuf[4],m_realBuf[5]); } // in world frame const btQuaternion & getWorldToBaseRot() const { - return base_quat; + return m_baseQuat; } // rotates world vectors into base frame - btVector3 getBaseOmega() const { return btVector3(m_real_buf[0],m_real_buf[1],m_real_buf[2]); } // in world frame + btVector3 getBaseOmega() const { return btVector3(m_realBuf[0],m_realBuf[1],m_realBuf[2]); } // in world frame void setBasePos(const btVector3 &pos) { - base_pos = pos; + m_basePos = pos; } void setBaseVel(const btVector3 &vel) { - m_real_buf[3]=vel[0]; m_real_buf[4]=vel[1]; m_real_buf[5]=vel[2]; + m_realBuf[3]=vel[0]; m_realBuf[4]=vel[1]; m_realBuf[5]=vel[2]; } void setWorldToBaseRot(const btQuaternion &rot) { - base_quat = rot; + m_baseQuat = rot; //m_baseQuat asumed to ba alias!? } void setBaseOmega(const btVector3 &omega) { - m_real_buf[0]=omega[0]; - m_real_buf[1]=omega[1]; - m_real_buf[2]=omega[2]; + m_realBuf[0]=omega[0]; + m_realBuf[1]=omega[1]; + m_realBuf[2]=omega[2]; } // - // get/set pos/vel for child links (i = 0 to num_links-1) + // get/set pos/vel for child m_links (i = 0 to num_links-1) // btScalar getJointPos(int i) const; btScalar getJointVel(int i) const; + btScalar * getJointVelMultiDof(int i); + btScalar * getJointPosMultiDof(int i); + void setJointPos(int i, btScalar q); void setJointVel(int i, btScalar qdot); + void setJointPosMultiDof(int i, btScalar *q); + void setJointVelMultiDof(int i, btScalar *qdot); // // direct access to velocities as a vector of 6 + num_links elements. @@ -176,7 +209,7 @@ public: // const btScalar * getVelocityVector() const { - return &m_real_buf[0]; + return &m_realBuf[0]; } /* btScalar * getVelocityVector() { @@ -185,7 +218,7 @@ public: */ // - // get the frames of reference (positions and orientations) of the child links + // get the frames of reference (positions and orientations) of the child m_links // (i = 0 to num_links-1) // @@ -220,18 +253,21 @@ public: void addBaseForce(const btVector3 &f) { - base_force += f; + m_baseForce += f; } - void addBaseTorque(const btVector3 &t) { base_torque += t; } + void addBaseTorque(const btVector3 &t) { m_baseTorque += t; } void addLinkForce(int i, const btVector3 &f); void addLinkTorque(int i, const btVector3 &t); void addJointTorque(int i, btScalar Q); + void addJointTorqueMultiDof(int i, int dof, btScalar Q); + void addJointTorqueMultiDof(int i, const btScalar *Q); - const btVector3 & getBaseForce() const { return base_force; } - const btVector3 & getBaseTorque() const { return base_torque; } + const btVector3 & getBaseForce() const { return m_baseForce; } + const btVector3 & getBaseTorque() const { return m_baseTorque; } const btVector3 & getLinkForce(int i) const; const btVector3 & getLinkTorque(int i) const; btScalar getJointTorque(int i) const; + btScalar * getJointTorqueMultiDof(int i); // @@ -255,6 +291,11 @@ public: btAlignedObjectArray &scratch_v, btAlignedObjectArray &scratch_m); + void stepVelocitiesMultiDof(btScalar dt, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v, + btAlignedObjectArray &scratch_m); + // calcAccelerationDeltas // input: force vector (in same format as jacobian, i.e.: // 3 torque values, 3 force values, num_links joint torque values) @@ -265,13 +306,17 @@ public: btAlignedObjectArray &scratch_r, btAlignedObjectArray &scratch_v) const; + void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v) const; + // apply a delta-vee directly. used in sequential impulses code. void applyDeltaVee(const btScalar * delta_vee) { for (int i = 0; i < 6 + getNumLinks(); ++i) { - m_real_buf[i] += delta_vee[i]; + m_realBuf[i] += delta_vee[i]; } } @@ -300,12 +345,37 @@ public: for (int i = 0; i < 6 + getNumLinks(); ++i) { sum += delta_vee[i]*multiplier*delta_vee[i]*multiplier; - m_real_buf[i] += delta_vee[i] * multiplier; + m_realBuf[i] += delta_vee[i] * multiplier; + } + } + + void applyDeltaVeeMultiDof(const btScalar * delta_vee, btScalar multiplier) + { + //for (int dof = 0; dof < 6 + getNumDofs(); ++dof) + // printf("%.4f ", delta_vee[dof]*multiplier); + //printf("\n"); + + btScalar sum = 0; + for (int dof = 0; dof < 6 + getNumDofs(); ++dof) + { + sum += delta_vee[dof]*multiplier*delta_vee[dof]*multiplier; + } + btScalar l = btSqrt(sum); + + if (l>m_maxAppliedImpulse) + { + multiplier *= m_maxAppliedImpulse/l; + } + + for (int dof = 0; dof < 6 + getNumDofs(); ++dof) + { + m_realBuf[dof] += delta_vee[dof] * multiplier; } } // timestep the positions (given current velocities). void stepPositions(btScalar dt); + void stepPositionsMultiDof(btScalar dt); // @@ -323,23 +393,31 @@ public: btAlignedObjectArray &scratch_v, btAlignedObjectArray &scratch_m) const; + void fillContactJacobianMultiDof(int link, + const btVector3 &contact_point, + const btVector3 &normal, + btScalar *jac, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v, + btAlignedObjectArray &scratch_m) const; + // // sleeping // void setCanSleep(bool canSleep) { - can_sleep = canSleep; + m_canSleep = canSleep; } - bool isAwake() const { return awake; } + bool isAwake() const { return m_awake; } void wakeUp(); void goToSleep(); void checkMotionAndSleepIfRequired(btScalar timestep); bool hasFixedBase() const { - return fixed_base; + return m_fixedBase; } int getCompanionId() const @@ -352,9 +430,9 @@ public: m_companionId = id; } - void setNumLinks(int numLinks)//careful: when changing the number of links, make sure to re-initialize or update existing links + void setNumLinks(int numLinks)//careful: when changing the number of m_links, make sure to re-initialize or update existing m_links { - links.resize(numLinks); + m_links.resize(numLinks); } btScalar getLinearDamping() const @@ -369,6 +447,10 @@ public: { return m_angularDamping; } + void setAngularDamping( btScalar damp) + { + m_angularDamping = damp; + } bool getUseGyroTerm() const { @@ -396,6 +478,9 @@ public: return m_hasSelfCollision; } + bool isMultiDof() { return m_isMultiDof; } + void forceMultiDof(); + private: btMultiBody(const btMultiBody &); // not implemented void operator=(const btMultiBody &); // not implemented @@ -403,57 +488,64 @@ private: void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const; void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const; - +#ifdef TEST_SPATIAL_ALGEBRA_LAYER + void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const; +#endif + + void updateLinksDofOffsets() { int dofOffset = 0; for(int bidx = 0; bidx < m_links.size(); ++bidx) { m_links[bidx].m_dofOffset = dofOffset; dofOffset += m_links[bidx].m_dofCount; } } + + void mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const; private: btMultiBodyLinkCollider* m_baseCollider;//can be NULL - btVector3 base_pos; // position of COM of base (world frame) - btQuaternion base_quat; // rotates world points into base frame + btVector3 m_basePos; // position of COM of base (world frame) + btQuaternion m_baseQuat; // rotates world points into base frame - btScalar base_mass; // mass of the base - btVector3 base_inertia; // inertia of the base (in local frame; diagonal) + btScalar m_baseMass; // mass of the base + btVector3 m_baseInertia; // inertia of the base (in local frame; diagonal) - btVector3 base_force; // external force applied to base. World frame. - btVector3 base_torque; // external torque applied to base. World frame. + btVector3 m_baseForce; // external force applied to base. World frame. + btVector3 m_baseTorque; // external torque applied to base. World frame. - btAlignedObjectArray links; // array of links, excluding the base. index from 0 to num_links-1. + btAlignedObjectArray m_links; // array of m_links, excluding the base. index from 0 to num_links-1. btAlignedObjectArray m_colliders; + int m_dofCount; // - // real_buf: + // realBuf: // offset size array // 0 6 + num_links v (base_omega; base_vel; joint_vels) // 6+num_links num_links D // - // vector_buf: + // vectorBuf: // offset size array // 0 num_links h_top // num_links num_links h_bottom // - // matrix_buf: + // matrixBuf: // offset size array // 0 num_links+1 rot_from_parent // - btAlignedObjectArray m_real_buf; - btAlignedObjectArray vector_buf; - btAlignedObjectArray matrix_buf; + btAlignedObjectArray m_realBuf; + btAlignedObjectArray m_vectorBuf; + btAlignedObjectArray m_matrixBuf; //std::auto_ptr > > cached_imatrix_lu; - btMatrix3x3 cached_inertia_top_left; - btMatrix3x3 cached_inertia_top_right; - btMatrix3x3 cached_inertia_lower_left; - btMatrix3x3 cached_inertia_lower_right; + btMatrix3x3 m_cachedInertiaTopLeft; + btMatrix3x3 m_cachedInertiaTopRight; + btMatrix3x3 m_cachedInertiaLowerLeft; + btMatrix3x3 m_cachedInertiaLowerRight; - bool fixed_base; + bool m_fixedBase; // Sleep parameters. - bool awake; - bool can_sleep; - btScalar sleep_timer; + bool m_awake; + bool m_canSleep; + btScalar m_sleepTimer; int m_companionId; btScalar m_linearDamping; @@ -461,6 +553,7 @@ private: bool m_useGyroTerm; btScalar m_maxAppliedImpulse; bool m_hasSelfCollision; + bool m_isMultiDof; }; #endif diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index 8053ee770..1439755be 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -6,14 +6,31 @@ btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bod m_bodyB(bodyB), m_linkA(linkA), m_linkB(linkB), - m_num_rows(numRows), + m_numRows(numRows), m_isUnilateral(isUnilateral), - m_maxAppliedImpulse(100) + m_maxAppliedImpulse(100), + m_jacSizeA(0), + m_jacSizeBoth(0) { - m_jac_size_A = (6 + bodyA->getNumLinks()); - m_jac_size_both = (m_jac_size_A + (bodyB ? 6 + bodyB->getNumLinks() : 0)); - m_pos_offset = ((1 + m_jac_size_both)*m_num_rows); - m_data.resize((2 + m_jac_size_both) * m_num_rows); + + if(bodyA) + { + if(bodyA->isMultiDof()) + m_jacSizeA = (6 + bodyA->getNumDofs()); + else + m_jacSizeA = (6 + bodyA->getNumLinks()); + } + + if(bodyB) + { + if(bodyB->isMultiDof()) + m_jacSizeBoth = m_jacSizeA + 6 + bodyB->getNumDofs(); + else + m_jacSizeBoth = m_jacSizeA + 6 + bodyB->getNumLinks(); + } + + m_posOffset = ((1 + m_jacSizeBoth)*m_numRows); + m_data.resize((2 + m_jacSizeBoth) * m_numRows); } btMultiBodyConstraint::~btMultiBodyConstraint() @@ -42,15 +59,15 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS if (multiBodyA) { - const int ndofA = multiBodyA->getNumLinks() + 6; + const int ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6; //total dof count of tree A constraintRow.m_deltaVelAindex = multiBodyA->getCompanionId(); - if (constraintRow.m_deltaVelAindex <0) + if (constraintRow.m_deltaVelAindex <0) //if this multibody does not have a place allocated in m_deltaVelocities... { constraintRow.m_deltaVelAindex = data.m_deltaVelocities.size(); multiBodyA->setCompanionId(constraintRow.m_deltaVelAindex); - data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofA); + data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofA); //=> each constrained tree's dofs are represented in m_deltaVelocities } else { btAssert(data.m_deltaVelocities.size() >= constraintRow.m_deltaVelAindex+ndofA); @@ -58,18 +75,21 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS constraintRow.m_jacAindex = data.m_jacobians.size(); data.m_jacobians.resize(data.m_jacobians.size()+ndofA); - data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA); + data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA); //=> each constraint row has the constrained tree dofs allocated in m_deltaVelocitiesUnitImpulse btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size()); for (int i=0;icalcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacAindex],delta,data.scratch_r, data.scratch_v); + if(multiBodyA->isMultiDof()) + multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[constraintRow.m_jacAindex],delta,data.scratch_r, data.scratch_v); + else + multiBodyA->calcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacAindex],delta,data.scratch_r, data.scratch_v); } if (multiBodyB) { - const int ndofB = multiBodyB->getNumLinks() + 6; + const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6; constraintRow.m_deltaVelBindex = multiBodyB->getCompanionId(); if (constraintRow.m_deltaVelBindex <0) @@ -87,7 +107,10 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofB); btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size()); - multiBodyB->calcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex],data.scratch_r, data.scratch_v); + if(multiBodyB->isMultiDof()) + multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[constraintRow.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex],data.scratch_r, data.scratch_v); + else + multiBodyB->calcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex],data.scratch_r, data.scratch_v); } { @@ -101,7 +124,7 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS int ndofA = 0; if (multiBodyA) { - ndofA = multiBodyA->getNumLinks() + 6; + ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6; jacA = &data.m_jacobians[constraintRow.m_jacAindex]; lambdaA = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex]; for (int i = 0; i < ndofA; ++i) @@ -113,7 +136,7 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS } if (multiBodyB) { - const int ndofB = multiBodyB->getNumLinks() + 6; + const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6; jacB = &data.m_jacobians[constraintRow.m_jacBindex]; lambdaB = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex]; for (int i = 0; i < ndofB; ++i) @@ -161,14 +184,14 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS btVector3 vel1,vel2; if (multiBodyA) { - ndofA = multiBodyA->getNumLinks() + 6; + ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6; btScalar* jacA = &data.m_jacobians[constraintRow.m_jacAindex]; for (int i = 0; i < ndofA ; ++i) rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i]; } if (multiBodyB) { - ndofB = multiBodyB->getNumLinks() + 6; + ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6; btScalar* jacB = &data.m_jacobians[constraintRow.m_jacBindex]; for (int i = 0; i < ndofB ; ++i) rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i]; @@ -257,7 +280,7 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr if (multiBodyA) { - const int ndofA = multiBodyA->getNumLinks() + 6; + const int ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6; solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId(); @@ -277,9 +300,15 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size()); btScalar* jac1=&data.m_jacobians[solverConstraint.m_jacAindex]; - multiBodyA->fillContactJacobian(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m); + if(multiBodyA->isMultiDof()) + multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m); + else + multiBodyA->fillContactJacobian(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m); btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v); + if(multiBodyA->isMultiDof()) + multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v); + else + multiBodyA->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v); } else { btVector3 torqueAxis0 = rel_pos1.cross(contactNormalOnB); @@ -290,7 +319,7 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr if (multiBodyB) { - const int ndofB = multiBodyB->getNumLinks() + 6; + const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6; solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId(); if (solverConstraint.m_deltaVelBindex <0) @@ -306,8 +335,14 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofB); btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size()); - multiBodyB->fillContactJacobian(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m); - multiBodyB->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],data.scratch_r, data.scratch_v); + if(multiBodyB->isMultiDof()) + multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m); + else + multiBodyB->fillContactJacobian(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m); + if(multiBodyB->isMultiDof()) + multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],data.scratch_r, data.scratch_v); + else + multiBodyB->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],data.scratch_r, data.scratch_v); } else { btVector3 torqueAxis1 = rel_pos2.cross(contactNormalOnB); @@ -328,7 +363,7 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr int ndofA = 0; if (multiBodyA) { - ndofA = multiBodyA->getNumLinks() + 6; + ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6; jacA = &data.m_jacobians[solverConstraint.m_jacAindex]; lambdaA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; for (int i = 0; i < ndofA; ++i) @@ -347,7 +382,7 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr } if (multiBodyB) { - const int ndofB = multiBodyB->getNumLinks() + 6; + const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6; jacB = &data.m_jacobians[solverConstraint.m_jacBindex]; lambdaB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; for (int i = 0; i < ndofB; ++i) @@ -404,7 +439,7 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr btVector3 vel1,vel2; if (multiBodyA) { - ndofA = multiBodyA->getNumLinks() + 6; + ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6; btScalar* jacA = &data.m_jacobians[solverConstraint.m_jacAindex]; for (int i = 0; i < ndofA ; ++i) rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i]; @@ -417,7 +452,7 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr } if (multiBodyB) { - ndofB = multiBodyB->getNumLinks() + 6; + ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6; btScalar* jacB = &data.m_jacobians[solverConstraint.m_jacBindex]; for (int i = 0; i < ndofB ; ++i) rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i]; @@ -493,15 +528,20 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr erp = infoGlobal.m_erp; } - if (penetration>0) - { - positionalError = 0; - velocityError = -penetration / infoGlobal.m_timeStep; + //commented out on purpose, see below + //if (penetration>0) + //{ + // positionalError = 0; + // velocityError = -penetration / infoGlobal.m_timeStep; - } else - { - positionalError = -penetration * erp/infoGlobal.m_timeStep; - } + //} else + //{ + // positionalError = -penetration * erp/infoGlobal.m_timeStep; + //} + + //we cannot assume negative penetration to be the actual penetration and positive - speculative constraint (like for normal contact constraints) + //both are valid in general and definitely so in the case of a point2Point constraint + positionalError = -penetration * erp/infoGlobal.m_timeStep; btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h index 97f5486d6..12b5a33f2 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h @@ -28,8 +28,8 @@ struct btSolverInfo; struct btMultiBodyJacobianData { btAlignedObjectArray m_jacobians; - btAlignedObjectArray m_deltaVelocitiesUnitImpulse; - btAlignedObjectArray m_deltaVelocities; + btAlignedObjectArray m_deltaVelocitiesUnitImpulse; //holds the joint-space response of the corresp. tree to the test impulse in each constraint space dimension + btAlignedObjectArray m_deltaVelocities; //holds joint-space vectors of all the constrained trees accumulating the effect of corrective impulses applied in SI btAlignedObjectArray scratch_r; btAlignedObjectArray scratch_v; btAlignedObjectArray scratch_m; @@ -48,10 +48,10 @@ protected: int m_linkA; int m_linkB; - int m_num_rows; - int m_jac_size_A; - int m_jac_size_both; - int m_pos_offset; + int m_numRows; + int m_jacSizeA; + int m_jacSizeBoth; + int m_posOffset; bool m_isUnilateral; @@ -99,7 +99,7 @@ public: int getNumRows() const { - return m_num_rows; + return m_numRows; } btMultiBody* getMultiBodyA() @@ -116,12 +116,12 @@ public: // NOTE: ignored position for friction rows. btScalar getPosition(int row) const { - return m_data[m_pos_offset + row]; + return m_data[m_posOffset + row]; } void setPosition(int row, btScalar pos) { - m_data[m_pos_offset + row] = pos; + m_data[m_posOffset + row] = pos; } @@ -135,19 +135,19 @@ public: // format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients. btScalar* jacobianA(int row) { - return &m_data[m_num_rows + row * m_jac_size_both]; + return &m_data[m_numRows + row * m_jacSizeBoth]; } const btScalar* jacobianA(int row) const { - return &m_data[m_num_rows + (row * m_jac_size_both)]; + return &m_data[m_numRows + (row * m_jacSizeBoth)]; } btScalar* jacobianB(int row) { - return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A]; + return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA]; } const btScalar* jacobianB(int row) const { - return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A]; + return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA]; } btScalar getMaxAppliedImpulse() const diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 2a5dc815c..7826abd41 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -108,10 +108,10 @@ void btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMult if (c.m_multiBodyA) { - ndofA = c.m_multiBodyA->getNumLinks() + 6; + ndofA = (c.m_multiBodyA->isMultiDof() ? c.m_multiBodyA->getNumDofs() : c.m_multiBodyA->getNumLinks()) + 6; for (int i = 0; i < ndofA; ++i) deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i]; - } else + } else if(c.m_solverBodyIdA >= 0) { bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA]; deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); @@ -119,10 +119,10 @@ void btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMult if (c.m_multiBodyB) { - ndofB = c.m_multiBodyB->getNumLinks() + 6; + ndofB = (c.m_multiBodyB->isMultiDof() ? c.m_multiBodyB->getNumDofs() : c.m_multiBodyB->getNumLinks()) + 6; for (int i = 0; i < ndofB; ++i) deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i]; - } else + } else if(c.m_solverBodyIdB >= 0) { bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB]; deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); @@ -151,8 +151,11 @@ void btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMult if (c.m_multiBodyA) { applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA); - c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse); - } else + if(c.m_multiBodyA->isMultiDof()) + c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse); + else + c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse); + } else if(c.m_solverBodyIdA >= 0) { bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse); @@ -160,8 +163,11 @@ void btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMult if (c.m_multiBodyB) { applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB); - c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse); - } else + if(c.m_multiBodyB->isMultiDof()) + c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse); + else + c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse); + } else if(c.m_solverBodyIdB >= 0) { bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse); } @@ -180,14 +186,14 @@ void btMultiBodyConstraintSolver::resolveSingleConstraintRowGenericMultiBody(con if (c.m_multiBodyA) { - ndofA = c.m_multiBodyA->getNumLinks() + 6; + ndofA = (c.m_multiBodyA->isMultiDof() ? c.m_multiBodyA->getNumDofs() : c.m_multiBodyA->getNumLinks()) + 6; for (int i = 0; i < ndofA; ++i) deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i]; } if (c.m_multiBodyB) { - ndofB = c.m_multiBodyB->getNumLinks() + 6; + ndofB = (c.m_multiBodyB->isMultiDof() ? c.m_multiBodyB->getNumDofs() : c.m_multiBodyB->getNumLinks()) + 6; for (int i = 0; i < ndofB; ++i) deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i]; } @@ -257,7 +263,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol if (multiBodyA) { - const int ndofA = multiBodyA->getNumLinks() + 6; + const int ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6; solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId(); @@ -277,9 +283,15 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size()); btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex]; - multiBodyA->fillContactJacobian(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); + if(multiBodyA->isMultiDof()) + multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); + else + multiBodyA->fillContactJacobian(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v); + if(multiBodyA->isMultiDof()) + multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v); + else + multiBodyA->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v); } else { btVector3 torqueAxis0 = rel_pos1.cross(contactNormal); @@ -290,7 +302,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol if (multiBodyB) { - const int ndofB = multiBodyB->getNumLinks() + 6; + const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6; solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId(); if (solverConstraint.m_deltaVelBindex <0) @@ -306,8 +318,14 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofB); btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size()); - multiBodyB->fillContactJacobian(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); - multiBodyB->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v); + if(multiBodyB->isMultiDof()) + multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); + else + multiBodyB->fillContactJacobian(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); + if(multiBodyB->isMultiDof()) + multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v); + else + multiBodyB->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v); } else { btVector3 torqueAxis1 = rel_pos2.cross(contactNormal); @@ -328,7 +346,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol int ndofA = 0; if (multiBodyA) { - ndofA = multiBodyA->getNumLinks() + 6; + ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6; jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex]; lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; for (int i = 0; i < ndofA; ++i) @@ -347,7 +365,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol } if (multiBodyB) { - const int ndofB = multiBodyB->getNumLinks() + 6; + const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6; jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex]; lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; for (int i = 0; i < ndofB; ++i) @@ -404,7 +422,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol btVector3 vel1,vel2; if (multiBodyA) { - ndofA = multiBodyA->getNumLinks() + 6; + ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6; btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex]; for (int i = 0; i < ndofA ; ++i) rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i]; @@ -417,7 +435,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol } if (multiBodyB) { - ndofB = multiBodyB->getNumLinks() + 6; + ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6; btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex]; for (int i = 0; i < ndofB ; ++i) rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i]; @@ -452,7 +470,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol { btScalar impulse = solverConstraint.m_appliedImpulse; btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVee(deltaV,impulse); + if(multiBodyA->isMultiDof()) + multiBodyA->applyDeltaVeeMultiDof(deltaV,impulse); + else + multiBodyA->applyDeltaVee(deltaV,impulse); applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA); } else { @@ -463,7 +484,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol { btScalar impulse = solverConstraint.m_appliedImpulse; btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVee(deltaV,impulse); + if(multiBodyB->isMultiDof()) + multiBodyB->applyDeltaVeeMultiDof(deltaV,impulse); + else + multiBodyB->applyDeltaVee(deltaV,impulse); applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB); } else { diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 5cf197997..bdcd8c5f6 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -451,7 +451,8 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) if (!isSleeping) { - scratch_r.resize(bod->getNumLinks()+1); + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + scratch_r.resize(bod->getNumLinks()+1); //multidof? ("Y"s use it and it is used to store qdd) scratch_v.resize(bod->getNumLinks()+1); scratch_m.resize(bod->getNumLinks()+1); @@ -463,7 +464,10 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); } - bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m); + if(bod->isMultiDof()) + bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m); + else + bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m); } } } @@ -503,13 +507,14 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { int nLinks = bod->getNumLinks(); - ///base + num links + ///base + num m_links world_to_local.resize(nLinks+1); local_origin.resize(nLinks+1); - bod->stepPositions(timeStep); - - + if(bod->isMultiDof()) + bod->stepPositionsMultiDof(timeStep); + else + bod->stepPositions(timeStep); world_to_local[0] = bod->getWorldToBaseRot(); local_origin[0] = bod->getBasePos(); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp index 5eb40f14b..21baf3d0e 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp @@ -22,6 +22,7 @@ subject to the following restrictions: btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper) + //:btMultiBodyConstraint(body,0,link,-1,2,true), :btMultiBodyConstraint(body,body,link,link,2,true), m_lowerBound(lower), m_upperBound(upper) @@ -32,11 +33,14 @@ btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint(btMultiBody* bo // note: we rely on the fact that data.m_jacobians are // always initialized to zero by the Constraint ctor - // row 0: the lower bound - jacobianA(0)[6 + link] = 1; + unsigned int offset = 6 + (body->isMultiDof() ? body->getLink(link).m_dofOffset : link); - // row 1: the upper bound - jacobianB(1)[6 + link] = -1; + // row 0: the lower bound + jacobianA(0)[offset] = 1; + // row 1: the upper bound + //jacobianA(1)[offset] = -1; + + jacobianB(1)[offset] = -1; } btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint() { @@ -44,28 +48,34 @@ btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint() int btMultiBodyJointLimitConstraint::getIslandIdA() const { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;igetNumLinks();i++) + if(m_bodyA) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + for (int i=0;igetNumLinks();i++) + { + if (m_bodyA->getLink(i).m_collider) + return m_bodyA->getLink(i).m_collider->getIslandTag(); + } } return -1; } int btMultiBodyJointLimitConstraint::getIslandIdB() const { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;igetNumLinks();i++) + if(m_bodyB) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); + + for (int i=0;igetNumLinks();i++) + { + col = m_bodyB->getLink(i).m_collider; + if (col) + return col->getIslandTag(); + } } return -1; } @@ -79,7 +89,7 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint // directions were set in the ctor and never change. // row 0: the lower bound - setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound); + setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound); //multidof: this is joint-type dependent // row 1: the upper bound setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA)); @@ -90,7 +100,7 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint constraintRow.m_multiBodyA = m_bodyA; constraintRow.m_multiBodyB = m_bodyB; - btScalar rel_vel = fillConstraintRowMultiBodyMultiBody(constraintRow,data,jacobianA(row),jacobianB(row),infoGlobal,0,-m_maxAppliedImpulse,m_maxAppliedImpulse); + btScalar rel_vel = fillConstraintRowMultiBodyMultiBody(constraintRow,data,jacobianA(row),jacobianB(row),infoGlobal,0,0,m_maxAppliedImpulse); { btScalar penetration = getPosition(row); btScalar positionalError = 0.f; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index c20663ff4..f612aa025 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -22,6 +22,7 @@ subject to the following restrictions: btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse) + //:btMultiBodyConstraint(body,0,link,-1,1,true), :btMultiBodyConstraint(body,body,link,link,1,true), m_desiredVelocity(desiredVelocity) { @@ -32,8 +33,11 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScal // note: we rely on the fact that data.m_jacobians are // always initialized to zero by the Constraint ctor - // row 0: the lower bound - jacobianA(0)[6 + link] = 1; + unsigned int offset = 6 + (body->isMultiDof() ? body->getLink(link).m_dofOffset : link); + + // row 0: the lower bound + // row 0: the lower bound + jacobianA(0)[offset] = 1; } btMultiBodyJointMotor::~btMultiBodyJointMotor() { diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h index eaaf87d72..d89942747 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -24,6 +24,303 @@ enum btMultiBodyLinkFlags { BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1 }; + +//#define BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS +#define TEST_SPATIAL_ALGEBRA_LAYER + +// +// Various spatial helper functions +// + +namespace { + +#ifdef TEST_SPATIAL_ALGEBRA_LAYER + + struct btSpatialForceVector + { + btVector3 m_topVec, m_bottomVec; + // + btSpatialForceVector() { setZero(); } + btSpatialForceVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(linear), m_bottomVec(angular) {} + btSpatialForceVector(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + setValue(ax, ay, az, lx, ly, lz); + } + // + void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = linear; m_bottomVec = angular; } + void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_bottomVec.setValue(ax, ay, az); m_topVec.setValue(lx, ly, lz); + } + // + void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; } + void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_bottomVec[0] += ax; m_bottomVec[1] += ay; m_bottomVec[2] += az; + m_topVec[0] += lx; m_topVec[1] += ly; m_topVec[2] += lz; + } + // + const btVector3 & getLinear() const { return m_topVec; } + const btVector3 & getAngular() const { return m_bottomVec; } + // + void setLinear(const btVector3 &linear) { m_topVec = linear; } + void setAngular(const btVector3 &angular) { m_bottomVec = angular; } + // + void addAngular(const btVector3 &angular) { m_bottomVec += angular; } + void addLinear(const btVector3 &linear) { m_topVec += linear; } + // + void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); } + // + btSpatialForceVector & operator += (const btSpatialForceVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; } + btSpatialForceVector & operator -= (const btSpatialForceVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; } + btSpatialForceVector operator - (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec - vec.m_bottomVec, m_topVec - vec.m_topVec); } + btSpatialForceVector operator + (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec + vec.m_bottomVec, m_topVec + vec.m_topVec); } + btSpatialForceVector operator - () const { return btSpatialForceVector(-m_bottomVec, -m_topVec); } + btSpatialForceVector operator * (const btScalar &s) const { return btSpatialForceVector(s * m_bottomVec, s * m_topVec); } + //btSpatialForceVector & operator = (const btSpatialForceVector &vec) { m_topVec = vec.m_topVec; m_bottomVec = vec.m_bottomVec; return *this; } + }; + + struct btSpatialMotionVector + { + btVector3 m_topVec, m_bottomVec; + // + btSpatialMotionVector() { setZero(); } + btSpatialMotionVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(angular), m_bottomVec(linear) {} + // + void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = angular; m_bottomVec = linear; } + void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_topVec.setValue(ax, ay, az); m_bottomVec.setValue(lx, ly, lz); + } + // + void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; } + void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_topVec[0] += ax; m_topVec[1] += ay; m_topVec[2] += az; + m_bottomVec[0] += lx; m_bottomVec[1] += ly; m_bottomVec[2] += lz; + } + // + const btVector3 & getAngular() const { return m_topVec; } + const btVector3 & getLinear() const { return m_bottomVec; } + // + void setAngular(const btVector3 &angular) { m_topVec = angular; } + void setLinear(const btVector3 &linear) { m_bottomVec = linear; } + // + void addAngular(const btVector3 &angular) { m_topVec += angular; } + void addLinear(const btVector3 &linear) { m_bottomVec += linear; } + // + void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); } + // + btScalar dot(const btSpatialForceVector &b) const + { + return m_bottomVec.dot(b.m_topVec) + m_topVec.dot(b.m_bottomVec); + } + // + template + void cross(const SpatialVectorType &b, SpatialVectorType &out) const + { + out.m_topVec = m_topVec.cross(b.m_topVec); + out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec); + } + template + SpatialVectorType cross(const SpatialVectorType &b) const + { + SpatialVectorType out; + out.m_topVec = m_topVec.cross(b.m_topVec); + out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec); + return out; + } + // + btSpatialMotionVector & operator += (const btSpatialMotionVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; } + btSpatialMotionVector & operator -= (const btSpatialMotionVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; } + btSpatialMotionVector operator - (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec - vec.m_topVec, m_bottomVec - vec.m_bottomVec); } + btSpatialMotionVector operator + (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec + vec.m_topVec, m_bottomVec + vec.m_bottomVec); } + btSpatialMotionVector operator - () const { return btSpatialMotionVector(-m_topVec, -m_bottomVec); } + btSpatialMotionVector operator * (const btScalar &s) const { return btSpatialMotionVector(s * m_topVec, s * m_bottomVec); } + }; + + struct btSymmetricSpatialDyad + { + btMatrix3x3 m_topLeftMat, m_topRightMat, m_bottomLeftMat; + // + btSymmetricSpatialDyad() { setIdentity(); } + btSymmetricSpatialDyad(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) { setMatrix(topLeftMat, topRightMat, bottomLeftMat); } + // + void setMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) + { + m_topLeftMat = topLeftMat; + m_topRightMat = topRightMat; + m_bottomLeftMat = bottomLeftMat; + } + // + void addMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) + { + m_topLeftMat += topLeftMat; + m_topRightMat += topRightMat; + m_bottomLeftMat += bottomLeftMat; + } + // + void setIdentity() { m_topLeftMat.setIdentity(); m_topRightMat.setIdentity(); m_bottomLeftMat.setIdentity(); } + // + btSymmetricSpatialDyad & operator -= (const btSymmetricSpatialDyad &mat) + { + m_topLeftMat -= mat.m_topLeftMat; + m_topRightMat -= mat.m_topRightMat; + m_bottomLeftMat -= mat.m_bottomLeftMat; + return *this; + } + // + btSpatialForceVector operator * (const btSpatialMotionVector &vec) + { + return btSpatialForceVector(m_bottomLeftMat * vec.m_topVec + m_topLeftMat.transpose() * vec.m_bottomVec, m_topLeftMat * vec.m_topVec + m_topRightMat * vec.m_bottomVec); + } + }; + + struct btSpatialTransformationMatrix + { + btMatrix3x3 m_rotMat; //btMatrix3x3 m_trnCrossMat; + btVector3 m_trnVec; + // + enum eOutputOperation + { + None = 0, + Add = 1, + Subtract = 2 + }; + // + template + void transform( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat * inVec.m_topVec; + outVec.m_bottomVec = -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat * inVec.m_topVec; + outVec.m_bottomVec += -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat * inVec.m_topVec; + outVec.m_bottomVec -= -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec; + } + + } + + template + void transformRotationOnly( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat * inVec.m_topVec; + outVec.m_bottomVec = m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat * inVec.m_topVec; + outVec.m_bottomVec += m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat * inVec.m_topVec; + outVec.m_bottomVec -= m_rotMat * inVec.m_bottomVec; + } + + } + + template + void transformInverse( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec = m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec)); + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec += m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec)); + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec -= m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec)); + } + } + + void transformInverse( const btSymmetricSpatialDyad &inMat, + btSymmetricSpatialDyad &outMat, + eOutputOperation outOp = None) + { + const btMatrix3x3 r_cross( 0, -m_trnVec[2], m_trnVec[1], + m_trnVec[2], 0, -m_trnVec[0], + -m_trnVec[1], m_trnVec[0], 0); + + + if(outOp == None) + { + outMat.m_topLeftMat = m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat; + outMat.m_topRightMat = m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat; + outMat.m_bottomLeftMat = m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat; + } + else if(outOp == Add) + { + outMat.m_topLeftMat += m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat; + outMat.m_topRightMat += m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat; + outMat.m_bottomLeftMat += m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat; + } + else if(outOp == Subtract) + { + outMat.m_topLeftMat -= m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat; + outMat.m_topRightMat -= m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat; + outMat.m_bottomLeftMat -= m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat; + } + } + + template + SpatialVectorType operator * (const SpatialVectorType &vec) + { + SpatialVectorType out; + transform(vec, out); + return out; + } + }; + + template + void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b, btSymmetricSpatialDyad &out) + { + //output op maybe? + + out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec); + out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec); + out.m_topLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec); + //maybe simple a*spatTranspose(a) would be nicer? + } + + template + btSymmetricSpatialDyad symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b) + { + btSymmetricSpatialDyad out; + + out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec); + out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec); + out.m_bottomLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec); + + return out; + //maybe simple a*spatTranspose(a) would be nicer? + } + +#endif +} + // // Link struct // @@ -33,75 +330,155 @@ struct btMultibodyLink BT_DECLARE_ALIGNED_ALLOCATOR(); - btScalar joint_pos; // qi + btScalar m_mass; // mass of link + btVector3 m_inertia; // inertia of link (local frame; diagonal) - btScalar mass; // mass of link - btVector3 inertia; // inertia of link (local frame; diagonal) + int m_parent; // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link. - int parent; // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link. + btQuaternion m_zeroRotParentToThis; // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant. - btQuaternion zero_rot_parent_to_this; // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant. + btVector3 m_dVector; // vector from the inboard joint pos to this link's COM. (local frame.) constant. set for revolute joints only. - // "axis" = spatial joint axis (Mirtich Defn 9 p104). (expressed in local frame.) constant. - // for prismatic: axis_top = zero; - // axis_bottom = unit vector along the joint axis. - // for revolute: axis_top = unit vector along the rotation axis (u); - // axis_bottom = u cross d_vector. - btVector3 axis_top; - btVector3 axis_bottom; - - btVector3 d_vector; // vector from the inboard joint pos to this link's COM. (local frame.) constant. set for revolute joints only. - - // e_vector is constant, but depends on the joint type + // m_eVector is constant, but depends on the joint type // prismatic: vector from COM of parent to COM of this link, WHEN Q = 0. (local frame.) // revolute: vector from parent's COM to the pivot point, in PARENT's frame. - btVector3 e_vector; + btVector3 m_eVector; - bool is_revolute; // true = revolute, false = prismatic + enum eFeatherstoneJointType + { + eRevolute = 0, + ePrismatic = 1, + eSpherical = 2, +#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS + ePlanar = 3, +#endif + eInvalid + }; - btQuaternion cached_rot_parent_to_this; // rotates vectors in parent frame to vectors in local frame - btVector3 cached_r_vector; // vector from COM of parent to COM of this link, in local frame. + eFeatherstoneJointType m_jointType; + int m_dofCount, m_posVarCount; //redundant but handy - btVector3 applied_force; // In WORLD frame - btVector3 applied_torque; // In WORLD frame - btScalar joint_torque; + // "axis" = spatial joint axis (Mirtich Defn 9 p104). (expressed in local frame.) constant. + // for prismatic: m_axesTop[0] = zero; + // m_axesBottom[0] = unit vector along the joint axis. + // for revolute: m_axesTop[0] = unit vector along the rotation axis (u); + // m_axesBottom[0] = u cross m_dVector (i.e. COM linear motion due to the rotation at the joint) + // + // for spherical: m_axesTop[0][1][2] (u1,u2,u3) form a 3x3 identity matrix (3 rotation axes) + // m_axesBottom[0][1][2] cross u1,u2,u3 (i.e. COM linear motion due to the rotation at the joint) + // + // for planar: m_axesTop[0] = unit vector along the rotation axis (u); defines the plane of motion + // m_axesTop[1][2] = zero + // m_axesBottom[0] = zero + // m_axesBottom[1][2] = unit vectors along the translational axes on that plane +#ifndef TEST_SPATIAL_ALGEBRA_LAYER + btVector3 m_axesTop[6]; + btVector3 m_axesBottom[6]; + void setAxisTop(int dof, const btVector3 &axis) { m_axesTop[dof] = axis; } + void setAxisBottom(int dof, const btVector3 &axis) { m_axesBottom[dof] = axis; } + void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axesTop[dof].setValue(x, y, z); } + void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axesBottom[dof].setValue(x, y, z); } + const btVector3 & getAxisTop(int dof) const { return m_axesTop[dof]; } + const btVector3 & getAxisBottom(int dof) const { return m_axesBottom[dof]; } +#else + btSpatialMotionVector m_axes[6]; + void setAxisTop(int dof, const btVector3 &axis) { m_axes[dof].m_topVec = axis; } + void setAxisBottom(int dof, const btVector3 &axis) { m_axes[dof].m_bottomVec = axis; } + void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axes[dof].m_topVec.setValue(x, y, z); } + void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axes[dof].m_bottomVec.setValue(x, y, z); } + const btVector3 & getAxisTop(int dof) const { return m_axes[dof].m_topVec; } + const btVector3 & getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; } +#endif + + int m_dofOffset; + + btQuaternion m_cachedRotParentToThis; // rotates vectors in parent frame to vectors in local frame + btVector3 m_cachedRVector; // vector from COM of parent to COM of this link, in local frame. + + btVector3 m_appliedForce; // In WORLD frame + btVector3 m_appliedTorque; // In WORLD frame + + btScalar m_jointPos[7]; + btScalar m_jointTorque[6]; //TODO class btMultiBodyLinkCollider* m_collider; int m_flags; // ctor: set some sensible defaults btMultibodyLink() - : joint_pos(0), - mass(1), - parent(-1), - zero_rot_parent_to_this(1, 0, 0, 0), - is_revolute(false), - cached_rot_parent_to_this(1, 0, 0, 0), - joint_torque(0), + : m_mass(1), + m_parent(-1), + m_zeroRotParentToThis(1, 0, 0, 0), + m_cachedRotParentToThis(1, 0, 0, 0), m_collider(0), - m_flags(0) + m_flags(0), + m_dofCount(0), + m_posVarCount(0), + m_jointType(btMultibodyLink::eInvalid) { - inertia.setValue(1, 1, 1); - axis_top.setValue(0, 0, 0); - axis_bottom.setValue(1, 0, 0); - d_vector.setValue(0, 0, 0); - e_vector.setValue(0, 0, 0); - cached_r_vector.setValue(0, 0, 0); - applied_force.setValue( 0, 0, 0); - applied_torque.setValue(0, 0, 0); + m_inertia.setValue(1, 1, 1); + setAxisTop(0, 0., 0., 0.); + setAxisBottom(0, 1., 0., 0.); + m_dVector.setValue(0, 0, 0); + m_eVector.setValue(0, 0, 0); + m_cachedRVector.setValue(0, 0, 0); + m_appliedForce.setValue( 0, 0, 0); + m_appliedTorque.setValue(0, 0, 0); + // + 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; } - // routine to update cached_rot_parent_to_this and cached_r_vector + // routine to update m_cachedRotParentToThis and m_cachedRVector void updateCache() { - if (is_revolute) + //multidof + if (m_jointType == eRevolute) { - cached_rot_parent_to_this = btQuaternion(axis_top,-joint_pos) * zero_rot_parent_to_this; - cached_r_vector = d_vector + quatRotate(cached_rot_parent_to_this,e_vector); + m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-m_jointPos[0]) * m_zeroRotParentToThis; + m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector); } else { - // cached_rot_parent_to_this never changes, so no need to update - cached_r_vector = e_vector + joint_pos * axis_bottom; + // m_cachedRotParentToThis never changes, so no need to update + m_cachedRVector = m_eVector + m_jointPos[0] * getAxisBottom(0); + } + } + + void updateCacheMultiDof() + { + switch(m_jointType) + { + case eRevolute: + { + m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-m_jointPos[0]) * m_zeroRotParentToThis; + m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector); + + break; + } + case ePrismatic: + { + // m_cachedRotParentToThis never changes, so no need to update + m_cachedRVector = m_eVector + m_jointPos[0] * getAxisBottom(0); + + break; + } + case eSpherical: + { + m_cachedRotParentToThis = btQuaternion(m_jointPos[0], m_jointPos[1], m_jointPos[2], -m_jointPos[3]) * m_zeroRotParentToThis; + m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector); + + break; + } +#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS + case ePlanar: + { + m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-m_jointPos[0]) * m_zeroRotParentToThis; + m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0),-m_jointPos[0]), m_jointPos[1] * m_axesBottom[1] + m_jointPos[2] * m_axesBottom[2]) + quatRotate(m_cachedRotParentToThis,m_eVector); + + break; + } +#endif } } }; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h index 3cc27a07a..f5622e062 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h @@ -74,14 +74,14 @@ public: if (m_link>=0) { const btMultibodyLink& link = m_multiBody->getLink(this->m_link); - if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.parent == other->m_link) + if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.m_parent == other->m_link) return false; } if (other->m_link>=0) { const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link); - if ((otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && otherLink.parent == this->m_link) + if ((otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && otherLink.m_parent == this->m_link) return false; } return true; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp index a16455bfb..029f33449 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp @@ -20,7 +20,7 @@ subject to the following restrictions: #include "BulletDynamics/Dynamics/btRigidBody.h" btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB) - :btMultiBodyConstraint(body,0,link,-1,3,false), + :btMultiBodyConstraint(body,0,link,-1,3,false), m_rigidBodyA(0), m_rigidBodyB(bodyB), m_pivotInA(pivotInA), diff --git a/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h index 15d089956..f48935d74 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h +++ b/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h @@ -28,6 +28,8 @@ ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint { BT_DECLARE_ALIGNED_ALLOCATOR(); + btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_solverBodyIdB(-1), m_multiBodyA(0), m_multiBodyB(0), m_linkA(-1), m_linkB(-1) + {} int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1 btVector3 m_relpos1CrossNormal;