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multidof4 patch

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This commit is contained in:
kubas
2014-01-09 00:26:24 +01:00
parent 75b8f7230d
commit 96ff69276f
12 changed files with 2661 additions and 428 deletions
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46
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
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@@ -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;i<m_bodyA->getNumLinks();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;i<m_bodyA->getNumLinks();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;i<m_bodyB->getNumLinks();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;i<m_bodyB->getNumLinks();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;