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minor naming chamge

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This commit is contained in:
kubas
2014-01-09 01:02:11 +01:00
parent 66fdc1704b
commit c0530d31ec
1 changed files with 21 additions and 19 deletions
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38
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -2602,7 +2602,7 @@ void btMultiBody::fillContactJacobianMultiDof(int link,
scratch_m.resize(num_links + 1); scratch_m.resize(num_links + 1);
btVector3 * v_ptr = &scratch_v[0]; btVector3 * v_ptr = &scratch_v[0];
btVector3 * p_minus_com = v_ptr; v_ptr += num_links + 1; btVector3 * p_minus_com_local = v_ptr; v_ptr += num_links + 1;
btVector3 * n_local = 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()); btAssert(v_ptr - &scratch_v[0] == scratch_v.size());
@@ -2612,22 +2612,24 @@ void btMultiBody::fillContactJacobianMultiDof(int link,
btMatrix3x3 * rot_from_world = &scratch_m[0]; btMatrix3x3 * rot_from_world = &scratch_m[0];
const btVector3 p_minus_com_world = contact_point - m_basePos; const btVector3 p_minus_com_world = contact_point - m_basePos;
const btVector3 &normal_world = normal; //convenience
rot_from_world[0] = btMatrix3x3(m_baseQuat); 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. // omega coeffients first.
btVector3 omega_coeffs; btVector3 omega_coeffs_world;
omega_coeffs = p_minus_com_world.cross(normal); omega_coeffs_world = p_minus_com_world.cross(normal_world);
jac[0] = omega_coeffs[0]; jac[0] = omega_coeffs_world[0];
jac[1] = omega_coeffs[1]; jac[1] = omega_coeffs_world[1];
jac[2] = omega_coeffs[2]; jac[2] = omega_coeffs_world[2];
// then v coefficients // then v coefficients
jac[3] = normal[0]; jac[3] = normal_world[0];
jac[4] = normal[1]; jac[4] = normal_world[1];
jac[5] = normal[2]; jac[5] = normal_world[2];
//create link-local versions of p_minus_com and normal
p_minus_com_local[0] = rot_from_world[0] * p_minus_com_world;
n_local[0] = rot_from_world[0] * normal_world;
// Set remaining jac values to zero for now. // Set remaining jac values to zero for now.
for (int i = 6; i < 6 + m_dofCount; ++i) for (int i = 6; i < 6 + m_dofCount; ++i)
@@ -2651,14 +2653,14 @@ void btMultiBody::fillContactJacobianMultiDof(int link,
rot_from_world[i+1] = mtx * rot_from_world[parent+1]; rot_from_world[i+1] = mtx * rot_from_world[parent+1];
n_local[i+1] = mtx * n_local[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; p_minus_com_local[i+1] = mtx * p_minus_com_local[parent+1] - m_links[i].m_cachedRVector;
// calculate the jacobian entry // calculate the jacobian entry
switch(m_links[i].m_jointType) switch(m_links[i].m_jointType)
{ {
case btMultibodyLink::eRevolute: 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)); results[m_links[i].m_dofOffset] = n_local[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(0));
break; break;
} }
case btMultibodyLink::ePrismatic: case btMultibodyLink::ePrismatic:
@@ -2668,16 +2670,16 @@ void btMultiBody::fillContactJacobianMultiDof(int link,
} }
case btMultibodyLink::eSpherical: 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 + 0] = n_local[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[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 + 1] = n_local[i+1].dot(m_links[i].getAxisTop(1).cross(p_minus_com_local[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)); results[m_links[i].m_dofOffset + 2] = n_local[i+1].dot(m_links[i].getAxisTop(2).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(2));
break; break;
} }
#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS #ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS
case btMultibodyLink::ePlanar: 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 + 0] = n_local[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[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 + 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)); results[m_links[i].m_dofOffset + 2] = n_local[i+1].dot(m_links[i].getAxisBottom(2));