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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2016-08-17 10:24:12 -07:00
parent 463f3e59c8 0aef7afbbd
commit dce73f48ae
21 changed files with 781 additions and 343 deletions
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35
data/cube_small.sdf Normal file
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@@ -0,0 +1,35 @@
<sdf version='1.6'>
<world name='default'>
<model name='unit_box_0'>
<pose frame=''>0 0 0.107 0 0 0</pose>
<link name='unit_box_0::link'>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>1.0</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.0</iyy>
<iyz>0</iyz>
<izz>1.0</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>0.05 0.05 0.05</scale>
<uri>cube.obj</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</world>
</sdf>

15
examples/MultiBody/MultiDofDemo.cpp
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@@ -10,6 +10,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
#include "../OpenGLWindow/GLInstancingRenderer.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
@@ -135,6 +136,7 @@ void MultiDofDemo::initPhysics()
bool multibodyOnly = false;
bool canSleep = true;
bool selfCollide = false;
bool multibodyConstraint = true;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
@@ -236,7 +238,18 @@ void MultiDofDemo::initPhysics()
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
if (multibodyConstraint) {
btVector3 pointInA = -linkHalfExtents;
btVector3 pointInB = halfExtents;
btMatrix3x3 frameInA;
btMatrix3x3 frameInB;
frameInA.setIdentity();
frameInB.setIdentity();
btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC,numLinks-1,body,pointInA,pointInB,frameInA,frameInB);
//btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC,numLinks-1,mbC,numLinks-4,pointInA,pointInA,frameInA,frameInB);
p2p->setMaxAppliedImpulse(2.0);
m_dynamicsWorld->addMultiBodyConstraint(p2p);
}
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);

4
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -82,11 +82,11 @@ public:
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf";
args.m_fileType = B3_SDF_FILE;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
@@ -135,6 +135,7 @@ public:
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0,0,.107);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = false;
m_robotSim.loadFile(args,results);
}
if (1)
@@ -144,6 +145,7 @@ public:
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_forceOverrideFixedBase = true;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);

7
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -211,7 +211,10 @@ public:
return m_cs;
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
{
createCollisionObjectGraphicsObject((btCollisionObject*)body, color);
}
btCollisionObject* m_obj;
btVector3 m_color2;
@@ -685,6 +688,7 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
{
b3LoadUrdfCommandSetUseFixedBase(command,true);
}
b3LoadUrdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);
@@ -699,6 +703,7 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(m_data->m_physicsClient, args.m_fileName.c_str());
b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType == CMD_SDF_LOADING_COMPLETED);

1
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -23,6 +23,7 @@ struct b3RobotSimLoadFileArgs
b3Vector3 m_startPosition;
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_fileType;

23
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -55,6 +55,27 @@ b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClie
return (b3SharedMemoryCommandHandle) command;
}
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
command->m_updateFlags |=URDF_ARGS_USE_MULTIBODY;
command->m_urdfArguments.m_useMultiBody = useMultiBody;
return 0;
}
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_SDF);
command->m_updateFlags |=URDF_ARGS_USE_MULTIBODY;
command->m_sdfArguments.m_useMultiBody = useMultiBody;
return 0;
}
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
{
@@ -67,8 +88,6 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -96,6 +96,7 @@ int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle,
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -711,7 +711,7 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
}
bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes)
bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody)
{
btAssert(m_data->m_dynamicsWorld);
if (!m_data->m_dynamicsWorld)
@@ -768,7 +768,6 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
MyMultiBodyCreator creation(m_data->m_guiHelper);
u2b.getRootTransformInWorld(rootTrans);
bool useMultiBody = true;
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),true);
@@ -877,6 +876,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
}
btMultiBody* mb = creation.getBulletMultiBody();
if (useMultiBody)
{
@@ -944,7 +944,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
} else
{
btAssert(0);
return true;
}
@@ -1244,8 +1243,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
b3Printf("Processed CMD_LOAD_SDF:%s", sdfArgs.m_sdfFileName);
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? sdfArgs.m_useMultiBody : true;
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes);
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody);
if (completedOk)
{
//serverStatusOut.m_type = CMD_SDF_LOADING_FAILED;

2
examples/SharedMemory/PhysicsServerCommandProcessor.h
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@@ -21,7 +21,7 @@ protected:
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes);
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody);
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -64,6 +64,7 @@ enum EnumSdfArgsUpdateFlags
struct SdfArgs
{
char m_sdfFileName[MAX_URDF_FILENAME_LENGTH];
int m_useMultiBody;
};
enum EnumUrdfArgsUpdateFlags

2
src/BulletDynamics/CMakeLists.txt
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@@ -32,6 +32,7 @@ SET(BulletDynamics_SRCS
Featherstone/btMultiBodyJointLimitConstraint.cpp
Featherstone/btMultiBodyConstraint.cpp
Featherstone/btMultiBodyPoint2Point.cpp
Featherstone/btMultiBodyFixedConstraint.cpp
Featherstone/btMultiBodyJointMotor.cpp
MLCPSolvers/btDantzigLCP.cpp
MLCPSolvers/btMLCPSolver.cpp
@@ -89,6 +90,7 @@ SET(Featherstone_HDRS
Featherstone/btMultiBodyJointLimitConstraint.h
Featherstone/btMultiBodyConstraint.h
Featherstone/btMultiBodyPoint2Point.h
Featherstone/btMultiBodyFixedConstraint.h
Featherstone/btMultiBodyJointMotor.h
)

16
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
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@@ -319,14 +319,6 @@ protected:
const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
static btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
static bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerXZY(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerYXZ(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerYZX(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerZXY(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerZYX(const btMatrix3x3& mat,btVector3& xyz);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -489,6 +481,14 @@ public:
//If no axis is provided, it uses the default axis for this constraint.
virtual void setParam(int num, btScalar value, int axis = -1);
virtual btScalar getParam(int num, int axis = -1) const;
static btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
static bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerXZY(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerYXZ(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerYZX(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerZXY(const btMatrix3x3& mat,btVector3& xyz);
static bool matrixToEulerZYX(const btMatrix3x3& mat,btVector3& xyz);
};

10
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -466,6 +466,16 @@ btVector3 btMultiBody::worldDirToLocal(int i, const btVector3 &world_dir) const
}
}
btMatrix3x3 btMultiBody::localFrameToWorld(int i, const btMatrix3x3 &local_frame) const
{
btMatrix3x3 result = local_frame;
btVector3 frameInWorld0 = localDirToWorld(i, local_frame.getColumn(0));
btVector3 frameInWorld1 = localDirToWorld(i, local_frame.getColumn(1));
btVector3 frameInWorld2 = localDirToWorld(i, local_frame.getColumn(2));
result.setValue(frameInWorld0[0], frameInWorld1[0], frameInWorld2[0], frameInWorld0[1], frameInWorld1[1], frameInWorld2[1], frameInWorld0[2], frameInWorld1[2], frameInWorld2[2]);
return result;
}
void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
{
int num_links = getNumLinks();

4
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -273,6 +273,10 @@ public:
btVector3 worldPosToLocal(int i, const btVector3 &vec) const;
btVector3 worldDirToLocal(int i, const btVector3 &vec) const;
//
// transform a frame in local coordinate to a frame in world coordinate
//
btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &mat) const;
//
// calculate kinetic energy and angular momentum

68
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -55,16 +55,16 @@ void btMultiBodyConstraint::applyDeltaVee(btMultiBodyJacobianData& data, btScala
btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
btScalar* jacOrgA, btScalar* jacOrgB,
const btVector3& contactNormalOnB,
const btVector3& constraintNormalAng,
const btVector3& constraintNormalLin,
const btVector3& posAworld, const btVector3& posBworld,
btScalar posError,
const btContactSolverInfo& infoGlobal,
btScalar lowerLimit, btScalar upperLimit,
bool angConstraint,
btScalar relaxation,
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
{
solverConstraint.m_multiBodyA = m_bodyA;
solverConstraint.m_multiBodyB = m_bodyB;
solverConstraint.m_linkA = m_linkA;
@@ -122,7 +122,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
else
{
btScalar* jac1=&data.m_jacobians[solverConstraint.m_jacAindex];
multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
//multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
multiBodyA->fillConstraintJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalAng, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
}
//determine the velocity response of multibodyA to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
@@ -133,16 +134,29 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
//determine..
multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v);
btVector3 torqueAxis0 = rel_pos1.cross(contactNormalOnB);
btVector3 torqueAxis0;
if (angConstraint) {
torqueAxis0 = constraintNormalAng;
}
else {
torqueAxis0 = rel_pos1.cross(constraintNormalLin);
}
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = contactNormalOnB;
solverConstraint.m_contactNormal1 = constraintNormalLin;
}
else //if(rb0)
{
btVector3 torqueAxis0 = rel_pos1.cross(contactNormalOnB);
btVector3 torqueAxis0;
if (angConstraint) {
torqueAxis0 = constraintNormalAng;
}
else {
torqueAxis0 = rel_pos1.cross(constraintNormalLin);
}
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = contactNormalOnB;
solverConstraint.m_contactNormal1 = constraintNormalLin;
}
if (multiBodyB)
@@ -177,7 +191,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
}
else
{
multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
//multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalAng, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
}
//determine velocity response of multibodyB to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
@@ -188,17 +203,28 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
//determine..
multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacBindex],delta,data.scratch_r, data.scratch_v);
btVector3 torqueAxis1 = rel_pos2.cross(contactNormalOnB);
btVector3 torqueAxis1;
if (angConstraint) {
torqueAxis1 = constraintNormalAng;
}
else {
torqueAxis1 = rel_pos2.cross(constraintNormalLin);
}
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_contactNormal2 = -contactNormalOnB;
solverConstraint.m_contactNormal2 = -constraintNormalLin;
}
else //if(rb1)
{
btVector3 torqueAxis1 = rel_pos2.cross(contactNormalOnB);
btVector3 torqueAxis1;
if (angConstraint) {
torqueAxis1 = constraintNormalAng;
}
else {
torqueAxis1 = rel_pos2.cross(constraintNormalLin);
}
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_contactNormal2 = -contactNormalOnB;
solverConstraint.m_contactNormal2 = -constraintNormalLin;
}
{
@@ -226,7 +252,12 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
else if(rb0)
{
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
denom0 = rb0->getInvMass() + contactNormalOnB.dot(vec);
if (angConstraint) {
denom0 = rb0->getInvMass() + constraintNormalAng.dot(vec);
}
else {
denom0 = rb0->getInvMass() + constraintNormalLin.dot(vec);
}
}
//
if (multiBodyB)
@@ -245,7 +276,12 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
else if(rb1)
{
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
denom1 = rb1->getInvMass() + contactNormalOnB.dot(vec);
if (angConstraint) {
denom1 = rb1->getInvMass() + constraintNormalAng.dot(vec);
}
else {
denom1 = rb1->getInvMass() + constraintNormalLin.dot(vec);
}
}
//

6
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
View File

@@ -70,11 +70,15 @@ protected:
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
btScalar* jacOrgA, btScalar* jacOrgB,
const btVector3& contactNormalOnB,
const btVector3& constraintNormalAng,
const btVector3& constraintNormalLin,
const btVector3& posAworld, const btVector3& posBworld,
btScalar posError,
const btContactSolverInfo& infoGlobal,
btScalar lowerLimit, btScalar upperLimit,
bool angConstraint = false,
btScalar relaxation = 1.f,
bool isFriction = false, btScalar desiredVelocity=0, btScalar cfmSlip=0);

211
src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp Normal file
View File

@@ -0,0 +1,211 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
#include "btMultiBodyFixedConstraint.h"
#include "btMultiBodyLinkCollider.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "LinearMath/btIDebugDraw.h"
#define BTMBFIXEDCONSTRAINT_DIM 6
btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
:btMultiBodyConstraint(body,0,link,-1,BTMBFIXEDCONSTRAINT_DIM,false),
m_rigidBodyA(0),
m_rigidBodyB(bodyB),
m_pivotInA(pivotInA),
m_pivotInB(pivotInB),
m_frameInA(frameInA),
m_frameInB(frameInB)
{
m_data.resize(BTMBFIXEDCONSTRAINT_DIM);//at least store the applied impulses
}
btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBFIXEDCONSTRAINT_DIM,false),
m_rigidBodyA(0),
m_rigidBodyB(0),
m_pivotInA(pivotInA),
m_pivotInB(pivotInB),
m_frameInA(frameInA),
m_frameInB(frameInB)
{
m_data.resize(BTMBFIXEDCONSTRAINT_DIM);//at least store the applied impulses
}
void btMultiBodyFixedConstraint::finalizeMultiDof()
{
//not implemented yet
btAssert(0);
}
btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint()
{
}
int btMultiBodyFixedConstraint::getIslandIdA() const
{
if (m_rigidBodyA)
return m_rigidBodyA->getIslandTag();
if (m_bodyA)
{
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 btMultiBodyFixedConstraint::getIslandIdB() const
{
if (m_rigidBodyB)
return m_rigidBodyB->getIslandTag();
if (m_bodyB)
{
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;
}
void btMultiBodyFixedConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
{
int numDim = BTMBFIXEDCONSTRAINT_DIM;
for (int i=0;i<numDim;i++)
{
btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
constraintRow.m_orgConstraint = this;
constraintRow.m_orgDofIndex = i;
constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal1.setValue(0,0,0);
constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal2.setValue(0,0,0);
constraintRow.m_angularComponentA.setValue(0,0,0);
constraintRow.m_angularComponentB.setValue(0,0,0);
constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
// Convert local points back to world
btVector3 pivotAworld = m_pivotInA;
btMatrix3x3 frameAworld = m_frameInA;
if (m_rigidBodyA)
{
constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
frameAworld = frameAworld.transpose()*btMatrix3x3(m_rigidBodyA->getOrientation());
} else
{
if (m_bodyA) {
pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
}
}
btVector3 pivotBworld = m_pivotInB;
btMatrix3x3 frameBworld = m_frameInB;
if (m_rigidBodyB)
{
constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
frameBworld = frameBworld.transpose()*btMatrix3x3(m_rigidBodyB->getOrientation());
} else
{
if (m_bodyB) {
pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
frameBworld = m_bodyB->localFrameToWorld(m_linkB, frameBworld);
}
}
btMatrix3x3 relRot = frameAworld.inverse()*frameBworld;
btVector3 angleDiff;
btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot,angleDiff);
btVector3 constraintNormalLin(0,0,0);
btVector3 constraintNormalAng(0,0,0);
btScalar posError = 0.0;
if (i < 3) {
constraintNormalLin[i] = -1;
posError = (pivotAworld-pivotBworld).dot(constraintNormalLin);
fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
constraintNormalLin, pivotAworld, pivotBworld,
posError,
infoGlobal,
-m_maxAppliedImpulse, m_maxAppliedImpulse
);
}
else { //i>=3
constraintNormalAng = frameAworld.getColumn(i%3);
posError = angleDiff[i%3];
fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
constraintNormalLin, pivotAworld, pivotBworld,
posError,
infoGlobal,
-m_maxAppliedImpulse, m_maxAppliedImpulse, true
);
}
}
}
void btMultiBodyFixedConstraint::debugDraw(class btIDebugDraw* drawer)
{
btTransform tr;
tr.setIdentity();
if (m_rigidBodyA)
{
btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
tr.setOrigin(pivot);
drawer->drawTransform(tr, 0.1);
}
if (m_bodyA)
{
btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
tr.setOrigin(pivotAworld);
drawer->drawTransform(tr, 0.1);
}
if (m_rigidBodyB)
{
// that ideally should draw the same frame
btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
tr.setOrigin(pivot);
drawer->drawTransform(tr, 0.1);
}
if (m_bodyB)
{
btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
tr.setOrigin(pivotBworld);
drawer->drawTransform(tr, 0.1);
}
}

94
src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h Normal file
View File

@@ -0,0 +1,94 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
#ifndef BT_MULTIBODY_FIXED_CONSTRAINT_H
#define BT_MULTIBODY_FIXED_CONSTRAINT_H
#include "btMultiBodyConstraint.h"
class btMultiBodyFixedConstraint : public btMultiBodyConstraint
{
protected:
btRigidBody* m_rigidBodyA;
btRigidBody* m_rigidBodyB;
btVector3 m_pivotInA;
btVector3 m_pivotInB;
btMatrix3x3 m_frameInA;
btMatrix3x3 m_frameInB;
public:
btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
virtual ~btMultiBodyFixedConstraint();
virtual void finalizeMultiDof();
virtual int getIslandIdA() const;
virtual int getIslandIdB() const;
virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal);
const btVector3& getPivotInA() const
{
return m_pivotInA;
}
void setPivotInA(const btVector3& pivotInA)
{
m_pivotInA = pivotInA;
}
const btVector3& getPivotInB() const
{
return m_pivotInB;
}
void setPivotInB(const btVector3& pivotInB)
{
m_pivotInB = pivotInB;
}
const btMatrix3x3& getFrameInA() const
{
return m_frameInA;
}
void setFrameInA(const btMatrix3x3& frameInA)
{
m_frameInA = frameInA;
}
const btMatrix3x3& getFrameInB() const
{
return m_frameInB;
}
void setFrameInB(const btMatrix3x3& frameInB)
{
m_frameInB = frameInB;
}
virtual void debugDraw(class btIDebugDraw* drawer);
};
#endif //BT_MULTIBODY_FIXED_CONSTRAINT_H

2
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
View File

@@ -122,7 +122,7 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
const btScalar posError = 0; //why assume it's zero?
const btVector3 dummy(0, 0, 0);
btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);
btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);
{
//expect either prismatic or revolute joint type for now

2
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
View File

@@ -128,7 +128,7 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity+m_kd * velocityError;
fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,rhs);
fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,rhs);
constraintRow.m_orgConstraint = this;
constraintRow.m_orgDofIndex = row;
{

2
src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
View File

@@ -159,7 +159,7 @@ int numDim = BTMBP2PCONSTRAINT_DIM;
#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
fillMultiBodyConstraint(constraintRow, data, 0, 0,
fillMultiBodyConstraint(constraintRow, data, 0, 0, btVector3(0,0,0),
contactNormalOnB, pivotAworld, pivotBworld, //sucks but let it be this way "for the time being"
posError,
infoGlobal,