added ConstraintSolver/btConeTwistConstraint.cpp to allow for ragdolls
improved hinge constraint: adds limits added btAtan2Fast quaternion helper functions All thanks to Starbreeze Studios / Marcus Hennix, Marten Svanfeldt
This commit is contained in:
ejcoumans
286
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
Normal file
286
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
Normal file
@@ -0,0 +1,286 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
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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.
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||||
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Written by: Marcus Hennix
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*/
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#include "btConeTwistConstraint.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btTransformUtil.h"
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#include "LinearMath/btSimdMinMax.h"
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#include <new>
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btConeTwistConstraint::btConeTwistConstraint()
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{
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}
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btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,
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const btTransform& rbAFrame,const btTransform& rbBFrame)
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:btTypedConstraint(rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
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m_angularOnly(false)
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{
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// flip axis for correct angles
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m_rbBFrame.getBasis()[1][0] *= btScalar(-1.);
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m_rbBFrame.getBasis()[1][1] *= btScalar(-1.);
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m_rbBFrame.getBasis()[1][2] *= btScalar(-1.);
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m_swingSpan1 = btScalar(1e30);
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m_swingSpan2 = btScalar(1e30);
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m_twistSpan = btScalar(1e30);
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m_biasFactor = 0.3f;
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m_relaxationFactor = 1.0f;
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m_solveTwistLimit = false;
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m_solveSwingLimit = false;
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}
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btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame)
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:btTypedConstraint(rbA),m_rbAFrame(rbAFrame),
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m_angularOnly(false)
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{
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m_rbBFrame = m_rbAFrame;
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// flip axis for correct angles
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m_rbBFrame.getBasis()[1][0] *= btScalar(-1.);
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m_rbBFrame.getBasis()[1][1] *= btScalar(-1.);
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m_rbBFrame.getBasis()[1][2] *= btScalar(-1.);
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m_rbBFrame.getBasis()[2][0] *= btScalar(-1.);
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m_rbBFrame.getBasis()[2][1] *= btScalar(-1.);
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m_rbBFrame.getBasis()[2][2] *= btScalar(-1.);
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m_swingSpan1 = btScalar(1e30);
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m_swingSpan2 = btScalar(1e30);
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m_twistSpan = btScalar(1e30);
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m_biasFactor = 0.3f;
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m_relaxationFactor = 1.0f;
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m_solveTwistLimit = false;
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m_solveSwingLimit = false;
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}
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void btConeTwistConstraint::buildJacobian()
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{
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m_appliedImpulse = btScalar(0.);
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//set bias, sign, clear accumulator
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m_swingCorrection = btScalar(0.);
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m_twistLimitSign = btScalar(0.);
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m_solveTwistLimit = false;
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m_solveSwingLimit = false;
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m_accTwistLimitImpulse = btScalar(0.);
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m_accSwingLimitImpulse = btScalar(0.);
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if (!m_angularOnly)
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{
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btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
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btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
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btVector3 relPos = pivotBInW - pivotAInW;
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btVector3 normal[3];
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if (relPos.length2() > SIMD_EPSILON)
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{
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normal[0] = relPos.normalized();
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}
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else
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{
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normal[0].setValue(btScalar(1.0),0,0);
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}
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btPlaneSpace1(normal[0], normal[1], normal[2]);
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for (int i=0;i<3;i++)
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{
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new (&m_jac[i]) btJacobianEntry(
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m_rbA.getCenterOfMassTransform().getBasis().transpose(),
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m_rbB.getCenterOfMassTransform().getBasis().transpose(),
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pivotAInW - m_rbA.getCenterOfMassPosition(),
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pivotBInW - m_rbB.getCenterOfMassPosition(),
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normal[i],
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m_rbA.getInvInertiaDiagLocal(),
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m_rbA.getInvMass(),
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m_rbB.getInvInertiaDiagLocal(),
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m_rbB.getInvMass());
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}
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}
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btVector3 b1Axis1,b1Axis2,b1Axis3;
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btVector3 b2Axis1,b2Axis2;
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b1Axis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(0);
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b2Axis1 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(0);
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btScalar swing1=btScalar(0.),swing2 = btScalar(0.);
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// Get Frame into world space
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if (m_swingSpan1 >= btScalar(0.05f))
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{
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b1Axis2 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(1);
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swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
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}
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if (m_swingSpan2 >= btScalar(0.05f))
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{
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b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2);
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swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
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}
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btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1);
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btScalar RMaxAngle2Sq = 1.0f / (m_swingSpan2*m_swingSpan2);
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btScalar EllipseAngle = btFabs(swing1)* RMaxAngle1Sq + btFabs(swing2) * RMaxAngle2Sq;
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if (EllipseAngle > 1.0f)
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{
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m_swingCorrection = EllipseAngle-1.0f;
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m_solveSwingLimit = true;
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// Calculate necessary axis & factors
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m_swingAxis = b2Axis1.cross(b1Axis2* b2Axis1.dot(b1Axis2) + b1Axis3* b2Axis1.dot(b1Axis3));
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m_swingAxis.normalize();
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btScalar swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
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m_swingAxis *= swingAxisSign;
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m_kSwing = btScalar(1.) / (getRigidBodyA().computeAngularImpulseDenominator(m_swingAxis) +
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getRigidBodyB().computeAngularImpulseDenominator(m_swingAxis));
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}
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// Twist limits
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if (m_twistSpan >= btScalar(0.))
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{
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btVector3 b2Axis2 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(1);
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btQuaternion rotationArc = shortestArcQuat(b2Axis1,b1Axis1);
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btVector3 TwistRef = quatRotate(rotationArc,b2Axis2);
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btScalar twist = btAtan2Fast( TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2) );
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btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.);
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if (twist <= -m_twistSpan*lockedFreeFactor)
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{
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m_twistCorrection = -(twist + m_twistSpan);
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m_solveTwistLimit = true;
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m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
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m_twistAxis.normalize();
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m_twistAxis *= -1.0f;
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m_kTwist = btScalar(1.) / (getRigidBodyA().computeAngularImpulseDenominator(m_twistAxis) +
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getRigidBodyB().computeAngularImpulseDenominator(m_twistAxis));
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} else
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if (twist > m_twistSpan*lockedFreeFactor)
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{
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m_twistCorrection = (twist - m_twistSpan);
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m_solveTwistLimit = true;
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m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
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m_twistAxis.normalize();
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m_kTwist = btScalar(1.) / (getRigidBodyA().computeAngularImpulseDenominator(m_twistAxis) +
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getRigidBodyB().computeAngularImpulseDenominator(m_twistAxis));
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}
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}
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}
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void btConeTwistConstraint::solveConstraint(btScalar timeStep)
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{
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btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
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btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
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btScalar tau = btScalar(0.3);
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btScalar damping = btScalar(1.);
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//linear part
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if (!m_angularOnly)
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{
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btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
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btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
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btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
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btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
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btVector3 vel = vel1 - vel2;
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for (int i=0;i<3;i++)
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{
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const btVector3& normal = m_jac[i].m_linearJointAxis;
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btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
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btScalar rel_vel;
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rel_vel = normal.dot(vel);
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//positional error (zeroth order error)
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btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
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btScalar impulse = depth*tau/timeStep * jacDiagABInv - rel_vel * jacDiagABInv;
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m_appliedImpulse += impulse;
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btVector3 impulse_vector = normal * impulse;
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m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
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m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
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}
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}
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{
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///solve angular part
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const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
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const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
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// solve swing limit
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if (m_solveSwingLimit)
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{
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btScalar amplitude = ((angVelB - angVelA).dot( m_swingAxis )*m_relaxationFactor*m_relaxationFactor + m_swingCorrection*(btScalar(1.)/timeStep)*m_biasFactor);
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btScalar impulseMag = amplitude * m_kSwing;
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// Clamp the accumulated impulse
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btScalar temp = m_accSwingLimitImpulse;
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m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, 0.0f );
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impulseMag = m_accSwingLimitImpulse - temp;
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btVector3 impulse = m_swingAxis * impulseMag;
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m_rbA.applyTorqueImpulse(impulse);
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m_rbB.applyTorqueImpulse(-impulse);
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}
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// solve twist limit
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if (m_solveTwistLimit)
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{
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btScalar amplitude = ((angVelB - angVelA).dot( m_twistAxis )*m_relaxationFactor*m_relaxationFactor + m_twistCorrection*(btScalar(1.)/timeStep)*m_biasFactor );
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btScalar impulseMag = amplitude * m_kTwist;
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// Clamp the accumulated impulse
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btScalar temp = m_accTwistLimitImpulse;
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m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, 0.0f );
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impulseMag = m_accTwistLimitImpulse - temp;
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btVector3 impulse = m_twistAxis * impulseMag;
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m_rbA.applyTorqueImpulse(impulse);
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m_rbB.applyTorqueImpulse(-impulse);
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}
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}
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}
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void btConeTwistConstraint::updateRHS(btScalar timeStep)
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{
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(void)timeStep;
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}
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123
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
Normal file
123
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
Normal file
@@ -0,0 +1,123 @@
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
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.
|
||||
|
||||
Written by: Marcus Hennix
|
||||
*/
|
||||
|
||||
|
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|
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#ifndef CONETWISTCONSTRAINT_H
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#define CONETWISTCONSTRAINT_H
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#include "../../LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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class btRigidBody;
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///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
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class btConeTwistConstraint : public btTypedConstraint
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{
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btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
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|
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btTransform m_rbAFrame;
|
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btTransform m_rbBFrame;
|
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|
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btScalar m_limitSoftness;
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btScalar m_biasFactor;
|
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btScalar m_relaxationFactor;
|
||||
|
||||
btScalar m_swingSpan1;
|
||||
btScalar m_swingSpan2;
|
||||
btScalar m_twistSpan;
|
||||
|
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btVector3 m_swingAxis;
|
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btVector3 m_twistAxis;
|
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|
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btScalar m_kSwing;
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btScalar m_kTwist;
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|
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btScalar m_twistLimitSign;
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btScalar m_swingCorrection;
|
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btScalar m_twistCorrection;
|
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|
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btScalar m_accSwingLimitImpulse;
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btScalar m_accTwistLimitImpulse;
|
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|
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bool m_angularOnly;
|
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bool m_solveTwistLimit;
|
||||
bool m_solveSwingLimit;
|
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|
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|
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public:
|
||||
|
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btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
|
||||
|
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btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
|
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|
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btConeTwistConstraint();
|
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|
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virtual void buildJacobian();
|
||||
|
||||
virtual void solveConstraint(btScalar timeStep);
|
||||
|
||||
void updateRHS(btScalar timeStep);
|
||||
|
||||
const btRigidBody& getRigidBodyA() const
|
||||
{
|
||||
return m_rbA;
|
||||
}
|
||||
const btRigidBody& getRigidBodyB() const
|
||||
{
|
||||
return m_rbB;
|
||||
}
|
||||
|
||||
void setAngularOnly(bool angularOnly)
|
||||
{
|
||||
m_angularOnly = angularOnly;
|
||||
}
|
||||
|
||||
void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
|
||||
{
|
||||
m_swingSpan1 = _swingSpan1;
|
||||
m_swingSpan2 = _swingSpan2;
|
||||
m_twistSpan = _twistSpan;
|
||||
|
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m_limitSoftness = _softness;
|
||||
m_biasFactor = _biasFactor;
|
||||
m_relaxationFactor = _relaxationFactor;
|
||||
}
|
||||
|
||||
const btTransform& getAFrame() { return m_rbAFrame; };
|
||||
const btTransform& getBFrame() { return m_rbBFrame; };
|
||||
|
||||
inline int getSolveTwistLimit()
|
||||
{
|
||||
return m_solveTwistLimit;
|
||||
}
|
||||
|
||||
inline int getSolveSwingLimit()
|
||||
{
|
||||
return m_solveTwistLimit;
|
||||
}
|
||||
|
||||
inline btScalar getTwistLimitSign()
|
||||
{
|
||||
return m_twistLimitSign;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //CONETWISTCONSTRAINT_H
|
||||
@@ -17,58 +17,176 @@ subject to the following restrictions:
|
||||
#include "btHingeConstraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
#include "LinearMath/btSimdMinMax.h"
|
||||
#include <new>
|
||||
|
||||
|
||||
btHingeConstraint::btHingeConstraint():
|
||||
m_enableAngularMotor(false)
|
||||
{
|
||||
}
|
||||
|
||||
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
|
||||
btVector3& axisInA,btVector3& axisInB)
|
||||
:btTypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
|
||||
m_axisInA(axisInA),
|
||||
m_axisInB(-axisInB),
|
||||
m_angularOnly(false),
|
||||
m_enableAngularMotor(false)
|
||||
btVector3& axisInA,btVector3& axisInB)
|
||||
:btTypedConstraint(rbA,rbB),
|
||||
m_angularOnly(false),
|
||||
m_enableAngularMotor(false)
|
||||
{
|
||||
m_rbAFrame.getOrigin() = pivotInA;
|
||||
|
||||
// since no frame is given, assume this to be zero angle and just pick rb transform axis
|
||||
btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
|
||||
btScalar projection = rbAxisA1.dot(axisInA);
|
||||
if (projection > SIMD_EPSILON)
|
||||
rbAxisA1 = rbAxisA1*projection - axisInA;
|
||||
else
|
||||
rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
|
||||
|
||||
btVector3 rbAxisA2 = rbAxisA1.cross(axisInA);
|
||||
|
||||
m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
|
||||
rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
|
||||
rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
|
||||
|
||||
btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
|
||||
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
|
||||
btVector3 rbAxisB2 = rbAxisB1.cross(axisInB);
|
||||
|
||||
|
||||
m_rbBFrame.getOrigin() = pivotInB;
|
||||
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),-axisInB.getX(),
|
||||
rbAxisB1.getY(),rbAxisB2.getY(),-axisInB.getY(),
|
||||
rbAxisB1.getZ(),rbAxisB2.getZ(),-axisInB.getZ() );
|
||||
|
||||
//start with free
|
||||
m_lowerLimit = btScalar(1e30);
|
||||
m_upperLimit = btScalar(-1e30);
|
||||
m_biasFactor = 0.3f;
|
||||
m_relaxationFactor = 1.0f;
|
||||
m_limitSoftness = 0.9f;
|
||||
m_solveLimit = false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA)
|
||||
:btTypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
|
||||
m_axisInA(axisInA),
|
||||
//fixed axis in worldspace
|
||||
m_axisInB(rbA.getCenterOfMassTransform().getBasis() * -axisInA),
|
||||
:btTypedConstraint(rbA), m_angularOnly(false), m_enableAngularMotor(false)
|
||||
{
|
||||
|
||||
// since no frame is given, assume this to be zero angle and just pick rb transform axis
|
||||
// fixed axis in worldspace
|
||||
btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
|
||||
btScalar projection = rbAxisA1.dot(axisInA);
|
||||
if (projection > SIMD_EPSILON)
|
||||
rbAxisA1 = rbAxisA1*projection - axisInA;
|
||||
else
|
||||
rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
|
||||
|
||||
btVector3 rbAxisA2 = axisInA.cross(rbAxisA1);
|
||||
|
||||
m_rbAFrame.getOrigin() = pivotInA;
|
||||
m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
|
||||
rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
|
||||
rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
|
||||
|
||||
|
||||
btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * -axisInA;
|
||||
|
||||
btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
|
||||
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
|
||||
btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
|
||||
|
||||
|
||||
m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA);
|
||||
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
|
||||
rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
|
||||
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
|
||||
|
||||
//start with free
|
||||
m_lowerLimit = btScalar(1e30);
|
||||
m_upperLimit = btScalar(-1e30);
|
||||
m_biasFactor = 0.3f;
|
||||
m_relaxationFactor = 1.0f;
|
||||
m_limitSoftness = 0.9f;
|
||||
m_solveLimit = false;
|
||||
}
|
||||
|
||||
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB,
|
||||
const btTransform& rbAFrame, const btTransform& rbBFrame)
|
||||
:btTypedConstraint(rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
|
||||
m_angularOnly(false),
|
||||
m_enableAngularMotor(false)
|
||||
{
|
||||
|
||||
// flip axis
|
||||
m_rbBFrame.getBasis()[2][0] *= btScalar(-1.);
|
||||
m_rbBFrame.getBasis()[2][1] *= btScalar(-1.);
|
||||
m_rbBFrame.getBasis()[2][2] *= btScalar(-1.);
|
||||
|
||||
//start with free
|
||||
m_lowerLimit = btScalar(1e30);
|
||||
m_upperLimit = btScalar(-1e30);
|
||||
m_biasFactor = 0.3f;
|
||||
m_relaxationFactor = 1.0f;
|
||||
m_limitSoftness = 0.9f;
|
||||
m_solveLimit = false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame)
|
||||
:btTypedConstraint(rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
|
||||
m_angularOnly(false),
|
||||
m_enableAngularMotor(false)
|
||||
{
|
||||
// flip axis
|
||||
m_rbBFrame.getBasis()[2][0] *= btScalar(-1.);
|
||||
m_rbBFrame.getBasis()[2][1] *= btScalar(-1.);
|
||||
m_rbBFrame.getBasis()[2][2] *= btScalar(-1.);
|
||||
|
||||
|
||||
//start with free
|
||||
m_lowerLimit = btScalar(1e30);
|
||||
m_upperLimit = btScalar(-1e30);
|
||||
m_biasFactor = 0.3f;
|
||||
m_relaxationFactor = 1.0f;
|
||||
m_limitSoftness = 0.9f;
|
||||
m_solveLimit = false;
|
||||
}
|
||||
|
||||
void btHingeConstraint::buildJacobian()
|
||||
{
|
||||
m_appliedImpulse = btScalar(0.);
|
||||
|
||||
btVector3 normal(0,0,0);
|
||||
|
||||
if (!m_angularOnly)
|
||||
{
|
||||
btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
|
||||
btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
|
||||
btVector3 relPos = pivotBInW - pivotAInW;
|
||||
|
||||
btVector3 normal[3];
|
||||
if (relPos.length2() > SIMD_EPSILON)
|
||||
{
|
||||
normal[0] = relPos.normalized();
|
||||
}
|
||||
else
|
||||
{
|
||||
normal[0].setValue(btScalar(1.0),0,0);
|
||||
}
|
||||
|
||||
btPlaneSpace1(normal[0], normal[1], normal[2]);
|
||||
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
normal[i] = 1;
|
||||
new (&m_jac[i]) btJacobianEntry(
|
||||
m_rbA.getCenterOfMassTransform().getBasis().transpose(),
|
||||
m_rbB.getCenterOfMassTransform().getBasis().transpose(),
|
||||
m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
|
||||
m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
|
||||
normal,
|
||||
pivotAInW - m_rbA.getCenterOfMassPosition(),
|
||||
pivotBInW - m_rbB.getCenterOfMassPosition(),
|
||||
normal[i],
|
||||
m_rbA.getInvInertiaDiagLocal(),
|
||||
m_rbA.getInvMass(),
|
||||
m_rbB.getInvInertiaDiagLocal(),
|
||||
m_rbB.getInvMass());
|
||||
normal[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -79,12 +197,12 @@ void btHingeConstraint::buildJacobian()
|
||||
btVector3 jointAxis0local;
|
||||
btVector3 jointAxis1local;
|
||||
|
||||
btPlaneSpace1(m_axisInA,jointAxis0local,jointAxis1local);
|
||||
btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local);
|
||||
|
||||
getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
|
||||
getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
|
||||
btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local;
|
||||
btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local;
|
||||
btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
|
||||
btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
|
||||
|
||||
new (&m_jacAng[0]) btJacobianEntry(jointAxis0,
|
||||
m_rbA.getCenterOfMassTransform().getBasis().transpose(),
|
||||
@@ -105,44 +223,71 @@ void btHingeConstraint::buildJacobian()
|
||||
m_rbB.getInvInertiaDiagLocal());
|
||||
|
||||
|
||||
// Compute limit information
|
||||
btScalar hingeAngle = getHingeAngle();
|
||||
|
||||
//set bias, sign, clear accumulator
|
||||
m_correction = btScalar(0.);
|
||||
m_limitSign = btScalar(0.);
|
||||
m_solveLimit = false;
|
||||
m_accLimitImpulse = btScalar(0.);
|
||||
|
||||
if (m_lowerLimit < m_upperLimit)
|
||||
{
|
||||
if (hingeAngle <= m_lowerLimit*m_limitSoftness)
|
||||
{
|
||||
m_correction = (m_lowerLimit - hingeAngle);
|
||||
m_limitSign = 1.0f;
|
||||
m_solveLimit = true;
|
||||
}
|
||||
else if (hingeAngle >= m_upperLimit*m_limitSoftness)
|
||||
{
|
||||
m_correction = m_upperLimit - hingeAngle;
|
||||
m_limitSign = -1.0f;
|
||||
m_solveLimit = true;
|
||||
}
|
||||
}
|
||||
|
||||
//Compute K = J*W*J' for hinge axis
|
||||
btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
|
||||
m_kHinge = 1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) +
|
||||
getRigidBodyB().computeAngularImpulseDenominator(axisA));
|
||||
|
||||
}
|
||||
|
||||
void btHingeConstraint::solveConstraint(btScalar timeStep)
|
||||
{
|
||||
|
||||
btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
|
||||
btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
|
||||
btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
|
||||
btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
|
||||
|
||||
btVector3 normal(0,0,0);
|
||||
btScalar tau = btScalar(0.3);
|
||||
btScalar damping = btScalar(1.);
|
||||
|
||||
//linear part
|
||||
if (!m_angularOnly)
|
||||
{
|
||||
btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
|
||||
btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
|
||||
|
||||
btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
|
||||
btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
|
||||
btVector3 vel = vel1 - vel2;
|
||||
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
normal[i] = 1;
|
||||
const btVector3& normal = m_jac[i].m_linearJointAxis;
|
||||
btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
|
||||
|
||||
btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
|
||||
btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
|
||||
|
||||
btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
|
||||
btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
|
||||
btVector3 vel = vel1 - vel2;
|
||||
btScalar rel_vel;
|
||||
rel_vel = normal.dot(vel);
|
||||
//positional error (zeroth order error)
|
||||
btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
|
||||
btScalar impulse = depth*tau/timeStep * jacDiagABInv - damping * rel_vel * jacDiagABInv * damping;
|
||||
btScalar impulse = depth*tau/timeStep * jacDiagABInv - rel_vel * jacDiagABInv;
|
||||
m_appliedImpulse += impulse;
|
||||
btVector3 impulse_vector = normal * impulse;
|
||||
m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
|
||||
m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
|
||||
|
||||
normal[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -151,8 +296,8 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
|
||||
///solve angular part
|
||||
|
||||
// get axes in world space
|
||||
btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
|
||||
btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
|
||||
btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
|
||||
btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(2);
|
||||
|
||||
const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
|
||||
const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
|
||||
@@ -174,7 +319,7 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
|
||||
getRigidBodyB().computeAngularImpulseDenominator(normal);
|
||||
// scale for mass and relaxation
|
||||
//todo: expose this 0.9 factor to developer
|
||||
velrelOrthog *= (btScalar(1.)/denom) * btScalar(0.9);
|
||||
velrelOrthog *= (btScalar(1.)/denom) * m_relaxationFactor;
|
||||
}
|
||||
|
||||
//solve angular positional correction
|
||||
@@ -190,10 +335,28 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
|
||||
|
||||
m_rbA.applyTorqueImpulse(-velrelOrthog+angularError);
|
||||
m_rbB.applyTorqueImpulse(velrelOrthog-angularError);
|
||||
|
||||
// solve limit
|
||||
if (m_solveLimit)
|
||||
{
|
||||
btScalar amplitude = ( (angVelB - angVelA).dot( axisA )*m_relaxationFactor + m_correction* (btScalar(1.)/timeStep)*m_biasFactor ) * m_limitSign;
|
||||
|
||||
btScalar impulseMag = amplitude * m_kHinge;
|
||||
|
||||
// Clamp the accumulated impulse
|
||||
btScalar temp = m_accLimitImpulse;
|
||||
m_accLimitImpulse = btMax(m_accLimitImpulse + impulseMag, 0.0f );
|
||||
impulseMag = m_accLimitImpulse - temp;
|
||||
|
||||
|
||||
btVector3 impulse = axisA * impulseMag * m_limitSign;
|
||||
m_rbA.applyTorqueImpulse(impulse);
|
||||
m_rbB.applyTorqueImpulse(-impulse);
|
||||
}
|
||||
}
|
||||
|
||||
//apply motor
|
||||
if (m_enableAngularMotor)
|
||||
if (m_enableAngularMotor)
|
||||
{
|
||||
//todo: add limits too
|
||||
btVector3 angularLimit(0,0,0);
|
||||
@@ -204,10 +367,7 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
|
||||
btScalar desiredMotorVel = m_motorTargetVelocity;
|
||||
btScalar motor_relvel = desiredMotorVel - projRelVel;
|
||||
|
||||
btScalar denom3 = getRigidBodyA().computeAngularImpulseDenominator(axisA) +
|
||||
getRigidBodyB().computeAngularImpulseDenominator(axisA);
|
||||
|
||||
btScalar unclippedMotorImpulse = (btScalar(1.)/denom3) * motor_relvel;;
|
||||
btScalar unclippedMotorImpulse = m_kHinge * motor_relvel;;
|
||||
//todo: should clip against accumulated impulse
|
||||
btScalar clippedMotorImpulse = unclippedMotorImpulse > m_maxMotorImpulse ? m_maxMotorImpulse : unclippedMotorImpulse;
|
||||
clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse;
|
||||
@@ -227,3 +387,11 @@ void btHingeConstraint::updateRHS(btScalar timeStep)
|
||||
|
||||
}
|
||||
|
||||
btScalar btHingeConstraint::getHingeAngle()
|
||||
{
|
||||
const btVector3 refAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(0);
|
||||
const btVector3 refAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(1);
|
||||
const btVector3 swingAxis = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(1);
|
||||
|
||||
return btAtan2Fast( swingAxis.dot(refAxis0), swingAxis.dot(refAxis1) );
|
||||
}
|
||||
|
||||
@@ -13,6 +13,8 @@ subject to the following restrictions:
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
|
||||
|
||||
#ifndef HINGECONSTRAINT_H
|
||||
#define HINGECONSTRAINT_H
|
||||
|
||||
@@ -22,7 +24,6 @@ subject to the following restrictions:
|
||||
|
||||
class btRigidBody;
|
||||
|
||||
|
||||
/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
|
||||
/// axis defines the orientation of the hinge axis
|
||||
class btHingeConstraint : public btTypedConstraint
|
||||
@@ -30,22 +31,40 @@ class btHingeConstraint : public btTypedConstraint
|
||||
btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
|
||||
btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
|
||||
|
||||
btVector3 m_pivotInA;
|
||||
btVector3 m_pivotInB;
|
||||
btVector3 m_axisInA;
|
||||
btVector3 m_axisInB;
|
||||
btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
|
||||
btTransform m_rbBFrame;
|
||||
|
||||
btScalar m_motorTargetVelocity;
|
||||
btScalar m_maxMotorImpulse;
|
||||
|
||||
btScalar m_limitSoftness;
|
||||
btScalar m_biasFactor;
|
||||
btScalar m_relaxationFactor;
|
||||
|
||||
btScalar m_lowerLimit;
|
||||
btScalar m_upperLimit;
|
||||
|
||||
btScalar m_kHinge;
|
||||
|
||||
btScalar m_limitSign;
|
||||
btScalar m_correction;
|
||||
|
||||
btScalar m_accLimitImpulse;
|
||||
|
||||
bool m_angularOnly;
|
||||
|
||||
btScalar m_motorTargetVelocity;
|
||||
btScalar m_maxMotorImpulse;
|
||||
bool m_enableAngularMotor;
|
||||
bool m_solveLimit;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,btVector3& axisInA,btVector3& axisInB);
|
||||
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB);
|
||||
|
||||
btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
|
||||
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
|
||||
|
||||
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
|
||||
|
||||
btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
|
||||
|
||||
btHingeConstraint();
|
||||
|
||||
@@ -76,6 +95,33 @@ public:
|
||||
m_maxMotorImpulse = maxMotorImpulse;
|
||||
}
|
||||
|
||||
void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
|
||||
{
|
||||
m_lowerLimit = low;
|
||||
m_upperLimit = high;
|
||||
|
||||
m_limitSoftness = _softness;
|
||||
m_biasFactor = _biasFactor;
|
||||
m_relaxationFactor = _relaxationFactor;
|
||||
|
||||
}
|
||||
|
||||
btScalar getHingeAngle();
|
||||
|
||||
|
||||
const btTransform& getAFrame() { return m_rbAFrame; };
|
||||
const btTransform& getBFrame() { return m_rbBFrame; };
|
||||
|
||||
inline int getSolveLimit()
|
||||
{
|
||||
return m_solveLimit;
|
||||
}
|
||||
|
||||
inline btScalar getLimitSign()
|
||||
{
|
||||
return m_limitSign;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //HINGECONSTRAINT_H
|
||||
|
||||
@@ -212,6 +212,7 @@ public:
|
||||
|
||||
SIMD_FORCE_INLINE const btScalar& getW() const { return m_unusedW; }
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
@@ -283,6 +284,36 @@ slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t)
|
||||
return q1.slerp(q2, t);
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btVector3
|
||||
quatRotate(btQuaternion& rotation, btVector3& v)
|
||||
{
|
||||
btQuaternion q = rotation * v;
|
||||
q *= rotation.inverse();
|
||||
return btVector3(q.getX(),q.getY(),q.getZ());
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btQuaternion
|
||||
shortestArcQuat(btVector3& v0,btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
|
||||
{
|
||||
btVector3 c = v0.cross(v1);
|
||||
btScalar d = v0.dot(v1);
|
||||
|
||||
if (d < -1.0 + SIMD_EPSILON)
|
||||
return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector
|
||||
|
||||
btScalar s = btSqrt((1.0f + d) * 2.0f);
|
||||
btScalar rs = 1.0f / s;
|
||||
|
||||
return btQuaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btQuaternion
|
||||
shortestArcQuatNormalize(btVector3& v0,btVector3& v1)
|
||||
{
|
||||
v0.normalize();
|
||||
v1.normalize();
|
||||
return shortestArcQuat(v0,v1);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@@ -120,7 +120,6 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
#define SIMD_2_PI btScalar(6.283185307179586232)
|
||||
#define SIMD_PI (SIMD_2_PI * btScalar(0.5))
|
||||
#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
|
||||
@@ -135,6 +134,22 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
|
||||
#define SIMD_INFINITY FLT_MAX
|
||||
#endif
|
||||
|
||||
SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
|
||||
{
|
||||
btScalar coeff_1 = SIMD_PI / 4.0f;
|
||||
btScalar coeff_2 = 3.0f * coeff_1;
|
||||
btScalar abs_y = btFabs(y);
|
||||
btScalar angle;
|
||||
if (x >= 0.0f) {
|
||||
btScalar r = (x - abs_y) / (x + abs_y);
|
||||
angle = coeff_1 - coeff_1 * r;
|
||||
} else {
|
||||
btScalar r = (x + abs_y) / (abs_y - x);
|
||||
angle = coeff_2 - coeff_1 * r;
|
||||
}
|
||||
return (y < 0.0f) ? -angle : angle;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
|
||||
|
||||
SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) {
|
||||
|
||||
@@ -25,6 +25,7 @@ subject to the following restrictions:
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user