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Added a first version of a Featherstone multi body implementation.

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The original version was written by Stephen Thompson.
I replaced Eigen math by Bullet LinearMath, and added a dedicated 6x6 matrix solver. 
Also I integrated support for collisions/contact constraints between btMultiBody and btRigidBody, and de-activation support.
See Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp for example usage.
There is currently only support for contact constraints for btMultiBody. 
Next on the list will be adding support for joint limit constraint for btMultiBody. 
The implementation is still experimental/untested, the quality will improve in upcoming Bullet releases.
This commit is contained in:
erwin.coumans
2013-10-01 22:50:31 +00:00
parent 7292867d25
commit f02dd51597
26 changed files with 3387 additions and 28 deletions
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src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h Normal file
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/*
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.
*/
#ifndef BT_MULTIBODY_SOLVER_CONSTRAINT_H
#define BT_MULTIBODY_SOLVER_CONSTRAINT_H
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
class btMultiBody;
///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint
{
BT_DECLARE_ALIGNED_ALLOCATOR();
int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1
btVector3 m_relpos1CrossNormal;
btVector3 m_contactNormal1;
int m_jacAindex;
int m_deltaVelBindex;
btVector3 m_relpos2CrossNormal;
btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
int m_jacBindex;
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
mutable btSimdScalar m_appliedPushImpulse;
mutable btSimdScalar m_appliedImpulse;
btScalar m_friction;
btScalar m_jacDiagABInv;
btScalar m_rhs;
btScalar m_cfm;
btScalar m_lowerLimit;
btScalar m_upperLimit;
btScalar m_rhsPenetration;
union
{
void* m_originalContactPoint;
btScalar m_unusedPadding4;
};
int m_overrideNumSolverIterations;
int m_frictionIndex;
int m_solverBodyIdA;
btMultiBody* m_multiBodyA;
int m_linkA;
int m_solverBodyIdB;
btMultiBody* m_multiBodyB;
int m_linkB;
enum btSolverConstraintType
{
BT_SOLVER_CONTACT_1D = 0,
BT_SOLVER_FRICTION_1D
};
};
typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray;
#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H