Add some accessor methods to btHingeConstraint and btSliderConstraint, to allow conversion.
Thanks to Roman Ponomarev.
This commit is contained in:
erwin.coumans
@@ -403,3 +403,4 @@ btScalar btHingeConstraint::getHingeAngle()
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return btAtan2Fast( swingAxis.dot(refAxis0), swingAxis.dot(refAxis1) );
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}
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@@ -135,7 +135,24 @@ public:
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{
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return m_limitSign;
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}
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inline bool getAngularOnly()
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{
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return m_angularOnly;
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}
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inline bool getEnableAngularMotor()
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{
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return m_enableAngularMotor;
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}
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inline btScalar getMotorTargetVelosity()
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{
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return m_motorTargetVelocity;
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}
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inline btScalar getMaxMotorImpulse()
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{
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return m_maxMotorImpulse;
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}
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};
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#endif //HINGECONSTRAINT_H
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@@ -1,397 +1,414 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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Added by Roman Ponomarev (rponom@gmail.com)
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April 04, 2008
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*/
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//-----------------------------------------------------------------------------
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#include "btSliderConstraint.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btTransformUtil.h"
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#include <new>
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//-----------------------------------------------------------------------------
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void btSliderConstraint::initParams()
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{
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m_lowerLinLimit = btScalar(1.0);
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m_upperLinLimit = btScalar(-1.0);
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m_lowerAngLimit = btScalar(0.);
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m_upperAngLimit = btScalar(0.);
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m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingDirLin = btScalar(0.);
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m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingDirAng = btScalar(0.);
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m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_poweredLinMotor = false;
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m_targetLinMotorVelocity = btScalar(0.);
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m_maxLinMotorForce = btScalar(0.);
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m_accumulatedLinMotorImpulse = btScalar(0.0);
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m_poweredAngMotor = false;
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m_targetAngMotorVelocity = btScalar(0.);
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m_maxAngMotorForce = btScalar(0.);
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m_accumulatedAngMotorImpulse = btScalar(0.0);
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} // btSliderConstraint::initParams()
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//-----------------------------------------------------------------------------
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btSliderConstraint::btSliderConstraint()
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:btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
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m_useLinearReferenceFrameA(true)
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{
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initParams();
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} // btSliderConstraint::btSliderConstraint()
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//-----------------------------------------------------------------------------
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btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
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: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB)
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, m_frameInA(frameInA)
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, m_frameInB(frameInB),
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m_useLinearReferenceFrameA(useLinearReferenceFrameA)
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{
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initParams();
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} // btSliderConstraint::btSliderConstraint()
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//-----------------------------------------------------------------------------
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void btSliderConstraint::buildJacobian()
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{
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if(m_useLinearReferenceFrameA)
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{
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buildJacobianInt(m_rbA, m_rbB, m_frameInA, m_frameInB);
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}
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else
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{
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buildJacobianInt(m_rbB, m_rbA, m_frameInB, m_frameInA);
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}
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} // btSliderConstraint::buildJacobian()
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//-----------------------------------------------------------------------------
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void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
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{
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//calculate transforms
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m_calculatedTransformA = rbA.getCenterOfMassTransform() * frameInA;
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m_calculatedTransformB = rbB.getCenterOfMassTransform() * frameInB;
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m_realPivotAInW = m_calculatedTransformA.getOrigin();
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m_realPivotBInW = m_calculatedTransformB.getOrigin();
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m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
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m_delta = m_realPivotBInW - m_realPivotAInW;
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m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
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m_relPosA = m_projPivotInW - rbA.getCenterOfMassPosition();
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m_relPosB = m_realPivotBInW - rbB.getCenterOfMassPosition();
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btVector3 normalWorld;
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int i;
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//linear part
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for(i = 0; i < 3; i++)
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{
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normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
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new (&m_jacLin[i]) btJacobianEntry(
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rbA.getCenterOfMassTransform().getBasis().transpose(),
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rbB.getCenterOfMassTransform().getBasis().transpose(),
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m_relPosA,
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m_relPosB,
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normalWorld,
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rbA.getInvInertiaDiagLocal(),
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rbA.getInvMass(),
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rbB.getInvInertiaDiagLocal(),
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rbB.getInvMass()
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);
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m_jacLinDiagABInv[i] = btScalar(1.) / m_jacLin[i].getDiagonal();
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m_depth[i] = m_delta.dot(normalWorld);
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}
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testLinLimits();
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// angular part
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for(i = 0; i < 3; i++)
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{
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normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
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new (&m_jacAng[i]) btJacobianEntry(
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normalWorld,
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rbA.getCenterOfMassTransform().getBasis().transpose(),
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rbB.getCenterOfMassTransform().getBasis().transpose(),
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rbA.getInvInertiaDiagLocal(),
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rbB.getInvInertiaDiagLocal()
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);
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}
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testAngLimits();
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btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
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m_kAngle = btScalar(1.0 )/ (rbA.computeAngularImpulseDenominator(axisA) + rbB.computeAngularImpulseDenominator(axisA));
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// clear accumulator for motors
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m_accumulatedLinMotorImpulse = btScalar(0.0);
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m_accumulatedAngMotorImpulse = btScalar(0.0);
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} // btSliderConstraint::buildJacobianInt()
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//-----------------------------------------------------------------------------
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void btSliderConstraint::solveConstraint(btScalar timeStep)
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{
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m_timeStep = timeStep;
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if(m_useLinearReferenceFrameA)
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{
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solveConstraintInt(m_rbA, m_rbB);
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}
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else
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{
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solveConstraintInt(m_rbB, m_rbA);
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}
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} // btSliderConstraint::solveConstraint()
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//-----------------------------------------------------------------------------
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void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
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{
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int i;
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// linear
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btVector3 velA = rbA.getVelocityInLocalPoint(m_relPosA);
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btVector3 velB = rbB.getVelocityInLocalPoint(m_relPosB);
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btVector3 vel = velA - velB;
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for(i = 0; i < 3; i++)
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{
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const btVector3& normal = m_jacLin[i].m_linearJointAxis;
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btScalar rel_vel = normal.dot(vel);
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// calculate positional error
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btScalar depth = m_depth[i];
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// get parameters
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btScalar softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin);
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btScalar restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin);
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btScalar damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin);
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// calcutate and apply impulse
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btScalar normalImpulse = softness * (restitution * depth / m_timeStep - damping * rel_vel) * m_jacLinDiagABInv[i];
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btVector3 impulse_vector = normal * normalImpulse;
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rbA.applyImpulse( impulse_vector, m_relPosA);
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rbB.applyImpulse(-impulse_vector, m_relPosB);
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if(m_poweredLinMotor && (!i))
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{ // apply linear motor
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if(m_accumulatedLinMotorImpulse < m_maxLinMotorForce)
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{
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btScalar desiredMotorVel = m_targetLinMotorVelocity;
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btScalar motor_relvel = desiredMotorVel + rel_vel;
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normalImpulse = -motor_relvel * m_jacLinDiagABInv[i];
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// clamp accumulated impulse
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btScalar new_acc = m_accumulatedLinMotorImpulse + btFabs(normalImpulse);
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if(new_acc > m_maxLinMotorForce)
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{
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new_acc = m_maxLinMotorForce;
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}
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btScalar del = new_acc - m_accumulatedLinMotorImpulse;
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if(normalImpulse < btScalar(0.0))
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{
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normalImpulse = -del;
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}
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else
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{
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normalImpulse = del;
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}
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m_accumulatedLinMotorImpulse = new_acc;
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// apply clamped impulse
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impulse_vector = normal * normalImpulse;
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rbA.applyImpulse( impulse_vector, m_relPosA);
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rbB.applyImpulse(-impulse_vector, m_relPosB);
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}
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}
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}
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// angular
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// get axes in world space
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btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
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btVector3 axisB = m_calculatedTransformB.getBasis().getColumn(0);
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const btVector3& angVelA = rbA.getAngularVelocity();
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const btVector3& angVelB = rbB.getAngularVelocity();
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btVector3 angVelAroundAxisA = axisA * axisA.dot(angVelA);
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btVector3 angVelAroundAxisB = axisB * axisB.dot(angVelB);
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btVector3 angAorthog = angVelA - angVelAroundAxisA;
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btVector3 angBorthog = angVelB - angVelAroundAxisB;
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btVector3 velrelOrthog = angAorthog-angBorthog;
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//solve orthogonal angular velocity correction
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btScalar len = velrelOrthog.length();
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if (len > btScalar(0.00001))
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{
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btVector3 normal = velrelOrthog.normalized();
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btScalar denom = rbA.computeAngularImpulseDenominator(normal) + rbB.computeAngularImpulseDenominator(normal);
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velrelOrthog *= (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
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}
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//solve angular positional correction
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btVector3 angularError = axisA.cross(axisB) *(btScalar(1.)/m_timeStep);
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btScalar len2 = angularError.length();
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if (len2>btScalar(0.00001))
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{
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btVector3 normal2 = angularError.normalized();
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btScalar denom2 = rbA.computeAngularImpulseDenominator(normal2) + rbB.computeAngularImpulseDenominator(normal2);
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angularError *= (btScalar(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
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}
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// apply impulse
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rbA.applyTorqueImpulse(-velrelOrthog+angularError);
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rbB.applyTorqueImpulse(velrelOrthog-angularError);
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btScalar impulseMag;
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//solve angular limits
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if(m_solveAngLim)
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{
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impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / m_timeStep;
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impulseMag *= m_kAngle * m_softnessLimAng;
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}
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else
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{
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impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / m_timeStep;
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impulseMag *= m_kAngle * m_softnessDirAng;
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}
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btVector3 impulse = axisA * impulseMag;
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rbA.applyTorqueImpulse(impulse);
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rbB.applyTorqueImpulse(-impulse);
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//apply angular motor
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if(m_poweredAngMotor)
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{
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if(m_accumulatedAngMotorImpulse < m_maxAngMotorForce)
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{
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btVector3 velrel = angVelAroundAxisA - angVelAroundAxisB;
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btScalar projRelVel = velrel.dot(axisA);
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btScalar desiredMotorVel = m_targetAngMotorVelocity;
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btScalar motor_relvel = desiredMotorVel - projRelVel;
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btScalar angImpulse = m_kAngle * motor_relvel;
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// clamp accumulated impulse
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btScalar new_acc = m_accumulatedAngMotorImpulse + btFabs(angImpulse);
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if(new_acc > m_maxAngMotorForce)
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{
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new_acc = m_maxAngMotorForce;
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}
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btScalar del = new_acc - m_accumulatedAngMotorImpulse;
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if(angImpulse < btScalar(0.0))
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{
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angImpulse = -del;
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}
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else
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{
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angImpulse = del;
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}
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m_accumulatedAngMotorImpulse = new_acc;
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// apply clamped impulse
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btVector3 motorImp = angImpulse * axisA;
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m_rbA.applyTorqueImpulse(motorImp);
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m_rbB.applyTorqueImpulse(-motorImp);
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}
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}
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} // btSliderConstraint::solveConstraint()
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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void btSliderConstraint::calculateTransforms(void){
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if(m_useLinearReferenceFrameA)
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{
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m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA;
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m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB;
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}
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else
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{
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m_calculatedTransformA = m_rbB.getCenterOfMassTransform() * m_frameInB;
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m_calculatedTransformB = m_rbA.getCenterOfMassTransform() * m_frameInA;
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}
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m_realPivotAInW = m_calculatedTransformA.getOrigin();
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m_realPivotBInW = m_calculatedTransformB.getOrigin();
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m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
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m_delta = m_realPivotBInW - m_realPivotAInW;
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m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
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btVector3 normalWorld;
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int i;
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//linear part
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for(i = 0; i < 3; i++)
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{
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normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
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m_depth[i] = m_delta.dot(normalWorld);
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}
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} // btSliderConstraint::calculateTransforms()
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//-----------------------------------------------------------------------------
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void btSliderConstraint::testLinLimits(void)
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{
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m_solveLinLim = false;
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if(m_lowerLinLimit <= m_upperLinLimit)
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{
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if(m_depth[0] > m_upperLinLimit)
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{
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m_depth[0] -= m_upperLinLimit;
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m_solveLinLim = true;
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}
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else if(m_depth[0] < m_lowerLinLimit)
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{
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m_depth[0] -= m_lowerLinLimit;
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m_solveLinLim = true;
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}
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else
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{
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m_depth[0] = btScalar(0.);
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}
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}
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else
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{
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m_depth[0] = btScalar(0.);
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}
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} // btSliderConstraint::testLinLimits()
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//-----------------------------------------------------------------------------
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void btSliderConstraint::testAngLimits(void)
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{
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m_angDepth = btScalar(0.);
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m_solveAngLim = false;
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if(m_lowerAngLimit <= m_upperAngLimit)
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{
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const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
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const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
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const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
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btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
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if(rot < m_lowerAngLimit)
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{
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m_angDepth = rot - m_lowerAngLimit;
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m_solveAngLim = true;
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}
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else if(rot > m_upperAngLimit)
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{
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m_angDepth = rot - m_upperAngLimit;
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m_solveAngLim = true;
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}
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}
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} // btSliderConstraint::testAngLimits()
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//-----------------------------------------------------------------------------
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||||
|
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
/*
|
||||
Added by Roman Ponomarev (rponom@gmail.com)
|
||||
April 04, 2008
|
||||
*/
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
#include "btSliderConstraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
#include <new>
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
void btSliderConstraint::initParams()
|
||||
{
|
||||
m_lowerLinLimit = btScalar(1.0);
|
||||
m_upperLinLimit = btScalar(-1.0);
|
||||
m_lowerAngLimit = btScalar(0.);
|
||||
m_upperAngLimit = btScalar(0.);
|
||||
m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
|
||||
m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
|
||||
m_dampingDirLin = btScalar(0.);
|
||||
m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
|
||||
m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
|
||||
m_dampingDirAng = btScalar(0.);
|
||||
m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
|
||||
m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
|
||||
m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
|
||||
m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
|
||||
m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
|
||||
m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
|
||||
m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
|
||||
m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
|
||||
m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
|
||||
m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
|
||||
m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
|
||||
m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
|
||||
|
||||
m_poweredLinMotor = false;
|
||||
m_targetLinMotorVelocity = btScalar(0.);
|
||||
m_maxLinMotorForce = btScalar(0.);
|
||||
m_accumulatedLinMotorImpulse = btScalar(0.0);
|
||||
|
||||
m_poweredAngMotor = false;
|
||||
m_targetAngMotorVelocity = btScalar(0.);
|
||||
m_maxAngMotorForce = btScalar(0.);
|
||||
m_accumulatedAngMotorImpulse = btScalar(0.0);
|
||||
|
||||
} // btSliderConstraint::initParams()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
btSliderConstraint::btSliderConstraint()
|
||||
:btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
|
||||
m_useLinearReferenceFrameA(true)
|
||||
{
|
||||
initParams();
|
||||
} // btSliderConstraint::btSliderConstraint()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
|
||||
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB)
|
||||
, m_frameInA(frameInA)
|
||||
, m_frameInB(frameInB),
|
||||
m_useLinearReferenceFrameA(useLinearReferenceFrameA)
|
||||
{
|
||||
initParams();
|
||||
} // btSliderConstraint::btSliderConstraint()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
void btSliderConstraint::buildJacobian()
|
||||
{
|
||||
if(m_useLinearReferenceFrameA)
|
||||
{
|
||||
buildJacobianInt(m_rbA, m_rbB, m_frameInA, m_frameInB);
|
||||
}
|
||||
else
|
||||
{
|
||||
buildJacobianInt(m_rbB, m_rbA, m_frameInB, m_frameInA);
|
||||
}
|
||||
} // btSliderConstraint::buildJacobian()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
|
||||
{
|
||||
//calculate transforms
|
||||
m_calculatedTransformA = rbA.getCenterOfMassTransform() * frameInA;
|
||||
m_calculatedTransformB = rbB.getCenterOfMassTransform() * frameInB;
|
||||
m_realPivotAInW = m_calculatedTransformA.getOrigin();
|
||||
m_realPivotBInW = m_calculatedTransformB.getOrigin();
|
||||
m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
|
||||
m_delta = m_realPivotBInW - m_realPivotAInW;
|
||||
m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
|
||||
m_relPosA = m_projPivotInW - rbA.getCenterOfMassPosition();
|
||||
m_relPosB = m_realPivotBInW - rbB.getCenterOfMassPosition();
|
||||
btVector3 normalWorld;
|
||||
int i;
|
||||
//linear part
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
|
||||
new (&m_jacLin[i]) btJacobianEntry(
|
||||
rbA.getCenterOfMassTransform().getBasis().transpose(),
|
||||
rbB.getCenterOfMassTransform().getBasis().transpose(),
|
||||
m_relPosA,
|
||||
m_relPosB,
|
||||
normalWorld,
|
||||
rbA.getInvInertiaDiagLocal(),
|
||||
rbA.getInvMass(),
|
||||
rbB.getInvInertiaDiagLocal(),
|
||||
rbB.getInvMass()
|
||||
);
|
||||
m_jacLinDiagABInv[i] = btScalar(1.) / m_jacLin[i].getDiagonal();
|
||||
m_depth[i] = m_delta.dot(normalWorld);
|
||||
}
|
||||
testLinLimits();
|
||||
// angular part
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
|
||||
new (&m_jacAng[i]) btJacobianEntry(
|
||||
normalWorld,
|
||||
rbA.getCenterOfMassTransform().getBasis().transpose(),
|
||||
rbB.getCenterOfMassTransform().getBasis().transpose(),
|
||||
rbA.getInvInertiaDiagLocal(),
|
||||
rbB.getInvInertiaDiagLocal()
|
||||
);
|
||||
}
|
||||
testAngLimits();
|
||||
btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
|
||||
m_kAngle = btScalar(1.0 )/ (rbA.computeAngularImpulseDenominator(axisA) + rbB.computeAngularImpulseDenominator(axisA));
|
||||
// clear accumulator for motors
|
||||
m_accumulatedLinMotorImpulse = btScalar(0.0);
|
||||
m_accumulatedAngMotorImpulse = btScalar(0.0);
|
||||
} // btSliderConstraint::buildJacobianInt()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
void btSliderConstraint::solveConstraint(btScalar timeStep)
|
||||
{
|
||||
m_timeStep = timeStep;
|
||||
if(m_useLinearReferenceFrameA)
|
||||
{
|
||||
solveConstraintInt(m_rbA, m_rbB);
|
||||
}
|
||||
else
|
||||
{
|
||||
solveConstraintInt(m_rbB, m_rbA);
|
||||
}
|
||||
} // btSliderConstraint::solveConstraint()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
|
||||
{
|
||||
int i;
|
||||
// linear
|
||||
btVector3 velA = rbA.getVelocityInLocalPoint(m_relPosA);
|
||||
btVector3 velB = rbB.getVelocityInLocalPoint(m_relPosB);
|
||||
btVector3 vel = velA - velB;
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
const btVector3& normal = m_jacLin[i].m_linearJointAxis;
|
||||
btScalar rel_vel = normal.dot(vel);
|
||||
// calculate positional error
|
||||
btScalar depth = m_depth[i];
|
||||
// get parameters
|
||||
btScalar softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin);
|
||||
btScalar restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin);
|
||||
btScalar damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin);
|
||||
// calcutate and apply impulse
|
||||
btScalar normalImpulse = softness * (restitution * depth / m_timeStep - damping * rel_vel) * m_jacLinDiagABInv[i];
|
||||
btVector3 impulse_vector = normal * normalImpulse;
|
||||
rbA.applyImpulse( impulse_vector, m_relPosA);
|
||||
rbB.applyImpulse(-impulse_vector, m_relPosB);
|
||||
if(m_poweredLinMotor && (!i))
|
||||
{ // apply linear motor
|
||||
if(m_accumulatedLinMotorImpulse < m_maxLinMotorForce)
|
||||
{
|
||||
btScalar desiredMotorVel = m_targetLinMotorVelocity;
|
||||
btScalar motor_relvel = desiredMotorVel + rel_vel;
|
||||
normalImpulse = -motor_relvel * m_jacLinDiagABInv[i];
|
||||
// clamp accumulated impulse
|
||||
btScalar new_acc = m_accumulatedLinMotorImpulse + btFabs(normalImpulse);
|
||||
if(new_acc > m_maxLinMotorForce)
|
||||
{
|
||||
new_acc = m_maxLinMotorForce;
|
||||
}
|
||||
btScalar del = new_acc - m_accumulatedLinMotorImpulse;
|
||||
if(normalImpulse < btScalar(0.0))
|
||||
{
|
||||
normalImpulse = -del;
|
||||
}
|
||||
else
|
||||
{
|
||||
normalImpulse = del;
|
||||
}
|
||||
m_accumulatedLinMotorImpulse = new_acc;
|
||||
// apply clamped impulse
|
||||
impulse_vector = normal * normalImpulse;
|
||||
rbA.applyImpulse( impulse_vector, m_relPosA);
|
||||
rbB.applyImpulse(-impulse_vector, m_relPosB);
|
||||
}
|
||||
}
|
||||
}
|
||||
// angular
|
||||
// get axes in world space
|
||||
btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
|
||||
btVector3 axisB = m_calculatedTransformB.getBasis().getColumn(0);
|
||||
|
||||
const btVector3& angVelA = rbA.getAngularVelocity();
|
||||
const btVector3& angVelB = rbB.getAngularVelocity();
|
||||
|
||||
btVector3 angVelAroundAxisA = axisA * axisA.dot(angVelA);
|
||||
btVector3 angVelAroundAxisB = axisB * axisB.dot(angVelB);
|
||||
|
||||
btVector3 angAorthog = angVelA - angVelAroundAxisA;
|
||||
btVector3 angBorthog = angVelB - angVelAroundAxisB;
|
||||
btVector3 velrelOrthog = angAorthog-angBorthog;
|
||||
//solve orthogonal angular velocity correction
|
||||
btScalar len = velrelOrthog.length();
|
||||
if (len > btScalar(0.00001))
|
||||
{
|
||||
btVector3 normal = velrelOrthog.normalized();
|
||||
btScalar denom = rbA.computeAngularImpulseDenominator(normal) + rbB.computeAngularImpulseDenominator(normal);
|
||||
velrelOrthog *= (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
|
||||
}
|
||||
//solve angular positional correction
|
||||
btVector3 angularError = axisA.cross(axisB) *(btScalar(1.)/m_timeStep);
|
||||
btScalar len2 = angularError.length();
|
||||
if (len2>btScalar(0.00001))
|
||||
{
|
||||
btVector3 normal2 = angularError.normalized();
|
||||
btScalar denom2 = rbA.computeAngularImpulseDenominator(normal2) + rbB.computeAngularImpulseDenominator(normal2);
|
||||
angularError *= (btScalar(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
|
||||
}
|
||||
// apply impulse
|
||||
rbA.applyTorqueImpulse(-velrelOrthog+angularError);
|
||||
rbB.applyTorqueImpulse(velrelOrthog-angularError);
|
||||
btScalar impulseMag;
|
||||
//solve angular limits
|
||||
if(m_solveAngLim)
|
||||
{
|
||||
impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / m_timeStep;
|
||||
impulseMag *= m_kAngle * m_softnessLimAng;
|
||||
}
|
||||
else
|
||||
{
|
||||
impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / m_timeStep;
|
||||
impulseMag *= m_kAngle * m_softnessDirAng;
|
||||
}
|
||||
btVector3 impulse = axisA * impulseMag;
|
||||
rbA.applyTorqueImpulse(impulse);
|
||||
rbB.applyTorqueImpulse(-impulse);
|
||||
//apply angular motor
|
||||
if(m_poweredAngMotor)
|
||||
{
|
||||
if(m_accumulatedAngMotorImpulse < m_maxAngMotorForce)
|
||||
{
|
||||
btVector3 velrel = angVelAroundAxisA - angVelAroundAxisB;
|
||||
btScalar projRelVel = velrel.dot(axisA);
|
||||
|
||||
btScalar desiredMotorVel = m_targetAngMotorVelocity;
|
||||
btScalar motor_relvel = desiredMotorVel - projRelVel;
|
||||
|
||||
btScalar angImpulse = m_kAngle * motor_relvel;
|
||||
// clamp accumulated impulse
|
||||
btScalar new_acc = m_accumulatedAngMotorImpulse + btFabs(angImpulse);
|
||||
if(new_acc > m_maxAngMotorForce)
|
||||
{
|
||||
new_acc = m_maxAngMotorForce;
|
||||
}
|
||||
btScalar del = new_acc - m_accumulatedAngMotorImpulse;
|
||||
if(angImpulse < btScalar(0.0))
|
||||
{
|
||||
angImpulse = -del;
|
||||
}
|
||||
else
|
||||
{
|
||||
angImpulse = del;
|
||||
}
|
||||
m_accumulatedAngMotorImpulse = new_acc;
|
||||
// apply clamped impulse
|
||||
btVector3 motorImp = angImpulse * axisA;
|
||||
m_rbA.applyTorqueImpulse(motorImp);
|
||||
m_rbB.applyTorqueImpulse(-motorImp);
|
||||
}
|
||||
}
|
||||
} // btSliderConstraint::solveConstraint()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
void btSliderConstraint::calculateTransforms(void){
|
||||
if(m_useLinearReferenceFrameA)
|
||||
{
|
||||
m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA;
|
||||
m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_calculatedTransformA = m_rbB.getCenterOfMassTransform() * m_frameInB;
|
||||
m_calculatedTransformB = m_rbA.getCenterOfMassTransform() * m_frameInA;
|
||||
}
|
||||
m_realPivotAInW = m_calculatedTransformA.getOrigin();
|
||||
m_realPivotBInW = m_calculatedTransformB.getOrigin();
|
||||
m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
|
||||
m_delta = m_realPivotBInW - m_realPivotAInW;
|
||||
m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
|
||||
btVector3 normalWorld;
|
||||
int i;
|
||||
//linear part
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
|
||||
m_depth[i] = m_delta.dot(normalWorld);
|
||||
}
|
||||
} // btSliderConstraint::calculateTransforms()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
void btSliderConstraint::testLinLimits(void)
|
||||
{
|
||||
m_solveLinLim = false;
|
||||
if(m_lowerLinLimit <= m_upperLinLimit)
|
||||
{
|
||||
if(m_depth[0] > m_upperLinLimit)
|
||||
{
|
||||
m_depth[0] -= m_upperLinLimit;
|
||||
m_solveLinLim = true;
|
||||
}
|
||||
else if(m_depth[0] < m_lowerLinLimit)
|
||||
{
|
||||
m_depth[0] -= m_lowerLinLimit;
|
||||
m_solveLinLim = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_depth[0] = btScalar(0.);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
m_depth[0] = btScalar(0.);
|
||||
}
|
||||
} // btSliderConstraint::testLinLimits()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
|
||||
void btSliderConstraint::testAngLimits(void)
|
||||
{
|
||||
m_angDepth = btScalar(0.);
|
||||
m_solveAngLim = false;
|
||||
if(m_lowerAngLimit <= m_upperAngLimit)
|
||||
{
|
||||
const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
|
||||
const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
|
||||
const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
|
||||
btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
|
||||
if(rot < m_lowerAngLimit)
|
||||
{
|
||||
m_angDepth = rot - m_lowerAngLimit;
|
||||
m_solveAngLim = true;
|
||||
}
|
||||
else if(rot > m_upperAngLimit)
|
||||
{
|
||||
m_angDepth = rot - m_upperAngLimit;
|
||||
m_solveAngLim = true;
|
||||
}
|
||||
}
|
||||
} // btSliderConstraint::testAngLimits()
|
||||
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
|
||||
|
||||
btVector3 btSliderConstraint::getAncorInA(void)
|
||||
{
|
||||
btVector3 ancorInA;
|
||||
ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
|
||||
ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
|
||||
return ancorInA;
|
||||
} // btSliderConstraint::getAncorInA()
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
btVector3 btSliderConstraint::getAncorInB(void)
|
||||
{
|
||||
btVector3 ancorInB;
|
||||
ancorInB = m_frameInB.getOrigin();
|
||||
return ancorInB;
|
||||
} // btSliderConstraint::getAncorInB();
|
||||
|
||||
@@ -1,212 +1,215 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
/*
|
||||
Added by Roman Ponomarev (rponom@gmail.com)
|
||||
April 04, 2008
|
||||
|
||||
TODO:
|
||||
- add clamping od accumulated impulse to improve stability
|
||||
- add conversion for ODE constraint solver
|
||||
*/
|
||||
|
||||
#ifndef SLIDER_CONSTRAINT_H
|
||||
#define SLIDER_CONSTRAINT_H
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btJacobianEntry.h"
|
||||
#include "btTypedConstraint.h"
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
class btRigidBody;
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
|
||||
#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
|
||||
#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
class btSliderConstraint : public btTypedConstraint
|
||||
{
|
||||
protected:
|
||||
btTransform m_frameInA;
|
||||
btTransform m_frameInB;
|
||||
// use frameA fo define limits, if true
|
||||
bool m_useLinearReferenceFrameA;
|
||||
// linear limits
|
||||
btScalar m_lowerLinLimit;
|
||||
btScalar m_upperLinLimit;
|
||||
// angular limits
|
||||
btScalar m_lowerAngLimit;
|
||||
btScalar m_upperAngLimit;
|
||||
// softness, restitution and damping for different cases
|
||||
// DirLin - moving inside linear limits
|
||||
// LimLin - hitting linear limit
|
||||
// DirAng - moving inside angular limits
|
||||
// LimAng - hitting angular limit
|
||||
// OrthoLin, OrthoAng - against constraint axis
|
||||
btScalar m_softnessDirLin;
|
||||
btScalar m_restitutionDirLin;
|
||||
btScalar m_dampingDirLin;
|
||||
btScalar m_softnessDirAng;
|
||||
btScalar m_restitutionDirAng;
|
||||
btScalar m_dampingDirAng;
|
||||
btScalar m_softnessLimLin;
|
||||
btScalar m_restitutionLimLin;
|
||||
btScalar m_dampingLimLin;
|
||||
btScalar m_softnessLimAng;
|
||||
btScalar m_restitutionLimAng;
|
||||
btScalar m_dampingLimAng;
|
||||
btScalar m_softnessOrthoLin;
|
||||
btScalar m_restitutionOrthoLin;
|
||||
btScalar m_dampingOrthoLin;
|
||||
btScalar m_softnessOrthoAng;
|
||||
btScalar m_restitutionOrthoAng;
|
||||
btScalar m_dampingOrthoAng;
|
||||
|
||||
// for interlal use
|
||||
bool m_solveLinLim;
|
||||
bool m_solveAngLim;
|
||||
|
||||
btJacobianEntry m_jacLin[3];
|
||||
btScalar m_jacLinDiagABInv[3];
|
||||
|
||||
btJacobianEntry m_jacAng[3];
|
||||
|
||||
btScalar m_timeStep;
|
||||
btTransform m_calculatedTransformA;
|
||||
btTransform m_calculatedTransformB;
|
||||
|
||||
btVector3 m_sliderAxis;
|
||||
btVector3 m_realPivotAInW;
|
||||
btVector3 m_realPivotBInW;
|
||||
btVector3 m_projPivotInW;
|
||||
btVector3 m_delta;
|
||||
btVector3 m_depth;
|
||||
btVector3 m_relPosA;
|
||||
btVector3 m_relPosB;
|
||||
|
||||
btScalar m_angDepth;
|
||||
btScalar m_kAngle;
|
||||
|
||||
bool m_poweredLinMotor;
|
||||
btScalar m_targetLinMotorVelocity;
|
||||
btScalar m_maxLinMotorForce;
|
||||
btScalar m_accumulatedLinMotorImpulse;
|
||||
|
||||
bool m_poweredAngMotor;
|
||||
btScalar m_targetAngMotorVelocity;
|
||||
btScalar m_maxAngMotorForce;
|
||||
btScalar m_accumulatedAngMotorImpulse;
|
||||
|
||||
//------------------------
|
||||
void initParams();
|
||||
public:
|
||||
// constructors
|
||||
btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
|
||||
btSliderConstraint();
|
||||
// overrides
|
||||
virtual void buildJacobian();
|
||||
virtual void solveConstraint(btScalar timeStep);
|
||||
// access
|
||||
const btRigidBody& getRigidBodyA() const { return m_rbA; }
|
||||
const btRigidBody& getRigidBodyB() const { return m_rbB; }
|
||||
const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
|
||||
const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
|
||||
const btTransform & getFrameOffsetA() const { return m_frameInA; }
|
||||
const btTransform & getFrameOffsetB() const { return m_frameInB; }
|
||||
btTransform & getFrameOffsetA() { return m_frameInA; }
|
||||
btTransform & getFrameOffsetB() { return m_frameInB; }
|
||||
btScalar getLowerLinLimit() { return m_lowerLinLimit; }
|
||||
void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
|
||||
btScalar getUpperLinLimit() { return m_upperLinLimit; }
|
||||
void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
|
||||
btScalar getLowerAngLimit() { return m_lowerAngLimit; }
|
||||
void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = lowerLimit; }
|
||||
btScalar getUpperAngLimit() { return m_upperAngLimit; }
|
||||
void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = upperLimit; }
|
||||
bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
|
||||
btScalar getSoftnessDirLin() { return m_softnessDirLin; }
|
||||
btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
|
||||
btScalar getDampingDirLin() { return m_dampingDirLin ; }
|
||||
btScalar getSoftnessDirAng() { return m_softnessDirAng; }
|
||||
btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
|
||||
btScalar getDampingDirAng() { return m_dampingDirAng; }
|
||||
btScalar getSoftnessLimLin() { return m_softnessLimLin; }
|
||||
btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
|
||||
btScalar getDampingLimLin() { return m_dampingLimLin; }
|
||||
btScalar getSoftnessLimAng() { return m_softnessLimAng; }
|
||||
btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
|
||||
btScalar getDampingLimAng() { return m_dampingLimAng; }
|
||||
btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
|
||||
btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
|
||||
btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
|
||||
btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
|
||||
btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
|
||||
btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
|
||||
void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
|
||||
void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
|
||||
void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
|
||||
void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
|
||||
void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
|
||||
void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
|
||||
void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
|
||||
void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
|
||||
void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
|
||||
void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
|
||||
void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
|
||||
void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
|
||||
void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
|
||||
void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
|
||||
void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
|
||||
void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
|
||||
void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
|
||||
void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
|
||||
void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
|
||||
bool getPoweredLinMotor() { return m_poweredLinMotor; }
|
||||
void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
|
||||
btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
|
||||
void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
|
||||
btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
|
||||
void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
|
||||
bool getPoweredAngMotor() { return m_poweredAngMotor; }
|
||||
void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
|
||||
btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
|
||||
void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
|
||||
btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
|
||||
|
||||
// access for ODE solver
|
||||
bool getSolveLinLimit() { return m_solveLinLim; }
|
||||
btScalar getLinDepth() { return m_depth[0]; }
|
||||
bool getSolveAngLimit() { return m_solveAngLim; }
|
||||
btScalar getAngDepth() { return m_angDepth; }
|
||||
// internal
|
||||
void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB);
|
||||
void solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB);
|
||||
// shared code used by ODE solver
|
||||
void calculateTransforms(void);
|
||||
void testLinLimits(void);
|
||||
void testAngLimits(void);
|
||||
};
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
#endif //SLIDER_CONSTRAINT_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
/*
|
||||
Added by Roman Ponomarev (rponom@gmail.com)
|
||||
April 04, 2008
|
||||
|
||||
TODO:
|
||||
- add clamping od accumulated impulse to improve stability
|
||||
- add conversion for ODE constraint solver
|
||||
*/
|
||||
|
||||
#ifndef SLIDER_CONSTRAINT_H
|
||||
#define SLIDER_CONSTRAINT_H
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btJacobianEntry.h"
|
||||
#include "btTypedConstraint.h"
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
class btRigidBody;
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
|
||||
#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
|
||||
#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
class btSliderConstraint : public btTypedConstraint
|
||||
{
|
||||
protected:
|
||||
btTransform m_frameInA;
|
||||
btTransform m_frameInB;
|
||||
// use frameA fo define limits, if true
|
||||
bool m_useLinearReferenceFrameA;
|
||||
// linear limits
|
||||
btScalar m_lowerLinLimit;
|
||||
btScalar m_upperLinLimit;
|
||||
// angular limits
|
||||
btScalar m_lowerAngLimit;
|
||||
btScalar m_upperAngLimit;
|
||||
// softness, restitution and damping for different cases
|
||||
// DirLin - moving inside linear limits
|
||||
// LimLin - hitting linear limit
|
||||
// DirAng - moving inside angular limits
|
||||
// LimAng - hitting angular limit
|
||||
// OrthoLin, OrthoAng - against constraint axis
|
||||
btScalar m_softnessDirLin;
|
||||
btScalar m_restitutionDirLin;
|
||||
btScalar m_dampingDirLin;
|
||||
btScalar m_softnessDirAng;
|
||||
btScalar m_restitutionDirAng;
|
||||
btScalar m_dampingDirAng;
|
||||
btScalar m_softnessLimLin;
|
||||
btScalar m_restitutionLimLin;
|
||||
btScalar m_dampingLimLin;
|
||||
btScalar m_softnessLimAng;
|
||||
btScalar m_restitutionLimAng;
|
||||
btScalar m_dampingLimAng;
|
||||
btScalar m_softnessOrthoLin;
|
||||
btScalar m_restitutionOrthoLin;
|
||||
btScalar m_dampingOrthoLin;
|
||||
btScalar m_softnessOrthoAng;
|
||||
btScalar m_restitutionOrthoAng;
|
||||
btScalar m_dampingOrthoAng;
|
||||
|
||||
// for interlal use
|
||||
bool m_solveLinLim;
|
||||
bool m_solveAngLim;
|
||||
|
||||
btJacobianEntry m_jacLin[3];
|
||||
btScalar m_jacLinDiagABInv[3];
|
||||
|
||||
btJacobianEntry m_jacAng[3];
|
||||
|
||||
btScalar m_timeStep;
|
||||
btTransform m_calculatedTransformA;
|
||||
btTransform m_calculatedTransformB;
|
||||
|
||||
btVector3 m_sliderAxis;
|
||||
btVector3 m_realPivotAInW;
|
||||
btVector3 m_realPivotBInW;
|
||||
btVector3 m_projPivotInW;
|
||||
btVector3 m_delta;
|
||||
btVector3 m_depth;
|
||||
btVector3 m_relPosA;
|
||||
btVector3 m_relPosB;
|
||||
|
||||
btScalar m_angDepth;
|
||||
btScalar m_kAngle;
|
||||
|
||||
bool m_poweredLinMotor;
|
||||
btScalar m_targetLinMotorVelocity;
|
||||
btScalar m_maxLinMotorForce;
|
||||
btScalar m_accumulatedLinMotorImpulse;
|
||||
|
||||
bool m_poweredAngMotor;
|
||||
btScalar m_targetAngMotorVelocity;
|
||||
btScalar m_maxAngMotorForce;
|
||||
btScalar m_accumulatedAngMotorImpulse;
|
||||
|
||||
//------------------------
|
||||
void initParams();
|
||||
public:
|
||||
// constructors
|
||||
btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
|
||||
btSliderConstraint();
|
||||
// overrides
|
||||
virtual void buildJacobian();
|
||||
virtual void solveConstraint(btScalar timeStep);
|
||||
// access
|
||||
const btRigidBody& getRigidBodyA() const { return m_rbA; }
|
||||
const btRigidBody& getRigidBodyB() const { return m_rbB; }
|
||||
const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
|
||||
const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
|
||||
const btTransform & getFrameOffsetA() const { return m_frameInA; }
|
||||
const btTransform & getFrameOffsetB() const { return m_frameInB; }
|
||||
btTransform & getFrameOffsetA() { return m_frameInA; }
|
||||
btTransform & getFrameOffsetB() { return m_frameInB; }
|
||||
btScalar getLowerLinLimit() { return m_lowerLinLimit; }
|
||||
void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
|
||||
btScalar getUpperLinLimit() { return m_upperLinLimit; }
|
||||
void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
|
||||
btScalar getLowerAngLimit() { return m_lowerAngLimit; }
|
||||
void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = lowerLimit; }
|
||||
btScalar getUpperAngLimit() { return m_upperAngLimit; }
|
||||
void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = upperLimit; }
|
||||
bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
|
||||
btScalar getSoftnessDirLin() { return m_softnessDirLin; }
|
||||
btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
|
||||
btScalar getDampingDirLin() { return m_dampingDirLin ; }
|
||||
btScalar getSoftnessDirAng() { return m_softnessDirAng; }
|
||||
btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
|
||||
btScalar getDampingDirAng() { return m_dampingDirAng; }
|
||||
btScalar getSoftnessLimLin() { return m_softnessLimLin; }
|
||||
btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
|
||||
btScalar getDampingLimLin() { return m_dampingLimLin; }
|
||||
btScalar getSoftnessLimAng() { return m_softnessLimAng; }
|
||||
btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
|
||||
btScalar getDampingLimAng() { return m_dampingLimAng; }
|
||||
btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
|
||||
btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
|
||||
btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
|
||||
btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
|
||||
btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
|
||||
btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
|
||||
void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
|
||||
void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
|
||||
void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
|
||||
void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
|
||||
void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
|
||||
void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
|
||||
void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
|
||||
void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
|
||||
void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
|
||||
void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
|
||||
void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
|
||||
void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
|
||||
void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
|
||||
void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
|
||||
void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
|
||||
void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
|
||||
void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
|
||||
void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
|
||||
void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
|
||||
bool getPoweredLinMotor() { return m_poweredLinMotor; }
|
||||
void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
|
||||
btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
|
||||
void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
|
||||
btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
|
||||
void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
|
||||
bool getPoweredAngMotor() { return m_poweredAngMotor; }
|
||||
void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
|
||||
btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
|
||||
void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
|
||||
btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
|
||||
|
||||
// access for ODE solver
|
||||
bool getSolveLinLimit() { return m_solveLinLim; }
|
||||
btScalar getLinDepth() { return m_depth[0]; }
|
||||
bool getSolveAngLimit() { return m_solveAngLim; }
|
||||
btScalar getAngDepth() { return m_angDepth; }
|
||||
// internal
|
||||
void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB);
|
||||
void solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB);
|
||||
// shared code used by ODE solver
|
||||
void calculateTransforms(void);
|
||||
void testLinLimits(void);
|
||||
void testAngLimits(void);
|
||||
// access for PE Solver
|
||||
btVector3 getAncorInA(void);
|
||||
btVector3 getAncorInB(void);
|
||||
};
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
#endif //SLIDER_CONSTRAINT_H
|
||||
|
||||
|
||||
Reference in New Issue
Block a user