Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
Files
075ba0b9d9a440a563d5142ae6e098c14a19393c
bullet3/Extras/quickstep/btOdeQuickstepConstraintSolver.cpp
erwin.coumans d8a5bf2c9c Calculation of bounding box: margins should be added before basis transform. 
Disable btSphereBoxCollisionAlgorithm, it is broken.
More fixes for btSimpleBroadphase
Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.
2008-09-04 22:53:24 +00:00

394 lines
12 KiB
C++
Raw Blame History

/*
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.
*/
#include "btOdeQuickstepConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "btOdeJoint.h"
#include "btOdeContactJoint.h"
#include "btOdeTypedJoint.h"
#include "btOdeSolverBody.h"
#include <new>
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#define USE_SOR_SOLVER
#include "btSorLcp.h"
#include <math.h>
#include <float.h>//FLT_MAX
#ifdef WIN32
#include <memory.h>
#endif
#include <string.h>
#include <stdio.h>
#if defined (WIN32)
#include <malloc.h>
#else
#if defined (__FreeBSD__)
#include <stdlib.h>
#else
#include <alloca.h>
#endif
#endif
class btOdeJoint;
//see below
//to bridge with ODE quickstep, we make a temp copy of the rigidbodies in each simultion island
btOdeQuickstepConstraintSolver::btOdeQuickstepConstraintSolver():
m_cfm(0.f),//1e-5f),
m_erp(0.4f)
{
}
//iterative lcp and penalty method
btScalar btOdeQuickstepConstraintSolver::solveGroup(btCollisionObject** /*bodies*/,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
{
m_CurBody = 0;
m_CurJoint = 0;
m_CurTypedJoint = 0;
int j;
int max_contacts = 0; /// should be 4 //Remotion
for ( j=0;j<numManifolds;j++){
btPersistentManifold* manifold = manifoldPtr[j];
if (manifold->getNumContacts() > max_contacts) max_contacts = manifold->getNumContacts();
}
//if(max_contacts > 4)
// printf(" max_contacts > 4");
int numBodies = 0;
m_odeBodies.clear();
m_odeBodies.reserve(numBulletBodies + 1); //???
// btOdeSolverBody* odeBodies [ODE_MAX_SOLVER_BODIES];
int numJoints = 0;
m_joints.clear();
m_joints.reserve(numManifolds * max_contacts + 4 + numConstraints + 1); //???
// btOdeJoint* joints [ODE_MAX_SOLVER_JOINTS*2];
m_SolverBodyArray.resize(numBulletBodies + 1);
m_JointArray.resize(numManifolds * max_contacts + 4);
m_TypedJointArray.resize(numConstraints + 1);
//capture contacts
int body0=-1,body1=-1;
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];
if (manifold->getNumContacts() > 0)
{
body0 = ConvertBody((btRigidBody*)manifold->getBody0(),m_odeBodies,numBodies);
body1 = ConvertBody((btRigidBody*)manifold->getBody1(),m_odeBodies,numBodies);
ConvertConstraint(manifold,m_joints,numJoints,m_odeBodies,body0,body1,debugDrawer);
}
}
//capture constraints
for (j=0;j<numConstraints;j++)
{
btTypedConstraint * typedconstraint = constraints[j];
body0 = ConvertBody((btRigidBody*)&typedconstraint->getRigidBodyA(),m_odeBodies,numBodies);
body1 = ConvertBody((btRigidBody*)&typedconstraint->getRigidBodyB(),m_odeBodies,numBodies);
ConvertTypedConstraint(typedconstraint,m_joints,numJoints,m_odeBodies,body0,body1,debugDrawer);
}
//if(numBodies > numBulletBodies)
// printf(" numBodies > numBulletBodies");
//if(numJoints > numManifolds * 4 + numConstraints)
// printf(" numJoints > numManifolds * 4 + numConstraints");
m_SorLcpSolver.SolveInternal1(m_cfm,m_erp,m_odeBodies,numBodies,m_joints,numJoints,infoGlobal,stackAlloc); ///do
//write back resulting velocities
for (int i=0;i<numBodies;i++)
{
if (m_odeBodies[i]->m_invMass)
{
m_odeBodies[i]->m_originalBody->setLinearVelocity(m_odeBodies[i]->m_linearVelocity);
m_odeBodies[i]->m_originalBody->setAngularVelocity(m_odeBodies[i]->m_angularVelocity);
}
}
/// Remotion, just free all this here
m_odeBodies.clear();
m_joints.clear();
m_SolverBodyArray.clear();
m_JointArray.clear();
m_TypedJointArray.clear();
return 0.f;
}
/////////////////////////////////////////////////////////////////////////////////
typedef btScalar dQuaternion[4];
#define _R(i,j) R[(i)*4+(j)]
void dRfromQ1 (dMatrix3 R, const dQuaternion q);
void dRfromQ1 (dMatrix3 R, const dQuaternion q)
{
// q = (s,vx,vy,vz)
btScalar qq1 = 2.f*q[1]*q[1];
btScalar qq2 = 2.f*q[2]*q[2];
btScalar qq3 = 2.f*q[3]*q[3];
_R(0,0) = 1.f - qq2 - qq3;
_R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
_R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
_R(0,3) = 0.f;
_R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
_R(1,1) = 1.f - qq1 - qq3;
_R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
_R(1,3) = 0.f;
_R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
_R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
_R(2,2) = 1.f - qq1 - qq2;
_R(2,3) = 0.f;
}
//int btOdeQuickstepConstraintSolver::ConvertBody(btRigidBody* orgBody,btOdeSolverBody** bodies,int& numBodies)
int btOdeQuickstepConstraintSolver::ConvertBody(btRigidBody* orgBody,btAlignedObjectArray< btOdeSolverBody*> &bodies,int& numBodies)
{
assert(orgBody);
if (!orgBody || (orgBody->getInvMass() == 0.f) )
{
return -1;
}
if (orgBody->getCompanionId()>=0)
{
return orgBody->getCompanionId();
}
//first try to find
int i,j;
//if not found, create a new body
// btOdeSolverBody* body = bodies[numBodies] = &gSolverBodyArray[numBodies];
btOdeSolverBody* body = &m_SolverBodyArray[numBodies];
bodies.push_back(body); // Remotion 10.10.07:
orgBody->setCompanionId(numBodies);
numBodies++;
body->m_originalBody = orgBody;
body->m_facc.setValue(0,0,0,0);
body->m_tacc.setValue(0,0,0,0);
body->m_linearVelocity = orgBody->getLinearVelocity();
body->m_angularVelocity = orgBody->getAngularVelocity();
body->m_invMass = orgBody->getInvMass();
body->m_centerOfMassPosition = orgBody->getCenterOfMassPosition();
body->m_friction = orgBody->getFriction();
//are the indices the same ?
for (i=0;i<4;i++)
{
for ( j=0;j<3;j++)
{
body->m_invI[i+4*j] = 0.f;
body->m_I[i+4*j] = 0.f;
}
}
body->m_invI[0+4*0] = orgBody->getInvInertiaDiagLocal().x();
body->m_invI[1+4*1] = orgBody->getInvInertiaDiagLocal().y();
body->m_invI[2+4*2] = orgBody->getInvInertiaDiagLocal().z();
body->m_I[0+0*4] = 1.f/orgBody->getInvInertiaDiagLocal().x();
body->m_I[1+1*4] = 1.f/orgBody->getInvInertiaDiagLocal().y();
body->m_I[2+2*4] = 1.f/orgBody->getInvInertiaDiagLocal().z();
dQuaternion q;
q[1] = orgBody->getOrientation().x();
q[2] = orgBody->getOrientation().y();
q[3] = orgBody->getOrientation().z();
q[0] = orgBody->getOrientation().w();
dRfromQ1(body->m_R,q);
return numBodies-1;
}
void btOdeQuickstepConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,
btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
const btAlignedObjectArray< btOdeSolverBody*> &bodies,
int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer)
{
manifold->refreshContactPoints(((btRigidBody*)manifold->getBody0())->getCenterOfMassTransform(),
((btRigidBody*)manifold->getBody1())->getCenterOfMassTransform());
int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
int i,numContacts = manifold->getNumContacts();
bool swapBodies = (bodyId0 < 0);
btOdeSolverBody* body0,*body1;
if (swapBodies)
{
bodyId0 = _bodyId1;
bodyId1 = _bodyId0;
body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody1();
body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody0();
}
else
{
body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody0();
body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody1();
}
assert(bodyId0 >= 0);
btVector3 color(0,1,0);
for (i=0;i<numContacts;i++)
{
//assert (m_CurJoint < ODE_MAX_SOLVER_JOINTS);
// if (manifold->getContactPoint(i).getDistance() < 0.0f)
{
btOdeContactJoint* cont = new (&m_JointArray[m_CurJoint++]) btOdeContactJoint( manifold ,i, swapBodies,body0,body1);
//btOdeContactJoint* cont = new (&gJointArray[m_CurJoint++]) btOdeContactJoint( manifold ,i, swapBodies,body0,body1);
cont->node[0].joint = cont;
cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;
cont->node[1].joint = cont;
cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0;
// joints[numJoints++] = cont;
joints.push_back(cont); // Remotion 10.10.07:
numJoints++;
for (int i=0;i<6;i++)
cont->lambda[i] = 0.f;
cont->flags = 0;
}
}
//create a new contact constraint
}
void btOdeQuickstepConstraintSolver::ConvertTypedConstraint(
btTypedConstraint * constraint,
btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
const btAlignedObjectArray< btOdeSolverBody*> &bodies,int _bodyId0,int _bodyId1,btIDebugDraw* /*debugDrawer*/)
{
int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
bool swapBodies = (bodyId0 < 0);
btOdeSolverBody* body0,*body1;
if (swapBodies)
{
bodyId0 = _bodyId1;
bodyId1 = _bodyId0;
body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody1();
body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody0();
}
else
{
body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody0();
body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody1();
}
assert(bodyId0 >= 0);
//assert (m_CurTypedJoint < ODE_MAX_SOLVER_JOINTS);
btOdeTypedJoint * cont = NULL;
// Determine constraint type
int joint_type = constraint->getConstraintType();
switch(joint_type)
{
case POINT2POINT_CONSTRAINT_TYPE:
case D6_CONSTRAINT_TYPE:
cont = new (&m_TypedJointArray[m_CurTypedJoint ++]) btOdeTypedJoint(constraint,0, swapBodies,body0,body1);
//cont = new (&gTypedJointArray[m_CurTypedJoint ++]) btOdeTypedJoint(constraint,0, swapBodies,body0,body1);
break;
};
if(cont)
{
cont->node[0].joint = cont;
cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;
cont->node[1].joint = cont;
cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0;
// joints[numJoints++] = cont;
joints.push_back(cont); // Remotion 10.10.07:
numJoints++;
for (int i=0;i<6;i++)
cont->lambda[i] = 0.f;
cont->flags = 0;
}
}
Reference in New Issue View Git Blame Copy Permalink