Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h

Changeset View

Standalone View

extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h

	/*			/*
	Bullet Continuous Collision Detection and Physics Library			Bullet Continuous Collision Detection and Physics Library
	Copyright (c) 2013 Erwin Coumans http://bulletphysics.org			Copyright (c) 2013 Erwin Coumans http://bulletphysics.org

	This software is provided 'as-is', without any express or implied warranty.			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.			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,			Permission is granted to anyone to use this software for any purpose,
	including commercial applications, and to alter it and redistribute it freely,			including commercial applications, and to alter it and redistribute it freely,
	subject to the following restrictions:			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.			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.			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.			3. This notice may not be removed or altered from any source distribution.
	*/			*/

	#ifndef BT_MULTIBODY_CONSTRAINT_H			#ifndef BT_MULTIBODY_CONSTRAINT_H
	#define BT_MULTIBODY_CONSTRAINT_H			#define BT_MULTIBODY_CONSTRAINT_H

	#include "LinearMath/btScalar.h"			#include "LinearMath/btScalar.h"
	#include "LinearMath/btAlignedObjectArray.h"			#include "LinearMath/btAlignedObjectArray.h"
	#include "btMultiBody.h"			#include "btMultiBody.h"

	class btMultiBody;			class btMultiBody;
	struct btSolverInfo;			struct btSolverInfo;

	#include "btMultiBodySolverConstraint.h"			#include "btMultiBodySolverConstraint.h"

	struct btMultiBodyJacobianData			struct btMultiBodyJacobianData
	{			{
	btAlignedObjectArray<btScalar> m_jacobians;			btAlignedObjectArray<btScalar> m_jacobians;
	btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse;			btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse; //holds the joint-space response of the corresp. tree to the test impulse in each constraint space dimension
	btAlignedObjectArray<btScalar> m_deltaVelocities;			btAlignedObjectArray<btScalar> m_deltaVelocities; //holds joint-space vectors of all the constrained trees accumulating the effect of corrective impulses applied in SI
	btAlignedObjectArray<btScalar> scratch_r;			btAlignedObjectArray<btScalar> scratch_r;
	btAlignedObjectArray<btVector3> scratch_v;			btAlignedObjectArray<btVector3> scratch_v;
	btAlignedObjectArray<btMatrix3x3> scratch_m;			btAlignedObjectArray<btMatrix3x3> scratch_m;
	btAlignedObjectArray<btSolverBody>* m_solverBodyPool;			btAlignedObjectArray<btSolverBody>* m_solverBodyPool;
	int m_fixedBodyId;			int m_fixedBodyId;

	};			};


	class btMultiBodyConstraint			class btMultiBodyConstraint
	{			{
	protected:			protected:

	btMultiBody* m_bodyA;			btMultiBody* m_bodyA;
	btMultiBody* m_bodyB;			btMultiBody* m_bodyB;
	int m_linkA;			int m_linkA;
	int m_linkB;			int m_linkB;

	int m_num_rows;			int m_numRows;
	int m_jac_size_A;			int m_jacSizeA;
	int m_jac_size_both;			int m_jacSizeBoth;
	int m_pos_offset;			int m_posOffset;

	bool m_isUnilateral;			bool m_isUnilateral;
				int m_numDofsFinalized;
	btScalar m_maxAppliedImpulse;			btScalar m_maxAppliedImpulse;


				// warning: the data block lay out is not consistent for all constraints
	// data block laid out as follows:			// data block laid out as follows:
	// cached impulses. (one per row.)			// cached impulses. (one per row.)
	// jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc)			// jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc)
	// positions. (one per row.)			// positions. (one per row.)
	btAlignedObjectArray<btScalar> m_data;			btAlignedObjectArray<btScalar> m_data;

	void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);			void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);

	void fillMultiBodyConstraintMixed(btMultiBodySolverConstraint& solverConstraint,			btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
	btMultiBodyJacobianData& data,			btMultiBodyJacobianData& data,
				btScalar* jacOrgA, btScalar* jacOrgB,
	const btVector3& contactNormalOnB,			const btVector3& contactNormalOnB,
	const btVector3& posAworld, const btVector3& posBworld,			const btVector3& posAworld, const btVector3& posBworld,
	btScalar position,			btScalar posError,
	const btContactSolverInfo& infoGlobal,
	btScalar& relaxation,
	bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);

	btScalar fillConstraintRowMultiBodyMultiBody(btMultiBodySolverConstraint& constraintRow,
	btMultiBodyJacobianData& data,
	btScalar* jacOrgA,btScalar* jacOrgB,
	const btContactSolverInfo& infoGlobal,			const btContactSolverInfo& infoGlobal,
	btScalar desiredVelocity,			btScalar lowerLimit, btScalar upperLimit,
	btScalar lowerLimit,			btScalar relaxation = 1.f,
	btScalar upperLimit);			bool isFriction = false, btScalar desiredVelocity=0, btScalar cfmSlip=0);

	public:			public:

	btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral);			btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral);
	virtual ~btMultiBodyConstraint();			virtual ~btMultiBodyConstraint();

				void updateJacobianSizes();
				void allocateJacobiansMultiDof();

				virtual void finalizeMultiDof()=0;

	virtual int getIslandIdA() const =0;			virtual int getIslandIdA() const =0;
	virtual int getIslandIdB() const =0;			virtual int getIslandIdB() const =0;

	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,			virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
	btMultiBodyJacobianData& data,			btMultiBodyJacobianData& data,
	const btContactSolverInfo& infoGlobal)=0;			const btContactSolverInfo& infoGlobal)=0;

	int getNumRows() const			int getNumRows() const
	{			{
	return m_num_rows;			return m_numRows;
	}			}

	btMultiBody* getMultiBodyA()			btMultiBody* getMultiBodyA()
	{			{
	return m_bodyA;			return m_bodyA;
	}			}
	btMultiBody* getMultiBodyB()			btMultiBody* getMultiBodyB()
	{			{
	return m_bodyB;			return m_bodyB;
	}			}

				void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
				{
				btAssert(dof>=0);
				btAssert(dof < getNumRows());
				m_data[dof] = appliedImpulse;
				}

				btScalar getAppliedImpulse(int dof)
				{
				btAssert(dof>=0);
				btAssert(dof < getNumRows());
				return m_data[dof];
				}
	// current constraint position			// current constraint position
	// constraint is pos >= 0 for unilateral, or pos = 0 for bilateral			// constraint is pos >= 0 for unilateral, or pos = 0 for bilateral
	// NOTE: ignored position for friction rows.			// NOTE: ignored position for friction rows.
	btScalar getPosition(int row) const			btScalar getPosition(int row) const
	{			{
	return m_data[m_pos_offset + row];			return m_data[m_posOffset + row];
	}			}

	void setPosition(int row, btScalar pos)			void setPosition(int row, btScalar pos)
	{			{
	m_data[m_pos_offset + row] = pos;			m_data[m_posOffset + row] = pos;
	}			}


	bool isUnilateral() const			bool isUnilateral() const
	{			{
	return m_isUnilateral;			return m_isUnilateral;
	}			}

	// jacobian blocks.			// jacobian blocks.
	// each of size 6 + num_links. (jacobian2 is null if no body2.)			// each of size 6 + num_links. (jacobian2 is null if no body2.)
	// format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.			// format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.
	btScalar* jacobianA(int row)			btScalar* jacobianA(int row)
	{			{
	return &m_data[m_num_rows + row * m_jac_size_both];			return &m_data[m_numRows + row * m_jacSizeBoth];
	}			}
	const btScalar* jacobianA(int row) const			const btScalar* jacobianA(int row) const
	{			{
	return &m_data[m_num_rows + (row * m_jac_size_both)];			return &m_data[m_numRows + (row * m_jacSizeBoth)];
	}			}
	btScalar* jacobianB(int row)			btScalar* jacobianB(int row)
	{			{
	return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A];			return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
	}			}
	const btScalar* jacobianB(int row) const			const btScalar* jacobianB(int row) const
	{			{
	return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A];			return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
	}			}

	btScalar getMaxAppliedImpulse() const			btScalar getMaxAppliedImpulse() const
	{			{
	return m_maxAppliedImpulse;			return m_maxAppliedImpulse;
	}			}
	void setMaxAppliedImpulse(btScalar maxImp)			void setMaxAppliedImpulse(btScalar maxImp)
	{			{
	m_maxAppliedImpulse = maxImp;			m_maxAppliedImpulse = maxImp;
	}			}

				virtual void debugDraw(class btIDebugDraw* drawer)=0;

	};			};

	#endif //BT_MULTIBODY_CONSTRAINT_H			#endif //BT_MULTIBODY_CONSTRAINT_H