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Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp

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extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp

/* /*
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.
*/ */
#include "btMultiBodyConstraintSolver.h" #include "btMultiBodyConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "btMultiBodyLinkCollider.h" #include "btMultiBodyLinkCollider.h"
#include "BulletDynamics/ConstraintSolver/btSolverBody.h" #include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "btMultiBodyConstraint.h" #include "btMultiBodyConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "LinearMath/btQuickprof.h" #include "LinearMath/btQuickprof.h"
btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{ {
btScalar val = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer); btScalar val = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
//solve featherstone non-contact constraints //solve featherstone non-contact constraints
//printf("m_multiBodyNonContactConstraints = %d\n",m_multiBodyNonContactConstraints.size()); //printf("m_multiBodyNonContactConstraints = %d\n",m_multiBodyNonContactConstraints.size());
for (int j=0;j<m_multiBodyNonContactConstraints.size();j++) for (int j=0;j<m_multiBodyNonContactConstraints.size();j++)
{ {
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[j]; btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[j];
//if (iteration < constraint.m_overrideNumSolverIterations)
//resolveSingleConstraintRowGenericMultiBody(constraint);
resolveSingleConstraintRowGeneric(constraint); resolveSingleConstraintRowGeneric(constraint);
if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
if(constraint.m_multiBodyB)
constraint.m_multiBodyB->setPosUpdated(false);
} }
//solve featherstone normal contact //solve featherstone normal contact
for (int j=0;j<m_multiBodyNormalContactConstraints.size();j++) for (int j=0;j<m_multiBodyNormalContactConstraints.size();j++)
{ {
btMultiBodySolverConstraint& constraint = m_multiBodyNormalContactConstraints[j]; btMultiBodySolverConstraint& constraint = m_multiBodyNormalContactConstraints[j];
if (iteration < infoGlobal.m_numIterations) if (iteration < infoGlobal.m_numIterations)
resolveSingleConstraintRowGeneric(constraint); resolveSingleConstraintRowGeneric(constraint);
if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
if(constraint.m_multiBodyB)
constraint.m_multiBodyB->setPosUpdated(false);
} }
//solve featherstone frictional contact //solve featherstone frictional contact
for (int j=0;j<this->m_multiBodyFrictionContactConstraints.size();j++) for (int j=0;j<this->m_multiBodyFrictionContactConstraints.size();j++)
{ {
if (iteration < infoGlobal.m_numIterations) if (iteration < infoGlobal.m_numIterations)
{ {
btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[j]; btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[j];
btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
//adjust friction limits here //adjust friction limits here
if (totalImpulse>btScalar(0)) if (totalImpulse>btScalar(0))
{ {
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
resolveSingleConstraintRowGeneric(frictionConstraint); resolveSingleConstraintRowGeneric(frictionConstraint);
if(frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false);
if(frictionConstraint.m_multiBodyB)
frictionConstraint.m_multiBodyB->setPosUpdated(false);
} }
} }
} }
return val; return val;
} }
btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{ {
Show All 32 Linesvoid btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
btScalar deltaVelBDotn=0; btScalar deltaVelBDotn=0;
btSolverBody* bodyA = 0; btSolverBody* bodyA = 0;
btSolverBody* bodyB = 0; btSolverBody* bodyB = 0;
int ndofA=0; int ndofA=0;
int ndofB=0; int ndofB=0;
if (c.m_multiBodyA) if (c.m_multiBodyA)
{ {
ndofA = c.m_multiBodyA->getNumLinks() + 6; ndofA = c.m_multiBodyA->getNumDofs() + 6;
for (int i = 0; i < ndofA; ++i) for (int i = 0; i < ndofA; ++i)
deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i]; deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i];
} else } else if(c.m_solverBodyIdA >= 0)
{ {
bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA]; bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA];
deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
} }
if (c.m_multiBodyB) if (c.m_multiBodyB)
{ {
ndofB = c.m_multiBodyB->getNumLinks() + 6; ndofB = c.m_multiBodyB->getNumDofs() + 6;
for (int i = 0; i < ndofB; ++i) for (int i = 0; i < ndofB; ++i)
deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i]; deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i];
} else } else if(c.m_solverBodyIdB >= 0)
{ {
bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB]; bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB];
deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
} }
deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv; deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv;
Show All 12 Linesvoid btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
else else
{ {
c.m_appliedImpulse = sum; c.m_appliedImpulse = sum;
} }
if (c.m_multiBodyA) if (c.m_multiBodyA)
{ {
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA); applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA);
c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse); #ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else if(c.m_solverBodyIdA >= 0)
{ {
bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse); bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
} }
if (c.m_multiBodyB) if (c.m_multiBodyB)
{ {
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB); applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB);
c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse); #ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else if(c.m_solverBodyIdB >= 0)
{ {
bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse); bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
} }
} }
void btMultiBodyConstraintSolver::resolveSingleConstraintRowGenericMultiBody(const btMultiBodySolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
btScalar deltaVelADotn=0;
btScalar deltaVelBDotn=0;
int ndofA=0;
int ndofB=0;
if (c.m_multiBodyA)
{
ndofA = c.m_multiBodyA->getNumLinks() + 6;
for (int i = 0; i < ndofA; ++i)
deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i];
}
if (c.m_multiBodyB)
{
ndofB = c.m_multiBodyB->getNumLinks() + 6;
for (int i = 0; i < ndofB; ++i)
deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i];
}
deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
else if (sum > c.m_upperLimit)
{
deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_upperLimit;
}
else
{
c.m_appliedImpulse = sum;
}
if (c.m_multiBodyA)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA);
c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse);
}
if (c.m_multiBodyB)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB);
c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse);
}
}
void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
const btVector3& contactNormal, const btVector3& contactNormal,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btScalar& relaxation, btScalar& relaxation,
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
{ {
Show All 16 Linesvoid btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
if (bodyA) if (bodyA)
rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
if (bodyB) if (bodyB)
rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin(); rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
relaxation = 1.f; relaxation = 1.f;
if (multiBodyA) if (multiBodyA)
{ {
const int ndofA = multiBodyA->getNumLinks() + 6; if (solverConstraint.m_linkA<0)
{
rel_pos1 = pos1 - multiBodyA->getBasePos();
} else
{
rel_pos1 = pos1 - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
}
const int ndofA = multiBodyA->getNumDofs() + 6;
solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId(); solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
if (solverConstraint.m_deltaVelAindex <0) if (solverConstraint.m_deltaVelAindex <0)
{ {
solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size(); solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex); multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofA); m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofA);
} else } else
{ {
btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA); btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA);
} }
solverConstraint.m_jacAindex = m_data.m_jacobians.size(); solverConstraint.m_jacAindex = m_data.m_jacobians.size();
m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofA); m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofA);
m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofA); m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size()); btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex]; btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex];
multiBodyA->fillContactJacobian(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v); multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = contactNormal;
} else } else
{ {
btVector3 torqueAxis0 = rel_pos1.cross(contactNormal); btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_relpos1CrossNormal = torqueAxis0; solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = contactNormal; solverConstraint.m_contactNormal1 = contactNormal;
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
} }
if (multiBodyB) if (multiBodyB)
{ {
const int ndofB = multiBodyB->getNumLinks() + 6; if (solverConstraint.m_linkB<0)
{
rel_pos2 = pos2 - multiBodyB->getBasePos();
} else
{
rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
}
const int ndofB = multiBodyB->getNumDofs() + 6;
solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId(); solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
if (solverConstraint.m_deltaVelBindex <0) if (solverConstraint.m_deltaVelBindex <0)
{ {
solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size(); solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size();
multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex); multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofB); m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofB);
} }
solverConstraint.m_jacBindex = m_data.m_jacobians.size(); solverConstraint.m_jacBindex = m_data.m_jacobians.size();
m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofB); m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofB);
m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofB); m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofB);
btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size()); btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
multiBodyB->fillContactJacobian(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
multiBodyB->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v); multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v);
btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_contactNormal2 = -contactNormal;
} else } else
{ {
btVector3 torqueAxis1 = rel_pos2.cross(contactNormal); btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_relpos2CrossNormal = -torqueAxis1; solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_contactNormal2 = -contactNormal; solverConstraint.m_contactNormal2 = -contactNormal;
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
} }
{ {
btVector3 vec; btVector3 vec;
btScalar denom0 = 0.f; btScalar denom0 = 0.f;
btScalar denom1 = 0.f; btScalar denom1 = 0.f;
btScalar* jacB = 0; btScalar* jacB = 0;
btScalar* jacA = 0; btScalar* jacA = 0;
btScalar* lambdaA =0; btScalar* lambdaA =0;
btScalar* lambdaB =0; btScalar* lambdaB =0;
int ndofA = 0; int ndofA = 0;
if (multiBodyA) if (multiBodyA)
{ {
ndofA = multiBodyA->getNumLinks() + 6; ndofA = multiBodyA->getNumDofs() + 6;
jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex]; jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA; ++i) for (int i = 0; i < ndofA; ++i)
{ {
btScalar j = jacA[i] ; btScalar j = jacA[i] ;
btScalar l =lambdaA[i]; btScalar l =lambdaA[i];
denom0 += j*l; denom0 += j*l;
} }
} else } else
{ {
if (rb0) if (rb0)
{ {
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
denom0 = rb0->getInvMass() + contactNormal.dot(vec); denom0 = rb0->getInvMass() + contactNormal.dot(vec);
} }
} }
if (multiBodyB) if (multiBodyB)
{ {
const int ndofB = multiBodyB->getNumLinks() + 6; const int ndofB = multiBodyB->getNumDofs() + 6;
jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex]; jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB; ++i) for (int i = 0; i < ndofB; ++i)
{ {
btScalar j = jacB[i] ; btScalar j = jacB[i] ;
btScalar l =lambdaB[i]; btScalar l =lambdaB[i];
denom1 += j*l; denom1 += j*l;
} }
} else } else
{ {
if (rb1) if (rb1)
{ {
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
denom1 = rb1->getInvMass() + contactNormal.dot(vec); denom1 = rb1->getInvMass() + contactNormal.dot(vec);
} }
} }
if (multiBodyA && (multiBodyA==multiBodyB))
{
// ndof1 == ndof2 in this case
for (int i = 0; i < ndofA; ++i)
{
denom1 += jacB[i] * lambdaA[i];
denom1 += jacA[i] * lambdaB[i];
}
}
btScalar d = denom0+denom1; btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON) if (d>SIMD_EPSILON)
{ {
solverConstraint.m_jacDiagABInv = relaxation/(d); solverConstraint.m_jacDiagABInv = relaxation/(d);
} else } else
{ {
solverConstraint.m_jacDiagABInv = 1.f; //disable the constraint row to handle singularity/redundant constraint
solverConstraint.m_jacDiagABInv = 0.f;
} }
} }
//compute rhs and remaining solverConstraint fields //compute rhs and remaining solverConstraint fields
btScalar restitution = 0.f; btScalar restitution = 0.f;
btScalar penetration = isFriction? 0 : cp.getDistance()+infoGlobal.m_linearSlop; btScalar penetration = isFriction? 0 : cp.getDistance()+infoGlobal.m_linearSlop;
btScalar rel_vel = 0.f; btScalar rel_vel = 0.f;
int ndofA = 0; int ndofA = 0;
int ndofB = 0; int ndofB = 0;
{ {
btVector3 vel1,vel2; btVector3 vel1,vel2;
if (multiBodyA) if (multiBodyA)
{ {
ndofA = multiBodyA->getNumLinks() + 6; ndofA = multiBodyA->getNumDofs() + 6;
btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex]; btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA ; ++i) for (int i = 0; i < ndofA ; ++i)
rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i]; rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
} else } else
{ {
if (rb0) if (rb0)
{ {
rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1); rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
} }
} }
if (multiBodyB) if (multiBodyB)
{ {
ndofB = multiBodyB->getNumLinks() + 6; ndofB = multiBodyB->getNumDofs() + 6;
btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex]; btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB ; ++i) for (int i = 0; i < ndofB ; ++i)
rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i]; rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
} else } else
{ {
if (rb1) if (rb1)
{ {
rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2); rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
} }
} }
solverConstraint.m_friction = cp.m_combinedFriction; solverConstraint.m_friction = cp.m_combinedFriction;
if(!isFriction)
{
restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution); restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
if (restitution <= btScalar(0.)) if (restitution <= btScalar(0.))
{ {
restitution = 0.f; restitution = 0.f;
}; }
}
} }
///warm starting (or zero if disabled) ///warm starting (or zero if disabled)
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) //disable warmstarting for btMultiBody, it has issues gaining energy (==explosion)
if (0)//infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{ {
solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (solverConstraint.m_appliedImpulse) if (solverConstraint.m_appliedImpulse)
{ {
if (multiBodyA) if (multiBodyA)
{ {
btScalar impulse = solverConstraint.m_appliedImpulse; btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->applyDeltaVee(deltaV,impulse); multiBodyA->applyDeltaVeeMultiDof(deltaV,impulse);
applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA); applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
} else } else
{ {
if (rb0) if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
} }
if (multiBodyB) if (multiBodyB)
{ {
btScalar impulse = solverConstraint.m_appliedImpulse; btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
multiBodyB->applyDeltaVee(deltaV,impulse); multiBodyB->applyDeltaVeeMultiDof(deltaV,impulse);
applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB); applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
} else } else
{ {
if (rb1) if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
} }
} }
} else } else
{ {
solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedImpulse = 0.f;
} }
solverConstraint.m_appliedPushImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f;
{ {
btScalar positionalError = 0.f; btScalar positionalError = 0.f;
btScalar velocityError = restitution - rel_vel;// * damping; btScalar velocityError = restitution - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
btScalar erp = infoGlobal.m_erp2; btScalar erp = infoGlobal.m_erp2;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{ {
erp = infoGlobal.m_erp; erp = infoGlobal.m_erp;
} }
if (penetration>0) if (penetration>0)
{ {
positionalError = 0; positionalError = 0;
velocityError = -penetration / infoGlobal.m_timeStep; velocityError -= penetration / infoGlobal.m_timeStep;
} else } else
{ {
positionalError = -penetration * erp/infoGlobal.m_timeStep; positionalError = -penetration * erp/infoGlobal.m_timeStep;
} }
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
if(!isFriction)
{
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{ {
//combine position and velocity into rhs //combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f; solverConstraint.m_rhsPenetration = 0.f;
} else } else
{ {
//split position and velocity into rhs and m_rhsPenetration //split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse; solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse; solverConstraint.m_rhsPenetration = penetrationImpulse;
} }
solverConstraint.m_cfm = 0.f;
solverConstraint.m_lowerLimit = 0; solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f; solverConstraint.m_upperLimit = 1e10f;
} }
else
{
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f;
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
solverConstraint.m_upperLimit = solverConstraint.m_friction;
}
solverConstraint.m_cfm = 0.f; //why not use cfmSlip?
}
} }
btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
{ {
BT_PROFILE("addMultiBodyFrictionConstraint"); BT_PROFILE("addMultiBodyFrictionConstraint");
btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing(); btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
solverConstraint.m_orgConstraint = 0;
solverConstraint.m_orgDofIndex = -1;
solverConstraint.m_frictionIndex = frictionIndex; solverConstraint.m_frictionIndex = frictionIndex;
bool isFriction = true; bool isFriction = true;
const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
btMultiBody* mbA = fcA? fcA->m_multiBody : 0; btMultiBody* mbA = fcA? fcA->m_multiBody : 0;
btMultiBody* mbB = fcB? fcB->m_multiBody : 0; btMultiBody* mbB = fcB? fcB->m_multiBody : 0;
Show All 28 Linesvoid btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
btCollisionObject* colObj0=0,*colObj1=0; btCollisionObject* colObj0=0,*colObj1=0;
colObj0 = (btCollisionObject*)manifold->getBody0(); colObj0 = (btCollisionObject*)manifold->getBody0();
colObj1 = (btCollisionObject*)manifold->getBody1(); colObj1 = (btCollisionObject*)manifold->getBody1();
int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep); int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep); int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA]; // btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB]; // btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB];
///avoid collision response between two static objects ///avoid collision response between two static objects
// if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero()))) // if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
// return; // return;
int rollingFriction=1;
for (int j=0;j<manifold->getNumContacts();j++) for (int j=0;j<manifold->getNumContacts();j++)
{ {
btManifoldPoint& cp = manifold->getContactPoint(j); btManifoldPoint& cp = manifold->getContactPoint(j);
if (cp.getDistance() <= manifold->getContactProcessingThreshold()) if (cp.getDistance() <= manifold->getContactProcessingThreshold())
{ {
btScalar relaxation; btScalar relaxation;
int frictionIndex = m_multiBodyNormalContactConstraints.size(); int frictionIndex = m_multiBodyNormalContactConstraints.size();
btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints.expandNonInitializing(); btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints.expandNonInitializing();
btRigidBody* rb0 = btRigidBody::upcast(colObj0); // btRigidBody* rb0 = btRigidBody::upcast(colObj0);
btRigidBody* rb1 = btRigidBody::upcast(colObj1); // btRigidBody* rb1 = btRigidBody::upcast(colObj1);
solverConstraint.m_orgConstraint = 0;
solverConstraint.m_orgDofIndex = -1;
solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB; solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_multiBodyA = mbA; solverConstraint.m_multiBodyA = mbA;
if (mbA) if (mbA)
solverConstraint.m_linkA = fcA->m_link; solverConstraint.m_linkA = fcA->m_link;
solverConstraint.m_multiBodyB = mbB; solverConstraint.m_multiBodyB = mbB;
if (mbB) if (mbB)
solverConstraint.m_linkB = fcB->m_link; solverConstraint.m_linkB = fcB->m_link;
solverConstraint.m_originalContactPoint = &cp; solverConstraint.m_originalContactPoint = &cp;
bool isFriction = false; bool isFriction = false;
setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB,cp, infoGlobal, relaxation, isFriction); setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB,cp, infoGlobal, relaxation, isFriction);
// const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos1 = cp.getPositionWorldOnA();
// const btVector3& pos2 = cp.getPositionWorldOnB(); // const btVector3& pos2 = cp.getPositionWorldOnB();
/////setup the friction constraints /////setup the friction constraints
#define ENABLE_FRICTION #define ENABLE_FRICTION
#ifdef ENABLE_FRICTION #ifdef ENABLE_FRICTION
solverConstraint.m_frictionIndex = frictionIndex; solverConstraint.m_frictionIndex = frictionIndex;
#if ROLLING_FRICTION #if ROLLING_FRICTION
int rollingFriction=1;
btVector3 angVelA(0,0,0),angVelB(0,0,0); btVector3 angVelA(0,0,0),angVelB(0,0,0);
if (rb0) if (rb0)
angVelA = rb0->getAngularVelocity(); angVelA = rb0->getAngularVelocity();
if (rb1) if (rb1)
angVelB = rb1->getAngularVelocity(); angVelB = rb1->getAngularVelocity();
btVector3 relAngVel = angVelB-angVelA; btVector3 relAngVel = angVelB-angVelA;
if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0)) if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))
▲ Show 20 Lines • Show All 62 Lines • ▼ Show 20 Lines#endif //ROLLING_FRICTION
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} else } else
*/ */
{ {
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{ {
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal); addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
} }
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
{ {
cp.m_lateralFrictionInitialized = true; cp.m_lateralFrictionInitialized = true;
} }
} }
} else } else
{ {
Show All 12 Lines
#endif //ENABLE_FRICTION #endif //ENABLE_FRICTION
} }
} }
} }
void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal) void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal)
{ {
btPersistentManifold* manifold = 0; //btPersistentManifold* manifold = 0;
for (int i=0;i<numManifolds;i++) for (int i=0;i<numManifolds;i++)
{ {
btPersistentManifold* manifold= manifoldPtr[i]; btPersistentManifold* manifold= manifoldPtr[i];
const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
if (!fcA && !fcB) if (!fcA && !fcB)
{ {
Show All 21 Lines
btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher) btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{ {
return btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher); return btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher);
} }
#if 0
static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodySolverConstraint& solverConstraint, int jacIndex, btMultiBody* mb, btScalar appliedImpulse)
{
if (appliedImpulse!=0 && mb->internalNeedsJointFeedback())
{
//todo: get rid of those temporary memory allocations for the joint feedback
btAlignedObjectArray<btScalar> forceVector;
int numDofsPlusBase = 6+mb->getNumDofs();
forceVector.resize(numDofsPlusBase);
for (int i=0;i<numDofsPlusBase;i++)
{
forceVector[i] = data.m_jacobians[jacIndex+i]*appliedImpulse;
}
btAlignedObjectArray<btScalar> output;
output.resize(numDofsPlusBase);
bool applyJointFeedback = true;
mb->calcAccelerationDeltasMultiDof(&forceVector[0],&output[0],data.scratch_r,data.scratch_v,applyJointFeedback);
}
}
#endif
void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
{
#if 1
//bod->addBaseForce(m_gravity * bod->getBaseMass());
//bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
if (c.m_orgConstraint)
{
c.m_orgConstraint->internalSetAppliedImpulse(c.m_orgDofIndex,c.m_appliedImpulse);
}
if (c.m_multiBodyA)
{
c.m_multiBodyA->setCompanionId(-1);
btVector3 force = c.m_contactNormal1*(c.m_appliedImpulse/deltaTime);
btVector3 torque = c.m_relpos1CrossNormal*(c.m_appliedImpulse/deltaTime);
if (c.m_linkA<0)
{
c.m_multiBodyA->addBaseConstraintForce(force);
c.m_multiBodyA->addBaseConstraintTorque(torque);
} else
{
c.m_multiBodyA->addLinkConstraintForce(c.m_linkA,force);
//b3Printf("force = %f,%f,%f\n",force[0],force[1],force[2]);//[0],torque[1],torque[2]);
c.m_multiBodyA->addLinkConstraintTorque(c.m_linkA,torque);
}
}
if (c.m_multiBodyB)
{
{
c.m_multiBodyB->setCompanionId(-1);
btVector3 force = c.m_contactNormal2*(c.m_appliedImpulse/deltaTime);
btVector3 torque = c.m_relpos2CrossNormal*(c.m_appliedImpulse/deltaTime);
if (c.m_linkB<0)
{
c.m_multiBodyB->addBaseConstraintForce(force);
c.m_multiBodyB->addBaseConstraintTorque(torque);
} else
{
{
c.m_multiBodyB->addLinkConstraintForce(c.m_linkB,force);
//b3Printf("t = %f,%f,%f\n",force[0],force[1],force[2]);//[0],torque[1],torque[2]);
c.m_multiBodyB->addLinkConstraintTorque(c.m_linkB,torque);
}
}
}
}
#endif
#ifndef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
if (c.m_multiBodyA)
{
if(c.m_multiBodyA->isMultiDof())
{
c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
}
else
{
c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
}
}
if (c.m_multiBodyB)
{
if(c.m_multiBodyB->isMultiDof())
{
c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
}
else
{
c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
}
}
#endif
}
btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
{
BT_PROFILE("btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish");
int numPoolConstraints = m_multiBodyNormalContactConstraints.size();
//write back the delta v to the multi bodies, either as applied impulse (direct velocity change)
//or as applied force, so we can measure the joint reaction forces easier
for (int i=0;i<numPoolConstraints;i++)
{
btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[i];
writeBackSolverBodyToMultiBody(solverConstraint,infoGlobal.m_timeStep);
writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex],infoGlobal.m_timeStep);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1],infoGlobal.m_timeStep);
}
}
for (int i=0;i<m_multiBodyNonContactConstraints.size();i++)
{
btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
writeBackSolverBodyToMultiBody(solverConstraint,infoGlobal.m_timeStep);
}
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
BT_PROFILE("warm starting write back");
for (int j=0;j<numPoolConstraints;j++)
{
const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[j];
btManifoldPoint* pt = (btManifoldPoint*) solverConstraint.m_originalContactPoint;
btAssert(pt);
pt->m_appliedImpulse = solverConstraint.m_appliedImpulse;
pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse;
//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
pt->m_appliedImpulseLateral2 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse;
}
//do a callback here?
}
}
#if 0
//multibody joint feedback
{
BT_PROFILE("multi body joint feedback");
for (int j=0;j<numPoolConstraints;j++)
{
const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[j];
//apply the joint feedback into all links of the btMultiBody
//todo: double-check the signs of the applied impulse
if(solverConstraint.m_multiBodyA && solverConstraint.m_multiBodyA->isMultiDof())
{
applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacAindex,solverConstraint.m_multiBodyA, solverConstraint.m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
}
if(solverConstraint.m_multiBodyB && solverConstraint.m_multiBodyB->isMultiDof())
{
applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacBindex,solverConstraint.m_multiBodyB,solverConstraint.m_appliedImpulse*btSimdScalar(-1./infoGlobal.m_timeStep));
}
#if 0
if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyA && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyA->isMultiDof())
{
applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex],
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_jacAindex,
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyA,
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
}
if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyB && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyB->isMultiDof())
{
applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex],
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_jacBindex,
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyB,
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse*btSimdScalar(-1./infoGlobal.m_timeStep));
}
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyA && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyA->isMultiDof())
{
applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1],
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_jacAindex,
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyA,
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
}
if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyB && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyB->isMultiDof())
{
applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1],
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_jacBindex,
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyB,
m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse*btSimdScalar(-1./infoGlobal.m_timeStep));
}
}
#endif
}
for (int i=0;i<m_multiBodyNonContactConstraints.size();i++)
{
const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
if(solverConstraint.m_multiBodyA && solverConstraint.m_multiBodyA->isMultiDof())
{
applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacAindex,solverConstraint.m_multiBodyA, solverConstraint.m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
}
if(solverConstraint.m_multiBodyB && solverConstraint.m_multiBodyB->isMultiDof())
{
applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacBindex,solverConstraint.m_multiBodyB,solverConstraint.m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
}
}
}
numPoolConstraints = m_multiBodyNonContactConstraints.size();
#if 0
//@todo: m_originalContactPoint is not initialized for btMultiBodySolverConstraint
for (int i=0;i<numPoolConstraints;i++)
{
const btMultiBodySolverConstraint& c = m_multiBodyNonContactConstraints[i];
btTypedConstraint* constr = (btTypedConstraint*)c.m_originalContactPoint;
btJointFeedback* fb = constr->getJointFeedback();
if (fb)
{
fb->m_appliedForceBodyA += c.m_contactNormal1*c.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
fb->m_appliedForceBodyB += c.m_contactNormal2*c.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
fb->m_appliedTorqueBodyA += c.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*c.m_appliedImpulse/infoGlobal.m_timeStep;
fb->m_appliedTorqueBodyB += c.m_relpos2CrossNormal* constr->getRigidBodyB().getAngularFactor()*c.m_appliedImpulse/infoGlobal.m_timeStep; /*RGM ???? */
}
constr->internalSetAppliedImpulse(c.m_appliedImpulse);
if (btFabs(c.m_appliedImpulse)>=constr->getBreakingImpulseThreshold())
{
constr->setEnabled(false);
}
}
#endif
#endif
return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies,numBodies,infoGlobal);
}
void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher) void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{ {
//printf("solveMultiBodyGroup start\n"); //printf("solveMultiBodyGroup start\n");
m_tmpMultiBodyConstraints = multiBodyConstraints; m_tmpMultiBodyConstraints = multiBodyConstraints;
m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher); btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher);
m_tmpMultiBodyConstraints = 0; m_tmpMultiBodyConstraints = 0;
m_tmpNumMultiBodyConstraints = 0; m_tmpNumMultiBodyConstraints = 0;
} }