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

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extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.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.
*/		*/

///This file was written by Erwin Coumans		///This file was written by Erwin Coumans

#include "btMultiBodyJointLimitConstraint.h"		#include "btMultiBodyJointLimitConstraint.h"
#include "btMultiBody.h"		#include "btMultiBody.h"
#include "btMultiBodyLinkCollider.h"		#include "btMultiBodyLinkCollider.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"		#include "BulletCollision/CollisionDispatch/btCollisionObject.h"



btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper)		btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper)
:btMultiBodyConstraint(body,body,link,link,2,true),		//:btMultiBodyConstraint(body,0,link,-1,2,true),
		:btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,2,true),
m_lowerBound(lower),		m_lowerBound(lower),
m_upperBound(upper)		m_upperBound(upper)
{		{

		}

		void btMultiBodyJointLimitConstraint::finalizeMultiDof()
		{
// the data.m_jacobians never change, so may as well		// the data.m_jacobians never change, so may as well
// initialize them here		// initialize them here

// note: we rely on the fact that data.m_jacobians are		allocateJacobiansMultiDof();
// always initialized to zero by the Constraint ctor

// row 0: the lower bound		unsigned int offset = 6 + m_bodyA->getLink(m_linkA).m_dofOffset;
jacobianA(0)[6 + link] = 1;

		// row 0: the lower bound
		jacobianA(0)[offset] = 1;
// row 1: the upper bound		// row 1: the upper bound
jacobianB(1)[6 + link] = -1;		//jacobianA(1)[offset] = -1;
		jacobianB(1)[offset] = -1;

		m_numDofsFinalized = m_jacSizeBoth;
}		}

btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint()		btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint()
{		{
}		}

int btMultiBodyJointLimitConstraint::getIslandIdA() const		int btMultiBodyJointLimitConstraint::getIslandIdA() const
{		{
		if(m_bodyA)
		{
btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
if (col)		if (col)
return col->getIslandTag();		return col->getIslandTag();
for (int i=0;i<m_bodyA->getNumLinks();i++)		for (int i=0;i<m_bodyA->getNumLinks();i++)
{		{
if (m_bodyA->getLink(i).m_collider)		if (m_bodyA->getLink(i).m_collider)
return m_bodyA->getLink(i).m_collider->getIslandTag();		return m_bodyA->getLink(i).m_collider->getIslandTag();
}		}
		}
return -1;		return -1;
}		}

int btMultiBodyJointLimitConstraint::getIslandIdB() const		int btMultiBodyJointLimitConstraint::getIslandIdB() const
{		{
		if(m_bodyB)
		{
btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)		if (col)
return col->getIslandTag();		return col->getIslandTag();

for (int i=0;i<m_bodyB->getNumLinks();i++)		for (int i=0;i<m_bodyB->getNumLinks();i++)
{		{
col = m_bodyB->getLink(i).m_collider;		col = m_bodyB->getLink(i).m_collider;
if (col)		if (col)
return col->getIslandTag();		return col->getIslandTag();
}		}
		}
return -1;		return -1;
}		}


void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,		void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,		btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal)		const btContactSolverInfo& infoGlobal)
{		{

// only positions need to be updated -- data.m_jacobians and force		// only positions need to be updated -- data.m_jacobians and force
// directions were set in the ctor and never change.		// directions were set in the ctor and never change.

		if (m_numDofsFinalized != m_jacSizeBoth)
		{
		finalizeMultiDof();
		}


// row 0: the lower bound		// row 0: the lower bound
setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound);		setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound); //multidof: this is joint-type dependent

// row 1: the upper bound		// row 1: the upper bound
setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA));		setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA));

for (int row=0;row<getNumRows();row++)		for (int row=0;row<getNumRows();row++)
{		{

		btScalar direction = row? -1 : 1;

btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
		constraintRow.m_orgConstraint = this;
		constraintRow.m_orgDofIndex = row;

constraintRow.m_multiBodyA = m_bodyA;		constraintRow.m_multiBodyA = m_bodyA;
constraintRow.m_multiBodyB = m_bodyB;		constraintRow.m_multiBodyB = m_bodyB;
		const btScalar posError = 0; //why assume it's zero?
		const btVector3 dummy(0, 0, 0);

		btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);

		{
		//expect either prismatic or revolute joint type for now
		btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)\|\|(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
		switch (m_bodyA->getLink(m_linkA).m_jointType)
		{
		case btMultibodyLink::eRevolute:
		{
		constraintRow.m_contactNormal1.setZero();
		constraintRow.m_contactNormal2.setZero();
		btVector3 revoluteAxisInWorld = direction*quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
		constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
		constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;

		break;
		}
		case btMultibodyLink::ePrismatic:
		{
		btVector3 prismaticAxisInWorld = direction* quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
		constraintRow.m_contactNormal1=prismaticAxisInWorld;
		constraintRow.m_contactNormal2=-prismaticAxisInWorld;
		constraintRow.m_relpos1CrossNormal.setZero();
		constraintRow.m_relpos2CrossNormal.setZero();

		break;
		}
		default:
		{
		btAssert(0);
		}
		};

		}

btScalar rel_vel = fillConstraintRowMultiBodyMultiBody(constraintRow,data,jacobianA(row),jacobianB(row),infoGlobal,0,-m_maxAppliedImpulse,m_maxAppliedImpulse);
{		{
btScalar penetration = getPosition(row);		btScalar penetration = getPosition(row);
btScalar positionalError = 0.f;		btScalar positionalError = 0.f;
btScalar velocityError = - rel_vel;// * damping;		btScalar velocityError = - rel_vel;// * damping;
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;
Show All 20 Lines	btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);
//split position and velocity into rhs and m_rhsPenetration		//split position and velocity into rhs and m_rhsPenetration
constraintRow.m_rhs = velocityImpulse;		constraintRow.m_rhs = velocityImpulse;
constraintRow.m_rhsPenetration = penetrationImpulse;		constraintRow.m_rhsPenetration = penetrationImpulse;
}		}
}		}
}		}

}		}