Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp

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extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.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 "btMultiBodyPoint2Point.h"			#include "btMultiBodyPoint2Point.h"
	#include "btMultiBodyLinkCollider.h"			#include "btMultiBodyLinkCollider.h"
	#include "BulletDynamics/Dynamics/btRigidBody.h"			#include "BulletDynamics/Dynamics/btRigidBody.h"
				#include "LinearMath/btIDebugDraw.h"

				#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
				#define BTMBP2PCONSTRAINT_DIM 3
				#else
				#define BTMBP2PCONSTRAINT_DIM 6
				#endif

	btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)			btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
	:btMultiBodyConstraint(body,0,link,-1,3,false),			:btMultiBodyConstraint(body,0,link,-1,BTMBP2PCONSTRAINT_DIM,false),
	m_rigidBodyA(0),			m_rigidBodyA(0),
	m_rigidBodyB(bodyB),			m_rigidBodyB(bodyB),
	m_pivotInA(pivotInA),			m_pivotInA(pivotInA),
	m_pivotInB(pivotInB)			m_pivotInB(pivotInB)
	{			{
				m_data.resize(BTMBP2PCONSTRAINT_DIM);//at least store the applied impulses
	}			}

	btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)			btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)
	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,3,false),			:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBP2PCONSTRAINT_DIM,false),
	m_rigidBodyA(0),			m_rigidBodyA(0),
	m_rigidBodyB(0),			m_rigidBodyB(0),
	m_pivotInA(pivotInA),			m_pivotInA(pivotInA),
	m_pivotInB(pivotInB)			m_pivotInB(pivotInB)
	{			{
				m_data.resize(BTMBP2PCONSTRAINT_DIM);//at least store the applied impulses
	}			}

				void btMultiBodyPoint2Point::finalizeMultiDof()
				{
				//not implemented yet
				btAssert(0);
				}

	btMultiBodyPoint2Point::~btMultiBodyPoint2Point()			btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
	{			{
	}			}


	int btMultiBodyPoint2Point::getIslandIdA() const			int btMultiBodyPoint2Point::getIslandIdA() const
	{			{
	Show All 37 Lines


	void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,			void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
	btMultiBodyJacobianData& data,			btMultiBodyJacobianData& data,
	const btContactSolverInfo& infoGlobal)			const btContactSolverInfo& infoGlobal)
	{			{

	// int i=1;			// int i=1;
	for (int i=0;i<3;i++)			int numDim = BTMBP2PCONSTRAINT_DIM;
				for (int i=0;i<numDim;i++)
	{			{

	btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();			btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
				//memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
				constraintRow.m_orgConstraint = this;
				constraintRow.m_orgDofIndex = i;
				constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
				constraintRow.m_contactNormal1.setValue(0,0,0);
				constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
				constraintRow.m_contactNormal2.setValue(0,0,0);
				constraintRow.m_angularComponentA.setValue(0,0,0);
				constraintRow.m_angularComponentB.setValue(0,0,0);

	constraintRow.m_solverBodyIdA = data.m_fixedBodyId;			constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
	constraintRow.m_solverBodyIdB = data.m_fixedBodyId;			constraintRow.m_solverBodyIdB = data.m_fixedBodyId;


	btVector3 contactNormalOnB(0,0,0);			btVector3 contactNormalOnB(0,0,0);
				#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
	contactNormalOnB[i] = -1;			contactNormalOnB[i] = -1;
				#else
				contactNormalOnB[i%3] = -1;
				#endif

	btScalar penetration = 0;

	// Convert local points back to world			// Convert local points back to world
	btVector3 pivotAworld = m_pivotInA;			btVector3 pivotAworld = m_pivotInA;
	if (m_rigidBodyA)			if (m_rigidBodyA)
	{			{

	constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
	pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;			pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
	} else			} else
	{			{
	if (m_bodyA)			if (m_bodyA)
	pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);			pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
	}			}
	btVector3 pivotBworld = m_pivotInB;			btVector3 pivotBworld = m_pivotInB;
	if (m_rigidBodyB)			if (m_rigidBodyB)
	{			{
	constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
	pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;			pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
	} else			} else
	{			{
	if (m_bodyB)			if (m_bodyB)
	pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);			pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);

	}			}
	btScalar position = (pivotAworld-pivotBworld).dot(contactNormalOnB);
	btScalar relaxation = 1.f;			btScalar posError = i < 3 ? (pivotAworld-pivotBworld).dot(contactNormalOnB) : 0;
	fillMultiBodyConstraintMixed(constraintRow, data,
	contactNormalOnB,			#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
	pivotAworld, pivotBworld,
	position,
				fillMultiBodyConstraint(constraintRow, data, 0, 0,
				contactNormalOnB, pivotAworld, pivotBworld, //sucks but let it be this way "for the time being"
				posError,
				infoGlobal,
				-m_maxAppliedImpulse, m_maxAppliedImpulse
				);
				//@todo: support the case of btMultiBody versus btRigidBody,
				//see btPoint2PointConstraint::getInfo2NonVirtual
				#else
				const btVector3 dummy(0, 0, 0);

				btAssert(m_bodyA->isMultiDof());

				btScalar* jac1 = jacobianA(i);
				const btVector3 &normalAng = i >= 3 ? contactNormalOnB : dummy;
				const btVector3 &normalLin = i < 3 ? contactNormalOnB : dummy;

				m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);

				fillMultiBodyConstraint(constraintRow, data, jac1, 0,
				dummy, dummy, dummy, //sucks but let it be this way "for the time being"
				posError,
	infoGlobal,			infoGlobal,
	relaxation,			-m_maxAppliedImpulse, m_maxAppliedImpulse
	false);			);
	constraintRow.m_lowerLimit = -m_maxAppliedImpulse;			#endif
	constraintRow.m_upperLimit = m_maxAppliedImpulse;			}
				}

				void btMultiBodyPoint2Point::debugDraw(class btIDebugDraw* drawer)
				{
				btTransform tr;
				tr.setIdentity();

				if (m_rigidBodyA)
				{
				btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
				tr.setOrigin(pivot);
				drawer->drawTransform(tr, 0.1);
				}
				if (m_bodyA)
				{
				btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
				tr.setOrigin(pivotAworld);
				drawer->drawTransform(tr, 0.1);
				}
				if (m_rigidBodyB)
				{
				// that ideally should draw the same frame
				btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
				tr.setOrigin(pivot);
				drawer->drawTransform(tr, 0.1);
				}
				if (m_bodyB)
				{
				btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
				tr.setOrigin(pivotBworld);
				drawer->drawTransform(tr, 0.1);
	}			}
	}			}