Bullet Collision Detection & Physics Library: btMultiBodyConstraint.h Source File

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btMultiBodyConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_MULTIBODY_CONSTRAINT_H
17 #define BT_MULTIBODY_CONSTRAINT_H
18
19 #include "LinearMath/btScalar.h"
20 #include "LinearMath/btAlignedObjectArray.h"
21 #include "btMultiBody.h"
22
23 class btMultiBody;
24 struct btSolverInfo;
25
26 #include "btMultiBodySolverConstraint.h"
27
28 struct btMultiBodyJacobianData
29 {
30 btAlignedObjectArray<btScalar> m_jacobians;
31 btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse; //holds the joint-space response of the corresp. tree to the test impulse in each constraint space dimension
32 btAlignedObjectArray<btScalar> m_deltaVelocities; //holds joint-space vectors of all the constrained trees accumulating the effect of corrective impulses applied in SI
33 btAlignedObjectArray<btScalar> scratch_r;
34 btAlignedObjectArray<btVector3> scratch_v;
35 btAlignedObjectArray<btMatrix3x3> scratch_m;
36 btAlignedObjectArray<btSolverBody>* m_solverBodyPool;
37 int m_fixedBodyId;
38
39 };
40
41
42 class btMultiBodyConstraint
43 {
44 protected:
45
46 btMultiBody* m_bodyA;
47 btMultiBody* m_bodyB;
48 int m_linkA;
49 int m_linkB;
50
51 int m_numRows;
52 int m_jacSizeA;
53 int m_jacSizeBoth;
54 int m_posOffset;
55
56 bool m_isUnilateral;
57 int m_numDofsFinalized;
58 btScalar m_maxAppliedImpulse;
59
60
61 // warning: the data block lay out is not consistent for all constraints
62 // data block laid out as follows:
63 // cached impulses. (one per row.)
64 // jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc)
65 // positions. (one per row.)
66 btAlignedObjectArray<btScalar> m_data;
67
68 void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);
69
70 btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
71 btMultiBodyJacobianData& data,
72 btScalar* jacOrgA, btScalar* jacOrgB,
73 const btVector3& contactNormalOnB,
74 const btVector3& posAworld, const btVector3& posBworld,
75 btScalar posError,
76 const btContactSolverInfo& infoGlobal,
77 btScalar lowerLimit, btScalar upperLimit,
78 btScalar relaxation = 1.f,
79 bool isFriction = false, btScalar desiredVelocity=0, btScalar cfmSlip=0);
80
81 public:
82
83 btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral);
84 virtual ~btMultiBodyConstraint();
85
86 void updateJacobianSizes();
87 void allocateJacobiansMultiDof();
88
89 virtual void finalizeMultiDof()=0;
90
91 virtual int getIslandIdA() const =0;
92 virtual int getIslandIdB() const =0;
93
94 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
95 btMultiBodyJacobianData& data,
96 const btContactSolverInfo& infoGlobal)=0;
97
98 int getNumRows() const
99 {
100 return m_numRows;
101 }
102
103 btMultiBody* getMultiBodyA()
104 {
105 return m_bodyA;
106 }
107 btMultiBody* getMultiBodyB()
108 {
109 return m_bodyB;
110 }
111
112 void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
113 {
114 btAssert(dof>=0);
115 btAssert(dof < getNumRows());
116 m_data[dof] = appliedImpulse;
117 }
118
119 btScalar getAppliedImpulse(int dof)
120 {
121 btAssert(dof>=0);
122 btAssert(dof < getNumRows());
123 return m_data[dof];
124 }
125 // current constraint position
126 // constraint is pos >= 0 for unilateral, or pos = 0 for bilateral
127 // NOTE: ignored position for friction rows.
128 btScalar getPosition(int row) const
129 {
130 return m_data[m_posOffset + row];
131 }
132
133 void setPosition(int row, btScalar pos)
134 {
135 m_data[m_posOffset + row] = pos;
136 }
137
138
139 bool isUnilateral() const
140 {
141 return m_isUnilateral;
142 }
143
144 // jacobian blocks.
145 // each of size 6 + num_links. (jacobian2 is null if no body2.)
146 // format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.
147 btScalar* jacobianA(int row)
148 {
149 return &m_data[m_numRows + row * m_jacSizeBoth];
150 }
151 const btScalar* jacobianA(int row) const
152 {
153 return &m_data[m_numRows + (row * m_jacSizeBoth)];
154 }
155 btScalar* jacobianB(int row)
156 {
157 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
158 }
159 const btScalar* jacobianB(int row) const
160 {
161 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
162 }
163
164 btScalar getMaxAppliedImpulse() const
165 {
166 return m_maxAppliedImpulse;
167 }
168 void setMaxAppliedImpulse(btScalar maxImp)
169 {
170 m_maxAppliedImpulse = maxImp;
171 }
172
173 virtual void debugDraw(class btIDebugDraw* drawer)=0;
174
175 };
176
177 #endif //BT_MULTIBODY_CONSTRAINT_H
178
btMultiBodyConstraint::getMaxAppliedImpulse
btScalar getMaxAppliedImpulse() const
Definition: btMultiBodyConstraint.h:164
btMultiBodyConstraint::jacobianB
btScalar * jacobianB(int row)
Definition: btMultiBodyConstraint.h:155
btMultiBodyConstraint::getMultiBodyA
btMultiBody * getMultiBodyA()
Definition: btMultiBodyConstraint.h:103
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btMultiBodySolverConstraint.h:28
btMultiBodyJacobianData::scratch_r
btAlignedObjectArray< btScalar > scratch_r
Definition: btMultiBodyConstraint.h:33
btMultiBodyJacobianData::m_deltaVelocities
btAlignedObjectArray< btScalar > m_deltaVelocities
Definition: btMultiBodyConstraint.h:32
btAlignedObjectArray< btScalar >
btMultiBodyJacobianData::m_solverBodyPool
btAlignedObjectArray< btSolverBody > * m_solverBodyPool
Definition: btMultiBodyConstraint.h:36
btMultiBodyConstraint::m_maxAppliedImpulse
btScalar m_maxAppliedImpulse
Definition: btMultiBodyConstraint.h:58
btMultiBodySolverConstraint.h
btMultiBodyConstraint::getAppliedImpulse
btScalar getAppliedImpulse(int dof)
Definition: btMultiBodyConstraint.h:119
btMultiBodyConstraint::internalSetAppliedImpulse
void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
Definition: btMultiBodyConstraint.h:112
btMultiBodyConstraint::m_bodyB
btMultiBody * m_bodyB
Definition: btMultiBodyConstraint.h:47
btAssert
#define btAssert(x)
Definition: btScalar.h:113
btMultiBodyConstraint::jacobianA
btScalar * jacobianA(int row)
Definition: btMultiBodyConstraint.h:147
btMultiBodyConstraint::m_posOffset
int m_posOffset
Definition: btMultiBodyConstraint.h:54
btMultiBody
Definition: btMultiBody.h:51
btMultiBodyJacobianData::scratch_m
btAlignedObjectArray< btMatrix3x3 > scratch_m
Definition: btMultiBodyConstraint.h:35
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:42
btMultiBodyConstraint::getNumRows
int getNumRows() const
Definition: btMultiBodyConstraint.h:98
btMultiBodyJacobianData::m_deltaVelocitiesUnitImpulse
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
Definition: btMultiBodyConstraint.h:31
btMultiBodyConstraint::isUnilateral
bool isUnilateral() const
Definition: btMultiBodyConstraint.h:139
btMultiBodyConstraint::m_numDofsFinalized
int m_numDofsFinalized
Definition: btMultiBodyConstraint.h:57
btMultiBodyJacobianData::m_fixedBodyId
int m_fixedBodyId
Definition: btMultiBodyConstraint.h:37
btMultiBodyConstraint::getPosition
btScalar getPosition(int row) const
Definition: btMultiBodyConstraint.h:128
btMultiBodyConstraint::m_jacSizeA
int m_jacSizeA
Definition: btMultiBodyConstraint.h:52
btMultiBodyConstraint::m_jacSizeBoth
int m_jacSizeBoth
Definition: btMultiBodyConstraint.h:53
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:28
btMultiBodyConstraint::m_data
btAlignedObjectArray< btScalar > m_data
Definition: btMultiBodyConstraint.h:66
btMultiBodyJacobianData::m_jacobians
btAlignedObjectArray< btScalar > m_jacobians
Definition: btMultiBodyConstraint.h:30
btMultiBodyConstraint::jacobianA
const btScalar * jacobianA(int row) const
Definition: btMultiBodyConstraint.h:151
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btMultiBodyJacobianData::scratch_v
btAlignedObjectArray< btVector3 > scratch_v
Definition: btMultiBodyConstraint.h:34
btMultiBody.h
btContactSolverInfo
Definition: btContactSolverInfo.h:65
btMultiBodyConstraint::m_numRows
int m_numRows
Definition: btMultiBodyConstraint.h:51
btMultiBodyConstraint::setPosition
void setPosition(int row, btScalar pos)
Definition: btMultiBodyConstraint.h:133
btMultiBodyConstraint::setMaxAppliedImpulse
void setMaxAppliedImpulse(btScalar maxImp)
Definition: btMultiBodyConstraint.h:168
btMultiBodyConstraint::m_bodyA
btMultiBody * m_bodyA
Definition: btMultiBodyConstraint.h:46
btAlignedObjectArray.h
btMultiBodyConstraint::m_isUnilateral
bool m_isUnilateral
Definition: btMultiBodyConstraint.h:56
btMultiBodyConstraint::jacobianB
const btScalar * jacobianB(int row) const
Definition: btMultiBodyConstraint.h:159
btMultiBodyConstraint::getMultiBodyB
btMultiBody * getMultiBodyB()
Definition: btMultiBodyConstraint.h:107
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btMultiBodyConstraint::m_linkB
int m_linkB
Definition: btMultiBodyConstraint.h:49
btScalar.h
btMultiBodyConstraint::m_linkA
int m_linkA
Definition: btMultiBodyConstraint.h:48