44 void SpatialTransform(
const btMatrix3x3 &rotation_matrix,
51 top_out = rotation_matrix * top_in;
52 bottom_out = -displacement.
cross(top_out) + rotation_matrix * bottom_in;
55 void InverseSpatialTransform(
const btMatrix3x3 &rotation_matrix,
62 top_out = rotation_matrix.
transpose() * top_in;
63 bottom_out = rotation_matrix.
transpose() * (bottom_in + displacement.
cross(top_in));
71 return a_bottom.
dot(b_top) + a_top.
dot(b_bottom);
74 void SpatialCrossProduct(
const btVector3 &a_top,
81 top_out = a_top.
cross(b_top);
82 bottom_out = a_bottom.
cross(b_top) + a_top.
cross(b_bottom);
101 m_baseQuat(0, 0, 0, 1),
103 m_baseInertia(inertia),
105 m_fixedBase(fixedBase),
107 m_canSleep(canSleep),
109 m_userObjectPointer(0),
112 m_linearDamping(0.04f),
113 m_angularDamping(0.04f),
115 m_maxAppliedImpulse(1000.f),
116 m_maxCoordinateVelocity(100.f),
117 m_hasSelfCollision(true),
122 m_useGlobalVelocities(false),
123 m_internalNeedsJointFeedback(false)
147 const btVector3 &parentComToThisPivotOffset,
148 const btVector3 &thisPivotToThisComOffset,
bool )
152 m_links[i].m_inertiaLocal = inertia;
154 m_links[i].m_zeroRotParentToThis = rotParentToThis;
155 m_links[i].m_dVector = thisPivotToThisComOffset;
156 m_links[i].m_eVector = parentComToThisPivotOffset;
164 m_links[i].updateCacheMultiDof();
177 const btVector3 &parentComToThisPivotOffset,
178 const btVector3 &thisPivotToThisComOffset,
179 bool disableParentCollision)
185 m_links[i].m_inertiaLocal = inertia;
187 m_links[i].m_zeroRotParentToThis = rotParentToThis;
188 m_links[i].setAxisTop(0, 0., 0., 0.);
189 m_links[i].setAxisBottom(0, jointAxis);
190 m_links[i].m_eVector = parentComToThisPivotOffset;
191 m_links[i].m_dVector = thisPivotToThisComOffset;
192 m_links[i].m_cachedRotParentToThis = rotParentToThis;
197 m_links[i].m_jointPos[0] = 0.f;
198 m_links[i].m_jointTorque[0] = 0.f;
200 if (disableParentCollision)
204 m_links[i].updateCacheMultiDof();
215 const btVector3 &parentComToThisPivotOffset,
216 const btVector3 &thisPivotToThisComOffset,
217 bool disableParentCollision)
223 m_links[i].m_inertiaLocal = inertia;
225 m_links[i].m_zeroRotParentToThis = rotParentToThis;
226 m_links[i].setAxisTop(0, jointAxis);
227 m_links[i].setAxisBottom(0, jointAxis.
cross(thisPivotToThisComOffset));
228 m_links[i].m_dVector = thisPivotToThisComOffset;
229 m_links[i].m_eVector = parentComToThisPivotOffset;
234 m_links[i].m_jointPos[0] = 0.f;
235 m_links[i].m_jointTorque[0] = 0.f;
237 if (disableParentCollision)
240 m_links[i].updateCacheMultiDof();
252 const btVector3 &parentComToThisPivotOffset,
253 const btVector3 &thisPivotToThisComOffset,
254 bool disableParentCollision)
261 m_links[i].m_inertiaLocal = inertia;
263 m_links[i].m_zeroRotParentToThis = rotParentToThis;
264 m_links[i].m_dVector = thisPivotToThisComOffset;
265 m_links[i].m_eVector = parentComToThisPivotOffset;
270 m_links[i].setAxisTop(0, 1.f, 0.f, 0.f);
271 m_links[i].setAxisTop(1, 0.f, 1.f, 0.f);
272 m_links[i].setAxisTop(2, 0.f, 0.f, 1.f);
273 m_links[i].setAxisBottom(0,
m_links[i].getAxisTop(0).cross(thisPivotToThisComOffset));
274 m_links[i].setAxisBottom(1,
m_links[i].getAxisTop(1).cross(thisPivotToThisComOffset));
275 m_links[i].setAxisBottom(2,
m_links[i].getAxisTop(2).cross(thisPivotToThisComOffset));
280 if (disableParentCollision)
283 m_links[i].updateCacheMultiDof();
294 const btVector3 &parentComToThisComOffset,
295 bool disableParentCollision)
302 m_links[i].m_inertiaLocal = inertia;
304 m_links[i].m_zeroRotParentToThis = rotParentToThis;
305 m_links[i].m_dVector.setZero();
306 m_links[i].m_eVector = parentComToThisComOffset;
309 btVector3 vecNonParallelToRotAxis(1, 0, 0);
310 if(rotationAxis.
normalized().
dot(vecNonParallelToRotAxis) > 0.999)
311 vecNonParallelToRotAxis.
setValue(0, 1, 0);
318 m_links[i].setAxisTop(0, n[0],n[1],n[2]);
319 m_links[i].setAxisTop(1,0,0,0);
320 m_links[i].setAxisTop(2,0,0,0);
321 m_links[i].setAxisBottom(0,0,0,0);
323 m_links[i].setAxisBottom(1,cr[0],cr[1],cr[2]);
325 m_links[i].setAxisBottom(2,cr[0],cr[1],cr[2]);
329 if (disableParentCollision)
332 m_links[i].updateCacheMultiDof();
359 return m_links[i].m_inertiaLocal;
364 return m_links[i].m_jointPos[0];
374 return &
m_links[i].m_jointPos[0];
384 return &
m_links[i].m_jointPos[0];
396 m_links[i].updateCacheMultiDof();
401 for(
int pos = 0; pos <
m_links[i].m_posVarCount; ++pos)
402 m_links[i].m_jointPos[pos] = q[pos];
404 m_links[i].updateCacheMultiDof();
414 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
420 return m_links[i].m_cachedRVector;
425 return m_links[i].m_cachedRotParentToThis;
482 result.
setValue(frameInWorld0[0], frameInWorld1[0], frameInWorld2[0], frameInWorld0[1], frameInWorld1[1], frameInWorld2[1], frameInWorld0[2], frameInWorld1[2], frameInWorld2[2]);
493 for (
int i = 0; i < num_links; ++i) {
494 const int parent =
m_links[i].m_parent;
498 omega[parent+1], vel[parent+1],
499 omega[i+1], vel[i+1]);
519 for (
int i = 0; i < num_links; ++i) {
520 result +=
m_links[i].m_mass * vel[i+1].dot(vel[i+1]);
521 result += omega[i+1].dot(
m_links[i].m_inertiaLocal * omega[i+1]);
524 return 0.5f * result;
539 for (
int i = 0; i < num_links; ++i) {
540 rot_from_world[i+1] =
m_links[i].m_cachedRotParentToThis * rot_from_world[
m_links[i].m_parent+1];
541 result += (
quatRotate(rot_from_world[i+1].
inverse() , (m_links[i].m_inertiaLocal * omega[i+1])));
554 m_links[i].m_appliedConstraintForce.setValue(0, 0, 0);
555 m_links[i].m_appliedConstraintTorque.setValue(0, 0, 0);
565 m_links[i].m_appliedForce.setValue(0, 0, 0);
566 m_links[i].m_appliedTorque.setValue(0, 0, 0);
580 m_links[i].m_appliedForce += f;
585 m_links[i].m_appliedTorque += t;
590 m_links[i].m_appliedConstraintForce += f;
595 m_links[i].m_appliedConstraintTorque += t;
602 m_links[i].m_jointTorque[0] += Q;
607 m_links[i].m_jointTorque[dof] += Q;
612 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
613 m_links[i].m_jointTorque[dof] = Q[dof];
618 return m_links[i].m_appliedForce;
623 return m_links[i].m_appliedTorque;
628 return m_links[i].m_jointTorque[0];
633 return &
m_links[i].m_jointTorque[0];
652 row1[0],row1[1],row1[2],
653 row2[0],row2[1],row2[2]);
657 #define vecMulVecTranspose(v0, v1Transposed) outerProduct(v0, v1Transposed) 664 bool isConstraintPass)
697 scratch_v.
resize(8*num_links + 6);
698 scratch_m.
resize(4*num_links + 4);
706 v_ptr += num_links * 2 + 2;
710 v_ptr += num_links * 2 + 2;
714 v_ptr += num_links * 2;
727 v_ptr += num_links * 2 + 2;
747 btScalar * joint_accel = output + 6;
757 spatVel[0].
setVector(rot_from_parent[0] * base_omega, rot_from_parent[0] * base_vel);
768 zeroAccSpatFrc[0].
setVector(-(rot_from_parent[0] * baseTorque), -(rot_from_parent[0] * baseForce));
771 btScalar linDampMult = 1., angDampMult = 1.;
772 zeroAccSpatFrc[0].
addVector(angDampMult *
m_baseInertia * spatVel[0].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[0].getAngular().safeNorm()),
773 linDampMult *
m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().safeNorm()));
780 zeroAccSpatFrc[0].
addLinear(
m_baseMass * spatVel[0].getAngular().cross(spatVel[0].getLinear()));
796 rot_from_world[0] = rot_from_parent[0];
799 for (
int i = 0; i < num_links; ++i) {
800 const int parent =
m_links[i].m_parent;
802 rot_from_world[i+1] = rot_from_parent[i+1] * rot_from_world[parent+1];
805 fromWorld.
m_rotMat = rot_from_world[i+1];
806 fromParent.
transform(spatVel[parent+1], spatVel[i+1]);
814 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
818 spatVel[i+1] += spatJointVel;
832 spatVel[i+1].
cross(spatJointVel, spatCoriolisAcc[i]);
837 btVector3 linkAppliedForce = isConstraintPass?
m_links[i].m_appliedConstraintForce :
m_links[i].m_appliedForce;
838 btVector3 linkAppliedTorque =isConstraintPass ?
m_links[i].m_appliedConstraintTorque :
m_links[i].m_appliedTorque;
840 zeroAccSpatFrc[i+1].
setVector(-(rot_from_world[i+1] * linkAppliedTorque), -(rot_from_world[i+1] * linkAppliedForce ));
845 b3Printf(
"stepVelocitiesMultiDof zeroAccSpatFrc[%d] linear:%f,%f,%f, angular:%f,%f,%f",
847 zeroAccSpatFrc[i+1].m_topVec[0],
848 zeroAccSpatFrc[i+1].m_topVec[1],
849 zeroAccSpatFrc[i+1].m_topVec[2],
851 zeroAccSpatFrc[i+1].m_bottomVec[0],
852 zeroAccSpatFrc[i+1].m_bottomVec[1],
853 zeroAccSpatFrc[i+1].m_bottomVec[2]);
858 btScalar linDampMult = 1., angDampMult = 1.;
859 zeroAccSpatFrc[i+1].
addVector(angDampMult *
m_links[i].m_inertiaLocal * spatVel[i+1].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[i+1].getAngular().safeNorm()),
860 linDampMult *
m_links[i].m_mass * spatVel[i+1].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[i+1].getLinear().safeNorm()));
871 0,
m_links[i].m_inertiaLocal[1], 0,
872 0, 0,
m_links[i].m_inertiaLocal[2])
877 zeroAccSpatFrc[i+1].
addAngular(spatVel[i+1].getAngular().cross(
m_links[i].m_inertiaLocal * spatVel[i+1].getAngular()));
879 zeroAccSpatFrc[i+1].
addLinear(
m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear()));
900 for (
int i = num_links - 1; i >= 0; --i)
902 const int parent =
m_links[i].m_parent;
905 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
909 hDof = spatInertia[i+1] * m_links[i].m_axes[dof];
911 Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof]
912 - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1])
913 - spatCoriolisAcc[i].
dot(hDof)
917 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
920 for(
int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
923 D_row[dof2] = m_links[i].m_axes[dof].dot(hDof2);
933 invDi[0] = 1.0f / D[0];
943 for(
int row = 0; row < 3; ++row)
945 for(
int col = 0; col < 3; ++col)
947 invDi[row * 3 + col] = invD3x3[row][col];
960 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
962 spatForceVecTemps[dof].
setZero();
964 for(
int dof2 = 0; dof2 <
m_links[i].m_dofCount; ++dof2)
968 spatForceVecTemps[dof] += hDof2 * invDi[dof2 * m_links[i].m_dofCount + dof];
972 dyadTemp = spatInertia[i+1];
975 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
984 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
986 invD_times_Y[dof] = 0.f;
988 for(
int dof2 = 0; dof2 <
m_links[i].m_dofCount; ++dof2)
990 invD_times_Y[dof] += invDi[dof *
m_links[i].m_dofCount + dof2] * Y[
m_links[i].m_dofOffset + dof2];
994 spatForceVecTemps[0] = zeroAccSpatFrc[i+1] + spatInertia[i+1] * spatCoriolisAcc[i];
996 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
1000 spatForceVecTemps[0] += hDof * invD_times_Y[dof];
1005 zeroAccSpatFrc[parent+1] += spatForceVecTemps[1];
1029 spatAcc[0] = -result;
1034 for (
int i = 0; i < num_links; ++i)
1042 const int parent =
m_links[i].m_parent;
1045 fromParent.
transform(spatAcc[parent+1], spatAcc[i+1]);
1047 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
1051 Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i+1].
dot(hDof);
1058 spatAcc[i+1] += spatCoriolisAcc[i];
1060 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
1061 spatAcc[i+1] +=
m_links[i].m_axes[dof] * joint_accel[
m_links[i].m_dofOffset + dof];
1063 if (
m_links[i].m_jointFeedback)
1067 btVector3 angularBotVec = (spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_bottomVec;
1068 btVector3 linearTopVec = (spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_topVec;
1075 angularBotVec = angularBotVec - linearTopVec.
cross(
m_links[i].m_dVector);
1081 if (isConstraintPass)
1083 m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec +=
m_links[i].m_cachedWorldTransform.getBasis()*angularBotVec;
1084 m_links[i].m_jointFeedback->m_reactionForces.m_topVec +=
m_links[i].m_cachedWorldTransform.getBasis()*linearTopVec;
1087 m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec =
m_links[i].m_cachedWorldTransform.getBasis()*angularBotVec;
1088 m_links[i].m_jointFeedback->m_reactionForces.m_topVec =
m_links[i].m_cachedWorldTransform.getBasis()*linearTopVec;
1092 if (isConstraintPass)
1094 m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec += angularBotVec;
1095 m_links[i].m_jointFeedback->m_reactionForces.m_topVec += linearTopVec;
1100 m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = angularBotVec;
1101 m_links[i].m_jointFeedback->m_reactionForces.m_topVec = linearTopVec;
1110 output[0] = omegadot_out[0];
1111 output[1] = omegadot_out[1];
1112 output[2] = omegadot_out[2];
1115 output[3] = vdot_out[0];
1116 output[4] = vdot_out[1];
1117 output[5] = vdot_out[2];
1139 if (!isConstraintPass)
1175 for (
int i = 0; i < num_links; ++i)
1177 const int parent =
m_links[i].m_parent;
1182 fromWorld.
m_rotMat = rot_from_world[i+1];
1185 fromParent.
transform(spatVel[parent+1], spatVel[i+1]);
1193 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
1197 spatVel[i+1] += spatJointVel;
1226 for (
int i=0;i<6;i++)
1239 btMatrix3x3 invI_lower_right = (invI_upper_left).transpose();
1248 btVector3 vtop = invI_upper_left*rhs_top;
1250 tmp = invIupper_right * rhs_bot;
1252 btVector3 vbot = invI_lower_left*rhs_top;
1253 tmp = invI_lower_right * rhs_bot;
1255 result[0] = vtop[0];
1256 result[1] = vtop[1];
1257 result[2] = vtop[2];
1258 result[3] = vbot[0];
1259 result[4] = vbot[1];
1260 result[5] = vbot[2];
1290 btMatrix3x3 invI_lower_right = (invI_upper_left).transpose();
1314 for (
int row = 0; row < rowsA; row++)
1316 for (
int col = 0; col < colsB; col++)
1318 pC[row * colsB + col] = 0.f;
1319 for (
int inner = 0; inner < rowsB; inner++)
1321 pC[row * colsB + col] += pA[row * colsA + inner] * pB[col + inner * colsB];
1336 scratch_v.
resize(4*num_links + 4);
1343 v_ptr += num_links * 2 + 2;
1352 v_ptr += num_links * 2 + 2;
1377 fromParent.
m_rotMat = rot_from_parent[0];
1380 for (
int i = 0; i < num_links; ++i)
1382 zeroAccSpatFrc[i+1].
setZero();
1387 for (
int i = num_links - 1; i >= 0; --i)
1389 const int parent =
m_links[i].m_parent;
1392 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
1394 Y[
m_links[i].m_dofOffset + dof] = force[6 + m_links[i].m_dofOffset + dof]
1395 - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1])
1399 btVector3 in_top, in_bottom, out_top, out_bottom;
1402 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
1404 invD_times_Y[dof] = 0.f;
1406 for(
int dof2 = 0; dof2 <
m_links[i].m_dofCount; ++dof2)
1408 invD_times_Y[dof] += invDi[dof *
m_links[i].m_dofCount + dof2] * Y[
m_links[i].m_dofOffset + dof2];
1413 spatForceVecTemps[0] = zeroAccSpatFrc[i+1];
1415 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
1419 spatForceVecTemps[0] += hDof * invD_times_Y[dof];
1425 zeroAccSpatFrc[parent+1] += spatForceVecTemps[1];
1429 btScalar * joint_accel = output + 6;
1442 spatAcc[0] = -result;
1447 for (
int i = 0; i < num_links; ++i)
1449 const int parent =
m_links[i].m_parent;
1452 fromParent.
transform(spatAcc[parent+1], spatAcc[i+1]);
1454 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
1458 Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i+1].
dot(hDof);
1464 for(
int dof = 0; dof <
m_links[i].m_dofCount; ++dof)
1465 spatAcc[i+1] +=
m_links[i].m_axes[dof] * joint_accel[
m_links[i].m_dofOffset + dof];
1471 output[0] = omegadot_out[0];
1472 output[1] = omegadot_out[1];
1473 output[2] = omegadot_out[2];
1477 output[3] = vdot_out[0];
1478 output[4] = vdot_out[1];
1479 output[5] = vdot_out[2];
1502 pBasePos[0] += dt * pBaseVel[0];
1503 pBasePos[1] += dt * pBaseVel[1];
1504 pBasePos[2] += dt * pBaseVel[2];
1534 axis = angvel*(
btScalar(0.5)*dt-(dt*dt*dt)*(
btScalar(0.020833333333))*fAngle*fAngle );
1558 btQuaternion baseQuat; baseQuat.
setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]);
1559 btVector3 baseOmega; baseOmega.
setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]);
1560 pQuatUpdateFun(baseOmega, baseQuat,
true, dt);
1561 pBaseQuat[0] = baseQuat.
x();
1562 pBaseQuat[1] = baseQuat.
y();
1563 pBaseQuat[2] = baseQuat.
z();
1564 pBaseQuat[3] = baseQuat.
w();
1577 for (
int i = 0; i < num_links; ++i)
1582 switch(
m_links[i].m_jointType)
1588 pJointPos[0] += dt * jointVel;
1593 btVector3 jointVel; jointVel.
setValue(pJointVel[0], pJointVel[1], pJointVel[2]);
1594 btQuaternion jointOri; jointOri.
setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]);
1595 pQuatUpdateFun(jointVel, jointOri,
false, dt);
1596 pJointPos[0] = jointOri.
x(); pJointPos[1] = jointOri.
y(); pJointPos[2] = jointOri.
z(); pJointPos[3] = jointOri.
w();
1605 pJointPos[1] +=
m_links[i].getAxisBottom(1).dot(no_q0_coors_qd1qd2) * dt;
1606 pJointPos[2] +=
m_links[i].getAxisBottom(2).dot(no_q0_coors_qd1qd2) * dt;
1616 m_links[i].updateCacheMultiDof(pq);
1619 pq +=
m_links[i].m_posVarCount;
1637 scratch_v.
resize(3*num_links + 3);
1638 scratch_m.
resize(num_links + 1);
1641 btVector3 * p_minus_com_local = v_ptr; v_ptr += num_links + 1;
1642 btVector3 * n_local_lin = v_ptr; v_ptr += num_links + 1;
1643 btVector3 * n_local_ang = v_ptr; v_ptr += num_links + 1;
1646 scratch_r.
resize(m_dofCount);
1647 btScalar * results = m_dofCount > 0 ? &scratch_r[0] : 0;
1652 const btVector3 &normal_lin_world = normal_lin;
1653 const btVector3 &normal_ang_world = normal_ang;
1659 omega_coeffs_world = p_minus_com_world.
cross(normal_lin_world);
1660 jac[0] = omega_coeffs_world[0] + normal_ang_world[0];
1661 jac[1] = omega_coeffs_world[1] + normal_ang_world[1];
1662 jac[2] = omega_coeffs_world[2] + normal_ang_world[2];
1664 jac[3] = normal_lin_world[0];
1665 jac[4] = normal_lin_world[1];
1666 jac[5] = normal_lin_world[2];
1669 p_minus_com_local[0] = rot_from_world[0] * p_minus_com_world;
1670 n_local_lin[0] = rot_from_world[0] * normal_lin_world;
1671 n_local_ang[0] = rot_from_world[0] * normal_ang_world;
1680 if (num_links > 0 && link > -1) {
1687 for (
int i = 0; i < num_links; ++i) {
1690 const int parent =
m_links[i].m_parent;
1692 rot_from_world[i+1] = mtx * rot_from_world[parent+1];
1694 n_local_lin[i+1] = mtx * n_local_lin[parent+1];
1695 n_local_ang[i+1] = mtx * n_local_ang[parent+1];
1696 p_minus_com_local[i+1] = mtx * p_minus_com_local[parent+1] -
m_links[i].m_cachedRVector;
1699 switch(
m_links[i].m_jointType)
1703 results[
m_links[i].m_dofOffset] = n_local_lin[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(0));
1704 results[m_links[i].m_dofOffset] += n_local_ang[i+1].dot(m_links[i].getAxisTop(0));
1709 results[
m_links[i].m_dofOffset] = n_local_lin[i+1].dot(m_links[i].getAxisBottom(0));
1714 results[
m_links[i].m_dofOffset + 0] = n_local_lin[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(0));
1715 results[m_links[i].m_dofOffset + 1] = n_local_lin[i+1].dot(m_links[i].getAxisTop(1).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(1));
1716 results[m_links[i].m_dofOffset + 2] = n_local_lin[i+1].dot(m_links[i].getAxisTop(2).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(2));
1718 results[m_links[i].m_dofOffset + 0] += n_local_ang[i+1].dot(m_links[i].getAxisTop(0));
1719 results[m_links[i].m_dofOffset + 1] += n_local_ang[i+1].dot(m_links[i].getAxisTop(1));
1720 results[m_links[i].m_dofOffset + 2] += n_local_ang[i+1].dot(m_links[i].getAxisTop(2));
1726 results[
m_links[i].m_dofOffset + 0] = n_local_lin[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i+1]));
1727 results[m_links[i].m_dofOffset + 1] = n_local_lin[i+1].dot(m_links[i].getAxisBottom(1));
1728 results[m_links[i].m_dofOffset + 2] = n_local_lin[i+1].dot(m_links[i].getAxisBottom(2));
1743 for(
int dof = 0; dof <
m_links[link].m_dofCount; ++dof)
1745 jac[6 +
m_links[link].m_dofOffset + dof] = results[m_links[link].m_dofOffset + dof];
1749 link =
m_links[link].m_parent;
1785 if (motion < SLEEP_EPSILON) {
1808 for (
int i = 0; i < num_links; ++i)
1815 world_to_local.
resize(nLinks+1);
1816 local_origin.
resize(nLinks+1);
1833 btScalar quat[4]={-world_to_local[index].x(),-world_to_local[index].y(),-world_to_local[index].z(),world_to_local[index].w()};
1856 btScalar quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
1886 btScalar quat[4]={-world_to_local[index].x(),-world_to_local[index].y(),-world_to_local[index].z(),world_to_local[index].w()};
1913 if (mbd->m_baseName)
1919 if (mbd->m_numLinks)
1922 int numElem = mbd->m_numLinks;
1925 for (
int i=0;i<numElem;i++,memPtr++)
1952 for (
int posvar = 0; posvar < numPosVar;posvar++)
1961 if (memPtr->m_linkName)
1969 if (memPtr->m_jointName)
void setupPlanar(int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &rotationAxis, const btVector3 &parentComToThisComOffset, bool disableParentCollision=false)
const btScalar & x() const
Return the x value.
void solveImatrix(const btVector3 &rhs_top, const btVector3 &rhs_bot, float result[6]) const
btQuaternion m_zeroRotParentToThis
void clearConstraintForces()
void setupRevolute(int linkIndex, btScalar mass, const btVector3 &inertia, int parentIndex, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)
const btVector3 & getBasePos() const
btVector3 localPosToWorld(int i, const btVector3 &vec) const
btAlignedObjectArray< btMatrix3x3 > m_matrixBuf
void setupFixed(int linkIndex, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true)
const btMultiBodyLinkCollider * getBaseCollider() const
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
const btVector3 & getLinear() const
const btVector3 & getAxisTop(int dof) const
These spatial algebra classes are used for btMultiBody, see BulletDynamics/Featherstone.
#define btMultiBodyLinkDataName
btScalar btSin(btScalar x)
void stepPositionsMultiDof(btScalar dt, btScalar *pq=0, btScalar *pqd=0)
eFeatherstoneJointType m_jointType
class btMultiBodyLinkCollider * m_collider
void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
bool gDisableDeactivation
void computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass=false)
virtual void * getUniquePointer(void *oldPtr)=0
bool gJointFeedbackInWorldSpace
todo: determine if we need these options. If so, make a proper API, otherwise delete those globals ...
void setupSpherical(int linkIndex, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)
void addLinkConstraintForce(int i, const btVector3 &f)
const btQuaternion & getWorldToBaseRot() const
btMatrix3x3 m_cachedInertiaLowerRight
btScalar * getJointVelMultiDof(int i)
void addLinkForce(int i, const btVector3 &f)
void addLinear(const btVector3 &linear)
btVector3 worldPosToLocal(int i, const btVector3 &vec) const
bool gJointFeedbackInJointFrame
void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
void setJointPosMultiDof(int i, btScalar *q)
void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b, btSymmetricSpatialDyad &out)
void updateCollisionObjectWorldTransforms(btAlignedObjectArray< btQuaternion > &scratch_q, btAlignedObjectArray< btVector3 > &scratch_m)
btVector3 m_baseConstraintTorque
#define btCollisionObjectData
void applyDeltaVeeMultiDof(const btScalar *delta_vee, btScalar multiplier)
btQuaternion inverse(const btQuaternion &q)
Return the inverse of a quaternion.
const btVector3 & getLinkTorque(int i) const
btAlignedObjectArray< btScalar > m_deltaV
btVector3 getBaseOmega() const
btMatrix3x3 outerProduct(const btVector3 &v0, const btVector3 &v1)
const btVector3 & getAxisBottom(int dof) const
void clearForcesAndTorques()
btVector3 quatRotate(const btQuaternion &rotation, const btVector3 &v)
btVector3 normalized() const
Return a normalized version of this vector.
btMatrix3x3 transpose() const
Return the transpose of the matrix.
btVector3 getColumn(int i) const
Get a column of the matrix as a vector.
void addAngular(const btVector3 &angular)
void addLinkConstraintTorque(int i, const btVector3 &t)
btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &mat) const
void forwardKinematics(btAlignedObjectArray< btQuaternion > &scratch_q, btAlignedObjectArray< btVector3 > &scratch_m)
virtual int calculateSerializeBufferSize() const
btMatrix3x3 m_cachedInertiaTopLeft
void setupPrismatic(int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision)
btScalar m_jointTorque[6]
const btVector3 & getBaseInertia() const
const btQuaternion & getParentToLocalRot(int i) const
btTransform getBaseWorldTransform() const
const btVector3 & getLinear() const
const btScalar & x() const
Return the x value.
void setVector(const btVector3 &angular, const btVector3 &linear)
btMatrix3x3 m_cachedInertiaLowerLeft
btScalar getBaseMass() const
btQuaternion & normalize()
Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.
btScalar getJointTorque(int i) const
void addLinkTorque(int i, const btVector3 &t)
const btVector3 & getAngular() const
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
btScalar dot(const btVector3 &v) const
Return the dot product.
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Set x,y,z and zero w.
void setLinear(const btVector3 &linear)
int getParent(int link_num) const
const btScalar & y() const
Return the y value.
const btScalar & z() const
Return the z value.
bool m_cachedInertiaValid
void addJointTorque(int i, btScalar Q)
void setValue(const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
Set the values of the matrix explicitly (row major)
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
void setJointVel(int i, btScalar qdot)
const btScalar & z() const
Return the z value.
void setAngular(const btVector3 &angular)
void setJointPos(int i, btScalar q)
void setWorldTransform(const btTransform &worldTrans)
void checkMotionAndSleepIfRequired(btScalar timestep)
btVector3 m_baseConstraintForce
const btMultibodyLink & getLink(int index) const
btVector3 can be used to represent 3D points and vectors.
bool m_internalNeedsJointFeedback
the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal ...
btMultiBody(int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool deprecatedMultiDof=true)
int size() const
return the number of elements in the array
void serialize(struct btVector3Data &dataOut) const
btAlignedObjectArray< btScalar > m_realBuf
void cross(const SpatialVectorType &b, SpatialVectorType &out) const
void setMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
btScalar dot(const btSpatialForceVector &b) const
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
void updateLinksDofOffsets()
const btVector3 & getAngular() const
#define btMultiBodyDataName
#define btMultiBodyData
serialization data, don't change them if you are not familiar with the details of the serialization m...
bool m_useGlobalVelocities
btVector3 localDirToWorld(int i, const btVector3 &vec) const
virtual void serializeName(const char *ptr)=0
void resize(int newsize, const T &fillData=T())
void addJointTorqueMultiDof(int i, int dof, btScalar Q)
void mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
btScalar getJointPos(int i) const
btVector3 getAngularMomentum() const
const btVector3 & getLinkForce(int i) const
btMatrix3x3 m_bottomLeftMat
void setVector(const btVector3 &angular, const btVector3 &linear)
btAlignedObjectArray< btVector3 > m_vectorBuf
btTransform m_cachedWorldTransform
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
const btScalar & y() const
Return the y value.
void fillConstraintJacobianMultiDof(int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
void setJointVelMultiDof(int i, btScalar *qdot)
btScalar getLinkMass(int i) const
btScalar getKineticEnergy() const
virtual const char * findNameForPointer(const void *ptr) const =0
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
void addVector(const btVector3 &angular, const btVector3 &linear)
btScalar getJointVel(int i) const
btMatrix3x3 inverse() const
Return the inverse of the matrix.
btVector3 worldDirToLocal(int i, const btVector3 &vec) const
btAlignedObjectArray< btMultibodyLink > m_links
btScalar * getJointTorqueMultiDof(int i)
#define btMultiBodyLinkData
const btScalar & w() const
Return the w value.
void serialize(struct btQuaternionData &dataOut) const
btMatrix3x3 m_cachedInertiaTopRight
btScalar * getJointPosMultiDof(int i)
virtual btChunk * allocate(size_t size, int numElements)=0
const btVector3 & getLinkInertia(int i) const
const btVector3 & getRVector(int i) const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar m_angularDamping
btScalar btCos(btScalar x)
btMatrix3x3 m_topRightMat
btScalar length() const
Return the length of the vector.
const btVector3 getBaseVel() const