Bullet Collision Detection & Physics Library: btPoint2PointConstraint.cpp Source File

Bullet Collision Detection & Physics Library

btPoint2PointConstraint.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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
17 #include "btPoint2PointConstraint.h"
18 #include "BulletDynamics/Dynamics/btRigidBody.h"
19 #include <new>
20
21
22
23
24
25 btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
26 :btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
27 m_flags(0),
28 m_useSolveConstraintObsolete(false)
29 {
30
31 }
32
33
34 btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
35 :btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
36 m_flags(0),
37 m_useSolveConstraintObsolete(false)
38 {
39
40 }
41
42 void btPoint2PointConstraint::buildJacobian()
43 {
44
46 {
47 m_appliedImpulse = btScalar(0.);
48
49 btVector3 normal(0,0,0);
50
51 for (int i=0;i<3;i++)
52 {
53 normal[i] = 1;
54 new (&m_jac[i]) btJacobianEntry(
55 m_rbA.getCenterOfMassTransform().getBasis().transpose(),
56 m_rbB.getCenterOfMassTransform().getBasis().transpose(),
57 m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
58 m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
59 normal,
60 m_rbA.getInvInertiaDiagLocal(),
61 m_rbA.getInvMass(),
62 m_rbB.getInvInertiaDiagLocal(),
63 m_rbB.getInvMass());
64 normal[i] = 0;
65 }
66 }
67
68
69 }
70
71 void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info)
72 {
73 getInfo1NonVirtual(info);
74 }
75
76 void btPoint2PointConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
77 {
78 if (m_useSolveConstraintObsolete)
79 {
80 info->m_numConstraintRows = 0;
81 info->nub = 0;
82 } else
83 {
84 info->m_numConstraintRows = 3;
85 info->nub = 3;
86 }
87 }
88
89
90
91
92 void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info)
93 {
94 getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
95 }
96
97 void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
98 {
99 btAssert(!m_useSolveConstraintObsolete);
100
101 //retrieve matrices
102
103 // anchor points in global coordinates with respect to body PORs.
104
105 // set jacobian
106 info->m_J1linearAxis[0] = 1;
107 info->m_J1linearAxis[info->rowskip+1] = 1;
108 info->m_J1linearAxis[2*info->rowskip+2] = 1;
109
110 btVector3 a1 = body0_trans.getBasis()*getPivotInA();
111 {
112 btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
113 btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
114 btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
115 btVector3 a1neg = -a1;
116 a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
117 }
118
119 info->m_J2linearAxis[0] = -1;
120 info->m_J2linearAxis[info->rowskip+1] = -1;
121 info->m_J2linearAxis[2*info->rowskip+2] = -1;
122
123 btVector3 a2 = body1_trans.getBasis()*getPivotInB();
124
125 {
126 // btVector3 a2n = -a2;
127 btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
128 btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
129 btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
130 a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
131 }
132
133
134
135 // set right hand side
136 btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
137 btScalar k = info->fps * currERP;
138 int j;
139 for (j=0; j<3; j++)
140 {
141 info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
142 //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
143 }
144 if(m_flags & BT_P2P_FLAGS_CFM)
145 {
146 for (j=0; j<3; j++)
147 {
148 info->cfm[j*info->rowskip] = m_cfm;
149 }
150 }
151
152 btScalar impulseClamp = m_setting.m_impulseClamp;//
153 for (j=0; j<3; j++)
154 {
155 if (m_setting.m_impulseClamp > 0)
156 {
157 info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
158 info->m_upperLimit[j*info->rowskip] = impulseClamp;
159 }
160 }
161 info->m_damping = m_setting.m_damping;
162
163 }
164
165
166
167 void btPoint2PointConstraint::updateRHS(btScalar timeStep)
168 {
169 (void)timeStep;
170
171 }
172
175 void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
176 {
177 if(axis != -1)
178 {
179 btAssertConstrParams(0);
180 }
181 else
182 {
183 switch(num)
184 {
185 case BT_CONSTRAINT_ERP :
186 case BT_CONSTRAINT_STOP_ERP :
187 m_erp = value;
188 m_flags |= BT_P2P_FLAGS_ERP;
189 break;
190 case BT_CONSTRAINT_CFM :
191 case BT_CONSTRAINT_STOP_CFM :
192 m_cfm = value;
193 m_flags |= BT_P2P_FLAGS_CFM;
194 break;
195 default:
196 btAssertConstrParams(0);
197 }
198 }
199 }
200
202 btScalar btPoint2PointConstraint::getParam(int num, int axis) const
203 {
204 btScalar retVal(SIMD_INFINITY);
205 if(axis != -1)
206 {
207 btAssertConstrParams(0);
208 }
209 else
210 {
211 switch(num)
212 {
213 case BT_CONSTRAINT_ERP :
214 case BT_CONSTRAINT_STOP_ERP :
215 btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
216 retVal = m_erp;
217 break;
218 case BT_CONSTRAINT_CFM :
219 case BT_CONSTRAINT_STOP_CFM :
220 btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
221 retVal = m_cfm;
222 break;
223 default:
224 btAssertConstrParams(0);
225 }
226 }
227 return retVal;
228 }
229
btTypedConstraint::btConstraintInfo2::m_constraintError
btScalar * m_constraintError
Definition: btTypedConstraint.h:143
btTypedConstraint::btConstraintInfo2::m_damping
btScalar m_damping
Definition: btTypedConstraint.h:152
btPoint2PointConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btPoint2PointConstraint.h:62
btPoint2PointConstraint::getInfo2
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don&#39;t use them directly
Definition: btPoint2PointConstraint.cpp:92
btTypedConstraint::btConstraintInfo2::m_J2angularAxis
btScalar * m_J2angularAxis
Definition: btTypedConstraint.h:135
btPoint2PointConstraint::m_setting
btConstraintSetting m_setting
Definition: btPoint2PointConstraint.h:75
btTypedConstraint::btConstraintInfo2::m_upperLimit
btScalar * m_upperLimit
Definition: btTypedConstraint.h:146
BT_P2P_FLAGS_ERP
Definition: btPoint2PointConstraint.h:49
btPoint2PointConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btPoint2PointConstraint.h:104
btTypedConstraint::m_rbA
btRigidBody & m_rbA
Definition: btTypedConstraint.h:102
btJacobianEntry
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
Definition: btJacobianEntry.h:30
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:126
btPoint2PointConstraint::updateRHS
void updateRHS(btScalar timeStep)
Definition: btPoint2PointConstraint.cpp:167
btPoint2PointConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btPoint2PointConstraint.h:109
btRigidBody::getCenterOfMassTransform
const btTransform & getCenterOfMassTransform() const
Definition: btRigidBody.h:359
btPoint2PointConstraint::m_useSolveConstraintObsolete
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to &#39;getInfo/getInfo2&#39;
Definition: btPoint2PointConstraint.h:73
btConstraintSetting::m_impulseClamp
btScalar m_impulseClamp
Definition: btPoint2PointConstraint.h:44
btTypedConstraint::btConstraintInfo1::m_numConstraintRows
int m_numConstraintRows
Definition: btTypedConstraint.h:121
btAssert
#define btAssert(x)
Definition: btScalar.h:114
btTypedConstraint::btConstraintInfo2::cfm
btScalar * cfm
Definition: btTypedConstraint.h:143
btTypedConstraint::btConstraintInfo2::m_J1angularAxis
btScalar * m_J1angularAxis
Definition: btTypedConstraint.h:135
BT_CONSTRAINT_CFM
Definition: btTypedConstraint.h:56
btRigidBody.h
btPoint2PointConstraint::m_flags
int m_flags
Definition: btPoint2PointConstraint.h:64
btPoint2PointConstraint::btPoint2PointConstraint
btPoint2PointConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
Definition: btPoint2PointConstraint.cpp:25
BT_CONSTRAINT_STOP_ERP
Definition: btTypedConstraint.h:55
btMatrix3x3::transpose
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition: btMatrix3x3.h:1001
btPoint2PointConstraint::setParam
virtual void setParam(int num, btScalar value, int axis=-1)
override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0...
Definition: btPoint2PointConstraint.cpp:175
btPoint2PointConstraint.h
SIMD_INFINITY
#define SIMD_INFINITY
Definition: btScalar.h:496
BT_CONSTRAINT_STOP_CFM
Definition: btTypedConstraint.h:57
btRigidBody::getInvInertiaDiagLocal
const btVector3 & getInvInertiaDiagLocal() const
Definition: btRigidBody.h:297
btTypedConstraint::btConstraintInfo2::m_J1linearAxis
btScalar * m_J1linearAxis
Definition: btTypedConstraint.h:135
btPoint2PointConstraint::getInfo2NonVirtual
void getInfo2NonVirtual(btConstraintInfo2 *info, const btTransform &body0_trans, const btTransform &body1_trans)
Definition: btPoint2PointConstraint.cpp:97
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btRigidBody::getInvMass
btScalar getInvMass() const
Definition: btRigidBody.h:273
btTypedConstraint::btConstraintInfo2::erp
btScalar erp
Definition: btTypedConstraint.h:129
btVector3::getSkewSymmetricMatrix
void getSkewSymmetricMatrix(btVector3 *v0, btVector3 *v1, btVector3 *v2) const
Definition: btVector3.h:658
btTypedConstraint::btConstraintInfo2::m_lowerLimit
btScalar * m_lowerLimit
Definition: btTypedConstraint.h:146
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btTypedConstraint::btConstraintInfo2::rowskip
int rowskip
Definition: btTypedConstraint.h:138
btPoint2PointConstraint::buildJacobian
virtual void buildJacobian()
internal method used by the constraint solver, don&#39;t use them directly
Definition: btPoint2PointConstraint.cpp:42
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btTypedConstraint::m_rbB
btRigidBody & m_rbB
Definition: btTypedConstraint.h:103
btRigidBody::getCenterOfMassPosition
const btVector3 & getCenterOfMassPosition() const
Definition: btRigidBody.h:354
btTypedConstraint::btConstraintInfo2::m_J2linearAxis
btScalar * m_J2linearAxis
Definition: btTypedConstraint.h:135
btPoint2PointConstraint::m_cfm
btScalar m_cfm
Definition: btPoint2PointConstraint.h:66
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:78
btPoint2PointConstraint::m_pivotInA
btVector3 m_pivotInA
Definition: btPoint2PointConstraint.h:61
btConstraintSetting::m_damping
btScalar m_damping
Definition: btPoint2PointConstraint.h:43
btTypedConstraint::btConstraintInfo1::nub
int nub
Definition: btTypedConstraint.h:121
btPoint2PointConstraint::getInfo1NonVirtual
void getInfo1NonVirtual(btConstraintInfo1 *info)
Definition: btPoint2PointConstraint.cpp:76
btTypedConstraint::btConstraintInfo2::fps
btScalar fps
Definition: btTypedConstraint.h:129
BT_CONSTRAINT_ERP
Definition: btTypedConstraint.h:54
btTypedConstraint::m_appliedImpulse
btScalar m_appliedImpulse
Definition: btTypedConstraint.h:104
POINT2POINT_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:38
btPoint2PointConstraint::m_jac
btJacobianEntry m_jac[3]
Definition: btPoint2PointConstraint.h:59
BT_P2P_FLAGS_CFM
Definition: btPoint2PointConstraint.h:50
btPoint2PointConstraint::getInfo1
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don&#39;t use them directly
Definition: btPoint2PointConstraint.cpp:71
btAssertConstrParams
#define btAssertConstrParams(_par)
Definition: btTypedConstraint.h:61
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:120
btPoint2PointConstraint::m_erp
btScalar m_erp
Definition: btPoint2PointConstraint.h:65
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btPoint2PointConstraint::getParam
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter
Definition: btPoint2PointConstraint.cpp:202