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

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btMultiBodyConstraint.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
24//Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
25 enum btTypedMultiBodyConstraintType
26{
27 MULTIBODY_CONSTRAINT_LIMIT=3,
28 MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR,
29 MULTIBODY_CONSTRAINT_GEAR,
30 MULTIBODY_CONSTRAINT_POINT_TO_POINT,
31 MULTIBODY_CONSTRAINT_SLIDER,
32 MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR,
33 MULTIBODY_CONSTRAINT_FIXED,
34 MULTIBODY_CONSTRAINT_SPHERICAL_LIMIT,
35 MAX_MULTIBODY_CONSTRAINT_TYPE,
36};
37
38class btMultiBody;
39struct btSolverInfo;
40
41#include "btMultiBodySolverConstraint.h"
42
43 struct btMultiBodyJacobianData
44{
45 btAlignedObjectArray<btScalar> m_jacobians;
46 btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse; //holds the joint-space response of the corresp. tree to the test impulse in each constraint space dimension
47 btAlignedObjectArray<btScalar> m_deltaVelocities; //holds joint-space vectors of all the constrained trees accumulating the effect of corrective impulses applied in SI
48 btAlignedObjectArray<btScalar> scratch_r;
49 btAlignedObjectArray<btVector3> scratch_v;
50 btAlignedObjectArray<btMatrix3x3> scratch_m;
51 btAlignedObjectArray<btSolverBody>* m_solverBodyPool;
52 int m_fixedBodyId;
53};
54
55 ATTRIBUTE_ALIGNED16(class)
56 btMultiBodyConstraint
57{
58protected:
59 btMultiBody* m_bodyA;
60 btMultiBody* m_bodyB;
61 int m_linkA;
62 int m_linkB;
63
64 int m_type; //btTypedMultiBodyConstraintType
65
66 int m_numRows;
67 int m_jacSizeA;
68 int m_jacSizeBoth;
69 int m_posOffset;
70
71 bool m_isUnilateral;
72 int m_numDofsFinalized;
73 btScalar m_maxAppliedImpulse;
74
75 // warning: the data block lay out is not consistent for all constraints
76 // data block laid out as follows:
77 // cached impulses. (one per row.)
78 // jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc)
79 // positions. (one per row.)
80 btAlignedObjectArray<btScalar> m_data;
81
82 void applyDeltaVee(btMultiBodyJacobianData & data, btScalar * delta_vee, btScalar impulse, int velocityIndex, int ndof);
83
84 btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint & solverConstraint,
85 btMultiBodyJacobianData & data,
86 btScalar * jacOrgA, btScalar * jacOrgB,
87 const btVector3& constraintNormalAng,
88
89 const btVector3& constraintNormalLin,
90 const btVector3& posAworld, const btVector3& posBworld,
91 btScalar posError,
92 const btContactSolverInfo& infoGlobal,
93 btScalar lowerLimit, btScalar upperLimit,
94 bool angConstraint = false,
95
96 btScalar relaxation = 1.f,
97 bool isFriction = false, btScalar desiredVelocity = 0, btScalar cfmSlip = 0, btScalar damping = 1.0);
98
99public:
100 BT_DECLARE_ALIGNED_ALLOCATOR();
101
102 btMultiBodyConstraint(btMultiBody * bodyA, btMultiBody * bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type);
103 virtual ~btMultiBodyConstraint();
104
105 void updateJacobianSizes();
106 void allocateJacobiansMultiDof();
107
108 int getConstraintType() const
109 {
110 return m_type;
111 }
112 //many constraints have setFrameInB/setPivotInB. Will use 'getConstraintType' later.
113 virtual void setFrameInB(const btMatrix3x3& frameInB) {}
114 virtual void setPivotInB(const btVector3& pivotInB) {}
115
116 virtual void finalizeMultiDof() = 0;
117
118 virtual int getIslandIdA() const = 0;
119 virtual int getIslandIdB() const = 0;
120
121 virtual void createConstraintRows(btMultiBodyConstraintArray & constraintRows,
122 btMultiBodyJacobianData & data,
123 const btContactSolverInfo& infoGlobal) = 0;
124
125 int getNumRows() const
126 {
127 return m_numRows;
128 }
129
130 btMultiBody* getMultiBodyA()
131 {
132 return m_bodyA;
133 }
134 btMultiBody* getMultiBodyB()
135 {
136 return m_bodyB;
137 }
138
139 int getLinkA() const
140 {
141 return m_linkA;
142 }
143 int getLinkB() const
144 {
145 return m_linkB;
146 }
147 void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
148 {
149 btAssert(dof >= 0);
150 btAssert(dof < getNumRows());
151 m_data[dof] = appliedImpulse;
152 }
153
154 btScalar getAppliedImpulse(int dof)
155 {
156 btAssert(dof >= 0);
157 btAssert(dof < getNumRows());
158 return m_data[dof];
159 }
160 // current constraint position
161 // constraint is pos >= 0 for unilateral, or pos = 0 for bilateral
162 // NOTE: ignored position for friction rows.
163 btScalar getPosition(int row) const
164 {
165 return m_data[m_posOffset + row];
166 }
167
168 void setPosition(int row, btScalar pos)
169 {
170 m_data[m_posOffset + row] = pos;
171 }
172
173 bool isUnilateral() const
174 {
175 return m_isUnilateral;
176 }
177
178 // jacobian blocks.
179 // each of size 6 + num_links. (jacobian2 is null if no body2.)
180 // format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.
181 btScalar* jacobianA(int row)
182 {
183 return &m_data[m_numRows + row * m_jacSizeBoth];
184 }
185 const btScalar* jacobianA(int row) const
186 {
187 return &m_data[m_numRows + (row * m_jacSizeBoth)];
188 }
189 btScalar* jacobianB(int row)
190 {
191 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
192 }
193 const btScalar* jacobianB(int row) const
194 {
195 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
196 }
197
198 btScalar getMaxAppliedImpulse() const
199 {
200 return m_maxAppliedImpulse;
201 }
202 void setMaxAppliedImpulse(btScalar maxImp)
203 {
204 m_maxAppliedImpulse = maxImp;
205 }
206
207 virtual void debugDraw(class btIDebugDraw * drawer) = 0;
208
209 virtual void setGearRatio(btScalar ratio) {}
210 virtual void setGearAuxLink(int gearAuxLink) {}
211 virtual void setRelativePositionTarget(btScalar relPosTarget) {}
212 virtual void setErp(btScalar erp) {}
213};
214
215#endif //BT_MULTIBODY_CONSTRAINT_H
btAlignedObjectArray.h
btTypedMultiBodyConstraintType
btTypedMultiBodyConstraintType
Definition: btMultiBodyConstraint.h:26
MAX_MULTIBODY_CONSTRAINT_TYPE
@ MAX_MULTIBODY_CONSTRAINT_TYPE
Definition: btMultiBodyConstraint.h:35
MULTIBODY_CONSTRAINT_LIMIT
@ MULTIBODY_CONSTRAINT_LIMIT
Definition: btMultiBodyConstraint.h:27
MULTIBODY_CONSTRAINT_SLIDER
@ MULTIBODY_CONSTRAINT_SLIDER
Definition: btMultiBodyConstraint.h:31
MULTIBODY_CONSTRAINT_FIXED
@ MULTIBODY_CONSTRAINT_FIXED
Definition: btMultiBodyConstraint.h:33
MULTIBODY_CONSTRAINT_POINT_TO_POINT
@ MULTIBODY_CONSTRAINT_POINT_TO_POINT
Definition: btMultiBodyConstraint.h:30
MULTIBODY_CONSTRAINT_SPHERICAL_LIMIT
@ MULTIBODY_CONSTRAINT_SPHERICAL_LIMIT
Definition: btMultiBodyConstraint.h:34
MULTIBODY_CONSTRAINT_GEAR
@ MULTIBODY_CONSTRAINT_GEAR
Definition: btMultiBodyConstraint.h:29
MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR
@ MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR
Definition: btMultiBodyConstraint.h:28
MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR
@ MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR
Definition: btMultiBodyConstraint.h:32
btMultiBodySolverConstraint.h
btMultiBody.h
btScalar.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:57
btMultiBodyConstraint::setGearRatio
virtual void setGearRatio(btScalar ratio)
Definition: btMultiBodyConstraint.h:209
btMultiBodyConstraint::setRelativePositionTarget
virtual void setRelativePositionTarget(btScalar relPosTarget)
Definition: btMultiBodyConstraint.h:211
btMultiBodyConstraint::getPosition
btScalar getPosition(int row) const
Definition: btMultiBodyConstraint.h:163
btMultiBodyConstraint::jacobianA
const btScalar * jacobianA(int row) const
Definition: btMultiBodyConstraint.h:185
btMultiBodyConstraint::getIslandIdA
virtual int getIslandIdA() const =0
btMultiBodyConstraint::m_data
btAlignedObjectArray< btScalar > m_data
Definition: btMultiBodyConstraint.h:80
btMultiBodyConstraint::m_bodyB
btMultiBody * m_bodyB
Definition: btMultiBodyConstraint.h:60
btMultiBodyConstraint::m_numRows
int m_numRows
Definition: btMultiBodyConstraint.h:66
btMultiBodyConstraint::m_posOffset
int m_posOffset
Definition: btMultiBodyConstraint.h:69
btMultiBodyConstraint::m_jacSizeA
int m_jacSizeA
Definition: btMultiBodyConstraint.h:67
btMultiBodyConstraint::m_type
int m_type
Definition: btMultiBodyConstraint.h:64
btMultiBodyConstraint::getMultiBodyB
btMultiBody * getMultiBodyB()
Definition: btMultiBodyConstraint.h:134
btMultiBodyConstraint::getLinkB
int getLinkB() const
Definition: btMultiBodyConstraint.h:143
btMultiBodyConstraint::jacobianA
btScalar * jacobianA(int row)
Definition: btMultiBodyConstraint.h:181
btMultiBodyConstraint::setPosition
void setPosition(int row, btScalar pos)
Definition: btMultiBodyConstraint.h:168
btMultiBodyConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)=0
btMultiBodyConstraint::getConstraintType
int getConstraintType() const
Definition: btMultiBodyConstraint.h:108
btMultiBodyConstraint::m_maxAppliedImpulse
btScalar m_maxAppliedImpulse
Definition: btMultiBodyConstraint.h:73
btMultiBodyConstraint::getMultiBodyA
btMultiBody * getMultiBodyA()
Definition: btMultiBodyConstraint.h:130
btMultiBodyConstraint::jacobianB
btScalar * jacobianB(int row)
Definition: btMultiBodyConstraint.h:189
btMultiBodyConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)=0
btMultiBodyConstraint::setPivotInB
virtual void setPivotInB(const btVector3 &pivotInB)
Definition: btMultiBodyConstraint.h:114
btMultiBodyConstraint::m_numDofsFinalized
int m_numDofsFinalized
Definition: btMultiBodyConstraint.h:72
btMultiBodyConstraint::setMaxAppliedImpulse
void setMaxAppliedImpulse(btScalar maxImp)
Definition: btMultiBodyConstraint.h:202
btMultiBodyConstraint::getAppliedImpulse
btScalar getAppliedImpulse(int dof)
Definition: btMultiBodyConstraint.h:154
btMultiBodyConstraint::getIslandIdB
virtual int getIslandIdB() const =0
btMultiBodyConstraint::isUnilateral
bool isUnilateral() const
Definition: btMultiBodyConstraint.h:173
btMultiBodyConstraint::setErp
virtual void setErp(btScalar erp)
Definition: btMultiBodyConstraint.h:212
btMultiBodyConstraint::m_bodyA
btMultiBody * m_bodyA
Definition: btMultiBodyConstraint.h:59
btMultiBodyConstraint::getMaxAppliedImpulse
btScalar getMaxAppliedImpulse() const
Definition: btMultiBodyConstraint.h:198
btMultiBodyConstraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btMultiBodyConstraint::m_linkB
int m_linkB
Definition: btMultiBodyConstraint.h:62
btMultiBodyConstraint::m_jacSizeBoth
int m_jacSizeBoth
Definition: btMultiBodyConstraint.h:68
btMultiBodyConstraint::jacobianB
const btScalar * jacobianB(int row) const
Definition: btMultiBodyConstraint.h:193
btMultiBodyConstraint::internalSetAppliedImpulse
void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
Definition: btMultiBodyConstraint.h:147
btMultiBodyConstraint::setGearAuxLink
virtual void setGearAuxLink(int gearAuxLink)
Definition: btMultiBodyConstraint.h:210
btMultiBodyConstraint::setFrameInB
virtual void setFrameInB(const btMatrix3x3 &frameInB)
Definition: btMultiBodyConstraint.h:113
btMultiBodyConstraint::getLinkA
int getLinkA() const
Definition: btMultiBodyConstraint.h:139
btMultiBodyConstraint::getNumRows
int getNumRows() const
Definition: btMultiBodyConstraint.h:125
btMultiBodyConstraint::m_isUnilateral
bool m_isUnilateral
Definition: btMultiBodyConstraint.h:71
btMultiBodyConstraint::m_linkA
int m_linkA
Definition: btMultiBodyConstraint.h:61
btMultiBodyConstraint::finalizeMultiDof
virtual void finalizeMultiDof()=0
btMultiBody
Definition: btMultiBody.h:51
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btContactSolverInfo
Definition: btContactSolverInfo.h:76
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:44
btMultiBodyJacobianData::m_deltaVelocitiesUnitImpulse
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
Definition: btMultiBodyConstraint.h:46
btMultiBodyJacobianData::m_deltaVelocities
btAlignedObjectArray< btScalar > m_deltaVelocities
Definition: btMultiBodyConstraint.h:47
btMultiBodyJacobianData::m_fixedBodyId
int m_fixedBodyId
Definition: btMultiBodyConstraint.h:52
btMultiBodyJacobianData::m_jacobians
btAlignedObjectArray< btScalar > m_jacobians
Definition: btMultiBodyConstraint.h:45
btMultiBodyJacobianData::m_solverBodyPool
btAlignedObjectArray< btSolverBody > * m_solverBodyPool
Definition: btMultiBodyConstraint.h:51
btMultiBodyJacobianData::scratch_r
btAlignedObjectArray< btScalar > scratch_r
Definition: btMultiBodyConstraint.h:48
btMultiBodyJacobianData::scratch_m
btAlignedObjectArray< btMatrix3x3 > scratch_m
Definition: btMultiBodyConstraint.h:50
btMultiBodyJacobianData::scratch_v
btAlignedObjectArray< btVector3 > scratch_v
Definition: btMultiBodyConstraint.h:49
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btMultiBodySolverConstraint.h:30