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 58 btScalar m_maxAppliedImpulse; 59 60 61 // data block laid out as follows: 62 // cached impulses. (one per row.) 63 // jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc) 64 // positions. (one per row.) 65 btAlignedObjectArray<btScalar> m_data; 66 67 void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof); 68 69 btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint, 70 btMultiBodyJacobianData& data, 71 btScalar* jacOrgA, btScalar* jacOrgB, 72 const btVector3& contactNormalOnB, 73 const btVector3& posAworld, const btVector3& posBworld, 74 btScalar posError, 75 const btContactSolverInfo& infoGlobal, 76 btScalar lowerLimit, btScalar upperLimit, 77 btScalar relaxation = 1.f, 78 bool isFriction = false, btScalar desiredVelocity=0, btScalar cfmSlip=0); 79 80 public: 81 82 btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral); 83 virtual ~btMultiBodyConstraint(); 84 85 void finalizeMultiDof(); 86 87 virtual int getIslandIdA() const =0; 88 virtual int getIslandIdB() const =0; 89 90 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, 91 btMultiBodyJacobianData& data, 92 const btContactSolverInfo& infoGlobal)=0; 93 getNumRows()94 int getNumRows() const 95 { 96 return m_numRows; 97 } 98 getMultiBodyA()99 btMultiBody* getMultiBodyA() 100 { 101 return m_bodyA; 102 } getMultiBodyB()103 btMultiBody* getMultiBodyB() 104 { 105 return m_bodyB; 106 } 107 108 // current constraint position 109 // constraint is pos >= 0 for unilateral, or pos = 0 for bilateral 110 // NOTE: ignored position for friction rows. getPosition(int row)111 btScalar getPosition(int row) const 112 { 113 return m_data[m_posOffset + row]; 114 } 115 setPosition(int row,btScalar pos)116 void setPosition(int row, btScalar pos) 117 { 118 m_data[m_posOffset + row] = pos; 119 } 120 121 isUnilateral()122 bool isUnilateral() const 123 { 124 return m_isUnilateral; 125 } 126 127 // jacobian blocks. 128 // each of size 6 + num_links. (jacobian2 is null if no body2.) 129 // format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients. jacobianA(int row)130 btScalar* jacobianA(int row) 131 { 132 return &m_data[m_numRows + row * m_jacSizeBoth]; 133 } jacobianA(int row)134 const btScalar* jacobianA(int row) const 135 { 136 return &m_data[m_numRows + (row * m_jacSizeBoth)]; 137 } jacobianB(int row)138 btScalar* jacobianB(int row) 139 { 140 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA]; 141 } jacobianB(int row)142 const btScalar* jacobianB(int row) const 143 { 144 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA]; 145 } 146 getMaxAppliedImpulse()147 btScalar getMaxAppliedImpulse() const 148 { 149 return m_maxAppliedImpulse; 150 } setMaxAppliedImpulse(btScalar maxImp)151 void setMaxAppliedImpulse(btScalar maxImp) 152 { 153 m_maxAppliedImpulse = maxImp; 154 } 155 156 virtual void debugDraw(class btIDebugDraw* drawer)=0; 157 158 }; 159 160 #endif //BT_MULTIBODY_CONSTRAINT_H 161 162