1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2010 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 #ifndef B3_TYPED_CONSTRAINT_H
17 #define B3_TYPED_CONSTRAINT_H
18
19 #include "Bullet3Common/b3Scalar.h"
20 #include "b3SolverConstraint.h"
21
22 class b3Serializer;
23
24 //Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
25 enum b3TypedConstraintType
26 {
27 B3_POINT2POINT_CONSTRAINT_TYPE = 3,
28 B3_HINGE_CONSTRAINT_TYPE,
29 B3_CONETWIST_CONSTRAINT_TYPE,
30 B3_D6_CONSTRAINT_TYPE,
31 B3_SLIDER_CONSTRAINT_TYPE,
32 B3_CONTACT_CONSTRAINT_TYPE,
33 B3_D6_SPRING_CONSTRAINT_TYPE,
34 B3_GEAR_CONSTRAINT_TYPE,
35 B3_FIXED_CONSTRAINT_TYPE,
36 B3_MAX_CONSTRAINT_TYPE
37 };
38
39 enum b3ConstraintParams
40 {
41 B3_CONSTRAINT_ERP = 1,
42 B3_CONSTRAINT_STOP_ERP,
43 B3_CONSTRAINT_CFM,
44 B3_CONSTRAINT_STOP_CFM
45 };
46
47 #if 1
48 #define b3AssertConstrParams(_par) b3Assert(_par)
49 #else
50 #define b3AssertConstrParams(_par)
51 #endif
52
B3_ATTRIBUTE_ALIGNED16(struct)53 B3_ATTRIBUTE_ALIGNED16(struct)
54 b3JointFeedback
55 {
56 b3Vector3 m_appliedForceBodyA;
57 b3Vector3 m_appliedTorqueBodyA;
58 b3Vector3 m_appliedForceBodyB;
59 b3Vector3 m_appliedTorqueBodyB;
60 };
61
62 struct b3RigidBodyData;
63
64 ///TypedConstraint is the baseclass for Bullet constraints and vehicles
B3_ATTRIBUTE_ALIGNED16(class)65 B3_ATTRIBUTE_ALIGNED16(class)
66 b3TypedConstraint : public b3TypedObject
67 {
68 int m_userConstraintType;
69
70 union {
71 int m_userConstraintId;
72 void* m_userConstraintPtr;
73 };
74
75 b3Scalar m_breakingImpulseThreshold;
76 bool m_isEnabled;
77 bool m_needsFeedback;
78 int m_overrideNumSolverIterations;
79
80 b3TypedConstraint& operator=(b3TypedConstraint& other)
81 {
82 b3Assert(0);
83 (void)other;
84 return *this;
85 }
86
87 protected:
88 int m_rbA;
89 int m_rbB;
90 b3Scalar m_appliedImpulse;
91 b3Scalar m_dbgDrawSize;
92 b3JointFeedback* m_jointFeedback;
93
94 ///internal method used by the constraint solver, don't use them directly
95 b3Scalar getMotorFactor(b3Scalar pos, b3Scalar lowLim, b3Scalar uppLim, b3Scalar vel, b3Scalar timeFact);
96
97 public:
98 B3_DECLARE_ALIGNED_ALLOCATOR();
99
100 virtual ~b3TypedConstraint(){};
101 b3TypedConstraint(b3TypedConstraintType type, int bodyA, int bodyB);
102
103 struct b3ConstraintInfo1
104 {
105 int m_numConstraintRows, nub;
106 };
107
108 struct b3ConstraintInfo2
109 {
110 // integrator parameters: frames per second (1/stepsize), default error
111 // reduction parameter (0..1).
112 b3Scalar fps, erp;
113
114 // for the first and second body, pointers to two (linear and angular)
115 // n*3 jacobian sub matrices, stored by rows. these matrices will have
116 // been initialized to 0 on entry. if the second body is zero then the
117 // J2xx pointers may be 0.
118 b3Scalar *m_J1linearAxis, *m_J1angularAxis, *m_J2linearAxis, *m_J2angularAxis;
119
120 // elements to jump from one row to the next in J's
121 int rowskip;
122
123 // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
124 // "constraint force mixing" vector. c is set to zero on entry, cfm is
125 // set to a constant value (typically very small or zero) value on entry.
126 b3Scalar *m_constraintError, *cfm;
127
128 // lo and hi limits for variables (set to -/+ infinity on entry).
129 b3Scalar *m_lowerLimit, *m_upperLimit;
130
131 // findex vector for variables. see the LCP solver interface for a
132 // description of what this does. this is set to -1 on entry.
133 // note that the returned indexes are relative to the first index of
134 // the constraint.
135 int* findex;
136 // number of solver iterations
137 int m_numIterations;
138
139 //damping of the velocity
140 b3Scalar m_damping;
141 };
142
143 int getOverrideNumSolverIterations() const
144 {
145 return m_overrideNumSolverIterations;
146 }
147
148 ///override the number of constraint solver iterations used to solve this constraint
149 ///-1 will use the default number of iterations, as specified in SolverInfo.m_numIterations
150 void setOverrideNumSolverIterations(int overideNumIterations)
151 {
152 m_overrideNumSolverIterations = overideNumIterations;
153 }
154
155 ///internal method used by the constraint solver, don't use them directly
156 virtual void setupSolverConstraint(b3ConstraintArray & ca, int solverBodyA, int solverBodyB, b3Scalar timeStep)
157 {
158 (void)ca;
159 (void)solverBodyA;
160 (void)solverBodyB;
161 (void)timeStep;
162 }
163
164 ///internal method used by the constraint solver, don't use them directly
165 virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies) = 0;
166
167 ///internal method used by the constraint solver, don't use them directly
168 virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies) = 0;
169
170 ///internal method used by the constraint solver, don't use them directly
171 void internalSetAppliedImpulse(b3Scalar appliedImpulse)
172 {
173 m_appliedImpulse = appliedImpulse;
174 }
175 ///internal method used by the constraint solver, don't use them directly
176 b3Scalar internalGetAppliedImpulse()
177 {
178 return m_appliedImpulse;
179 }
180
181 b3Scalar getBreakingImpulseThreshold() const
182 {
183 return m_breakingImpulseThreshold;
184 }
185
186 void setBreakingImpulseThreshold(b3Scalar threshold)
187 {
188 m_breakingImpulseThreshold = threshold;
189 }
190
191 bool isEnabled() const
192 {
193 return m_isEnabled;
194 }
195
196 void setEnabled(bool enabled)
197 {
198 m_isEnabled = enabled;
199 }
200
201 ///internal method used by the constraint solver, don't use them directly
202 virtual void solveConstraintObsolete(b3SolverBody& /*bodyA*/, b3SolverBody& /*bodyB*/, b3Scalar /*timeStep*/){};
203
204 int getRigidBodyA() const
205 {
206 return m_rbA;
207 }
208 int getRigidBodyB() const
209 {
210 return m_rbB;
211 }
212
213 int getRigidBodyA()
214 {
215 return m_rbA;
216 }
217 int getRigidBodyB()
218 {
219 return m_rbB;
220 }
221
222 int getUserConstraintType() const
223 {
224 return m_userConstraintType;
225 }
226
227 void setUserConstraintType(int userConstraintType)
228 {
229 m_userConstraintType = userConstraintType;
230 };
231
232 void setUserConstraintId(int uid)
233 {
234 m_userConstraintId = uid;
235 }
236
237 int getUserConstraintId() const
238 {
239 return m_userConstraintId;
240 }
241
242 void setUserConstraintPtr(void* ptr)
243 {
244 m_userConstraintPtr = ptr;
245 }
246
247 void* getUserConstraintPtr()
248 {
249 return m_userConstraintPtr;
250 }
251
252 void setJointFeedback(b3JointFeedback * jointFeedback)
253 {
254 m_jointFeedback = jointFeedback;
255 }
256
257 const b3JointFeedback* getJointFeedback() const
258 {
259 return m_jointFeedback;
260 }
261
262 b3JointFeedback* getJointFeedback()
263 {
264 return m_jointFeedback;
265 }
266
267 int getUid() const
268 {
269 return m_userConstraintId;
270 }
271
272 bool needsFeedback() const
273 {
274 return m_needsFeedback;
275 }
276
277 ///enableFeedback will allow to read the applied linear and angular impulse
278 ///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
279 void enableFeedback(bool needsFeedback)
280 {
281 m_needsFeedback = needsFeedback;
282 }
283
284 ///getAppliedImpulse is an estimated total applied impulse.
285 ///This feedback could be used to determine breaking constraints or playing sounds.
286 b3Scalar getAppliedImpulse() const
287 {
288 b3Assert(m_needsFeedback);
289 return m_appliedImpulse;
290 }
291
292 b3TypedConstraintType getConstraintType() const
293 {
294 return b3TypedConstraintType(m_objectType);
295 }
296
297 void setDbgDrawSize(b3Scalar dbgDrawSize)
298 {
299 m_dbgDrawSize = dbgDrawSize;
300 }
301 b3Scalar getDbgDrawSize()
302 {
303 return m_dbgDrawSize;
304 }
305
306 ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
307 ///If no axis is provided, it uses the default axis for this constraint.
308 virtual void setParam(int num, b3Scalar value, int axis = -1) = 0;
309
310 ///return the local value of parameter
311 virtual b3Scalar getParam(int num, int axis = -1) const = 0;
312
313 // virtual int calculateSerializeBufferSize() const;
314
315 ///fills the dataBuffer and returns the struct name (and 0 on failure)
316 //virtual const char* serialize(void* dataBuffer, b3Serializer* serializer) const;
317 };
318
319 // returns angle in range [-B3_2_PI, B3_2_PI], closest to one of the limits
320 // all arguments should be normalized angles (i.e. in range [-B3_PI, B3_PI])
b3AdjustAngleToLimits(b3Scalar angleInRadians,b3Scalar angleLowerLimitInRadians,b3Scalar angleUpperLimitInRadians)321 B3_FORCE_INLINE b3Scalar b3AdjustAngleToLimits(b3Scalar angleInRadians, b3Scalar angleLowerLimitInRadians, b3Scalar angleUpperLimitInRadians)
322 {
323 if (angleLowerLimitInRadians >= angleUpperLimitInRadians)
324 {
325 return angleInRadians;
326 }
327 else if (angleInRadians < angleLowerLimitInRadians)
328 {
329 b3Scalar diffLo = b3Fabs(b3NormalizeAngle(angleLowerLimitInRadians - angleInRadians));
330 b3Scalar diffHi = b3Fabs(b3NormalizeAngle(angleUpperLimitInRadians - angleInRadians));
331 return (diffLo < diffHi) ? angleInRadians : (angleInRadians + B3_2_PI);
332 }
333 else if (angleInRadians > angleUpperLimitInRadians)
334 {
335 b3Scalar diffHi = b3Fabs(b3NormalizeAngle(angleInRadians - angleUpperLimitInRadians));
336 b3Scalar diffLo = b3Fabs(b3NormalizeAngle(angleInRadians - angleLowerLimitInRadians));
337 return (diffLo < diffHi) ? (angleInRadians - B3_2_PI) : angleInRadians;
338 }
339 else
340 {
341 return angleInRadians;
342 }
343 }
344
345 // clang-format off
346 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
347 struct b3TypedConstraintData
348 {
349 int m_bodyA;
350 int m_bodyB;
351 char *m_name;
352
353 int m_objectType;
354 int m_userConstraintType;
355 int m_userConstraintId;
356 int m_needsFeedback;
357
358 float m_appliedImpulse;
359 float m_dbgDrawSize;
360
361 int m_disableCollisionsBetweenLinkedBodies;
362 int m_overrideNumSolverIterations;
363
364 float m_breakingImpulseThreshold;
365 int m_isEnabled;
366
367 };
368
369 // clang-format on
370
371 /*B3_FORCE_INLINE int b3TypedConstraint::calculateSerializeBufferSize() const
372 {
373 return sizeof(b3TypedConstraintData);
374 }
375 */
376
377 class b3AngularLimit
378 {
379 private:
380 b3Scalar
381 m_center,
382 m_halfRange,
383 m_softness,
384 m_biasFactor,
385 m_relaxationFactor,
386 m_correction,
387 m_sign;
388
389 bool
390 m_solveLimit;
391
392 public:
393 /// Default constructor initializes limit as inactive, allowing free constraint movement
b3AngularLimit()394 b3AngularLimit()
395 : m_center(0.0f),
396 m_halfRange(-1.0f),
397 m_softness(0.9f),
398 m_biasFactor(0.3f),
399 m_relaxationFactor(1.0f),
400 m_correction(0.0f),
401 m_sign(0.0f),
402 m_solveLimit(false)
403 {
404 }
405
406 /// Sets all limit's parameters.
407 /// When low > high limit becomes inactive.
408 /// When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit
409 void set(b3Scalar low, b3Scalar high, b3Scalar _softness = 0.9f, b3Scalar _biasFactor = 0.3f, b3Scalar _relaxationFactor = 1.0f);
410
411 /// Checks conastaint angle against limit. If limit is active and the angle violates the limit
412 /// correction is calculated.
413 void test(const b3Scalar angle);
414
415 /// Returns limit's softness
getSoftness()416 inline b3Scalar getSoftness() const
417 {
418 return m_softness;
419 }
420
421 /// Returns limit's bias factor
getBiasFactor()422 inline b3Scalar getBiasFactor() const
423 {
424 return m_biasFactor;
425 }
426
427 /// Returns limit's relaxation factor
getRelaxationFactor()428 inline b3Scalar getRelaxationFactor() const
429 {
430 return m_relaxationFactor;
431 }
432
433 /// Returns correction value evaluated when test() was invoked
getCorrection()434 inline b3Scalar getCorrection() const
435 {
436 return m_correction;
437 }
438
439 /// Returns sign value evaluated when test() was invoked
getSign()440 inline b3Scalar getSign() const
441 {
442 return m_sign;
443 }
444
445 /// Gives half of the distance between min and max limit angle
getHalfRange()446 inline b3Scalar getHalfRange() const
447 {
448 return m_halfRange;
449 }
450
451 /// Returns true when the last test() invocation recognized limit violation
isLimit()452 inline bool isLimit() const
453 {
454 return m_solveLimit;
455 }
456
457 /// Checks given angle against limit. If limit is active and angle doesn't fit it, the angle
458 /// returned is modified so it equals to the limit closest to given angle.
459 void fit(b3Scalar& angle) const;
460
461 /// Returns correction value multiplied by sign value
462 b3Scalar getError() const;
463
464 b3Scalar getLow() const;
465
466 b3Scalar getHigh() const;
467 };
468
469 #endif //B3_TYPED_CONSTRAINT_H
470