Bullet Collision Detection & Physics Library
btMultiBodyFixedConstraint.cpp
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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 
17 
23 
24 #define BTMBFIXEDCONSTRAINT_DIM 6
25 
26 btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
27  : btMultiBodyConstraint(body, 0, link, -1, BTMBFIXEDCONSTRAINT_DIM, false),
28  m_rigidBodyA(0),
29  m_rigidBodyB(bodyB),
30  m_pivotInA(pivotInA),
31  m_pivotInB(pivotInB),
32  m_frameInA(frameInA),
33  m_frameInB(frameInB)
34 {
35  m_data.resize(BTMBFIXEDCONSTRAINT_DIM); //at least store the applied impulses
36 }
37 
38 btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
39  : btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBFIXEDCONSTRAINT_DIM, false),
40  m_rigidBodyA(0),
41  m_rigidBodyB(0),
42  m_pivotInA(pivotInA),
43  m_pivotInB(pivotInB),
44  m_frameInA(frameInA),
45  m_frameInB(frameInB)
46 {
47  m_data.resize(BTMBFIXEDCONSTRAINT_DIM); //at least store the applied impulses
48 }
49 
51 {
52  //not implemented yet
53  btAssert(0);
54 }
55 
57 {
58 }
59 
61 {
62  if (m_rigidBodyA)
63  return m_rigidBodyA->getIslandTag();
64 
65  if (m_bodyA)
66  {
67  if (m_linkA < 0)
68  {
70  if (col)
71  return col->getIslandTag();
72  }
73  else
74  {
77  }
78  }
79  return -1;
80 }
81 
83 {
84  if (m_rigidBodyB)
85  return m_rigidBodyB->getIslandTag();
86  if (m_bodyB)
87  {
88  if (m_linkB < 0)
89  {
91  if (col)
92  return col->getIslandTag();
93  }
94  else
95  {
98  }
99  }
100  return -1;
101 }
102 
104 {
105  int numDim = BTMBFIXEDCONSTRAINT_DIM;
106  for (int i = 0; i < numDim; i++)
107  {
108  btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
109  constraintRow.m_orgConstraint = this;
110  constraintRow.m_orgDofIndex = i;
111  constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
112  constraintRow.m_contactNormal1.setValue(0, 0, 0);
113  constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
114  constraintRow.m_contactNormal2.setValue(0, 0, 0);
115  constraintRow.m_angularComponentA.setValue(0, 0, 0);
116  constraintRow.m_angularComponentB.setValue(0, 0, 0);
117 
118  constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
119  constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
120 
121  // Convert local points back to world
122  btVector3 pivotAworld = m_pivotInA;
123  btMatrix3x3 frameAworld = m_frameInA;
124  if (m_rigidBodyA)
125  {
126  constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
128  frameAworld = frameAworld.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation());
129  }
130  else
131  {
132  if (m_bodyA)
133  {
134  pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
135  frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
136  }
137  }
138  btVector3 pivotBworld = m_pivotInB;
139  btMatrix3x3 frameBworld = m_frameInB;
140  if (m_rigidBodyB)
141  {
142  constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
144  frameBworld = frameBworld.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation());
145  }
146  else
147  {
148  if (m_bodyB)
149  {
150  pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
151  frameBworld = m_bodyB->localFrameToWorld(m_linkB, frameBworld);
152  }
153  }
154 
155  btMatrix3x3 relRot = frameAworld.inverse() * frameBworld;
156  btVector3 angleDiff;
158 
159  btVector3 constraintNormalLin(0, 0, 0);
160  btVector3 constraintNormalAng(0, 0, 0);
161  btScalar posError = 0.0;
162  if (i < 3)
163  {
164  constraintNormalLin[i] = 1;
165  posError = (pivotAworld - pivotBworld).dot(constraintNormalLin);
166  fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
167  constraintNormalLin, pivotAworld, pivotBworld,
168  posError,
169  infoGlobal,
171  }
172  else
173  { //i>=3
174  constraintNormalAng = frameAworld.getColumn(i % 3);
175  posError = angleDiff[i % 3];
176  fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
177  constraintNormalLin, pivotAworld, pivotBworld,
178  posError,
179  infoGlobal,
181  }
182  }
183 }
184 
186 {
187  btTransform tr;
188  tr.setIdentity();
189 
190  if (m_rigidBodyA)
191  {
193  tr.setOrigin(pivot);
194  drawer->drawTransform(tr, 0.1);
195  }
196  if (m_bodyA)
197  {
199  tr.setOrigin(pivotAworld);
200  drawer->drawTransform(tr, 0.1);
201  }
202  if (m_rigidBodyB)
203  {
204  // that ideally should draw the same frame
206  tr.setOrigin(pivot);
207  drawer->drawTransform(tr, 0.1);
208  }
209  if (m_bodyB)
210  {
212  tr.setOrigin(pivotBworld);
213  drawer->drawTransform(tr, 0.1);
214  }
215 }
btMultiBodySolverConstraint::m_relpos1CrossNormal
btVector3 m_relpos1CrossNormal
Definition: btMultiBodySolverConstraint.h:42
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btMultiBodyFixedConstraint::finalizeMultiDof
virtual void finalizeMultiDof()
Definition: btMultiBodyFixedConstraint.cpp:50
dot
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
Definition: btQuaternion.h:888
btMultiBodySolverConstraint::m_angularComponentB
btVector3 m_angularComponentB
Definition: btMultiBodySolverConstraint.h:48
btMultiBodySolverConstraint::m_orgConstraint
btMultiBodyConstraint * m_orgConstraint
Definition: btMultiBodySolverConstraint.h:78
btContactSolverInfo
Definition: btContactSolverInfo.h:72
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btMatrix3x3::inverse
btMatrix3x3 inverse() const
Return the inverse of the matrix.
Definition: btMatrix3x3.h:1077
btMultiBodyFixedConstraint::btMultiBodyFixedConstraint
btMultiBodyFixedConstraint(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
Definition: btMultiBodyFixedConstraint.cpp:26
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:40
btGeneric6DofSpring2Constraint.h
btMultiBodySolverConstraint::m_angularComponentA
btVector3 m_angularComponentA
Definition: btMultiBodySolverConstraint.h:47
BTMBFIXEDCONSTRAINT_DIM
#define BTMBFIXEDCONSTRAINT_DIM
This file was written by Erwin Coumans.
Definition: btMultiBodyFixedConstraint.cpp:24
btMultiBodyConstraint::m_linkA
int m_linkA
Definition: btMultiBodyConstraint.h:46
btIDebugDraw::drawTransform
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
Definition: btIDebugDraw.h:163
btRigidBody.h
btMultiBodyFixedConstraint::m_frameInA
btMatrix3x3 m_frameInA
Definition: btMultiBodyFixedConstraint.h:30
btMultiBodyFixedConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition: btMultiBodyFixedConstraint.cpp:60
btRigidBody::getCenterOfMassTransform
const btTransform & getCenterOfMassTransform() const
Definition: btRigidBody.h:394
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
btRigidBody::getOrientation
btQuaternion getOrientation() const
Definition: btRigidBody.cpp:385
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:28
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btMultiBodySolverConstraint.h:28
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition: btAlignedObjectArray.h:203
btMultiBodyLinkCollider.h
btMultiBodyConstraint::m_linkB
int m_linkB
Definition: btMultiBodyConstraint.h:47
btMultiBodyFixedConstraint::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition: btMultiBodyFixedConstraint.h:26
btMultiBodyConstraint::m_maxAppliedImpulse
btScalar m_maxAppliedImpulse
Definition: btMultiBodyConstraint.h:56
btMultiBodyFixedConstraint.h
btMultiBodyConstraint::fillMultiBodyConstraint
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
Definition: btMultiBodyConstraint.cpp:52
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:46
btMatrix3x3::transpose
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition: btMatrix3x3.h:1033
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btMultiBodyLinkCollider
Definition: btMultiBodyLinkCollider.h:32
btMultiBodyFixedConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btMultiBodyFixedConstraint.h:29
btMatrix3x3::getColumn
btVector3 getColumn(int i) const
Get a column of the matrix as a vector.
Definition: btMatrix3x3.h:140
btMultiBody::getLink
const btMultibodyLink & getLink(int index) const
Definition: btMultiBody.h:114
btGeneric6DofSpring2Constraint::matrixToEulerXYZ
static bool matrixToEulerXYZ(const btMatrix3x3 &mat, btVector3 &xyz)
Definition: btGeneric6DofSpring2Constraint.cpp:69
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btMultiBody
Definition: btMultiBody.h:49
btMultiBodyFixedConstraint::m_frameInB
btMatrix3x3 m_frameInB
Definition: btMultiBodyFixedConstraint.h:31
btMultiBodyFixedConstraint::m_pivotInA
btVector3 m_pivotInA
Definition: btMultiBodyFixedConstraint.h:28
btCollisionObject::getIslandTag
int getIslandTag() const
Definition: btCollisionObject.h:436
btMultiBodyFixedConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
Definition: btMultiBodyFixedConstraint.cpp:103
btAlignedObjectArray< btMultiBodySolverConstraint >
btMultiBodyFixedConstraint::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition: btMultiBodyFixedConstraint.h:27
btMultiBodyConstraint::m_bodyA
btMultiBody * m_bodyA
Definition: btMultiBodyConstraint.h:44
btMultiBodySolverConstraint::m_orgDofIndex
int m_orgDofIndex
Definition: btMultiBodySolverConstraint.h:79
btMultiBodySolverConstraint::m_solverBodyIdA
int m_solverBodyIdA
Definition: btMultiBodySolverConstraint.h:69
btMultiBodySolverConstraint::m_contactNormal1
btVector3 m_contactNormal1
Definition: btMultiBodySolverConstraint.h:43
btIDebugDraw.h
btMultiBodyFixedConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition: btMultiBodyFixedConstraint.cpp:82
btMultiBodyConstraint::m_data
btAlignedObjectArray< btScalar > m_data
Definition: btMultiBodyConstraint.h:63
btMultiBodyFixedConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition: btMultiBodyFixedConstraint.cpp:185
btMultiBodySolverConstraint::m_solverBodyIdB
int m_solverBodyIdB
Definition: btMultiBodySolverConstraint.h:73
btMultiBody::localPosToWorld
btVector3 localPosToWorld(int i, const btVector3 &local_pos) const
Definition: btMultiBody.cpp:464
btMultiBodySolverConstraint::m_relpos2CrossNormal
btVector3 m_relpos2CrossNormal
Definition: btMultiBodySolverConstraint.h:44
btMultiBody::localFrameToWorld
btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &local_frame) const
Definition: btMultiBody.cpp:548
btAlignedObjectArray::expandNonInitializing
T & expandNonInitializing()
Definition: btAlignedObjectArray.h:230
btMultiBodyJacobianData::m_fixedBodyId
int m_fixedBodyId
Definition: btMultiBodyConstraint.h:37
btMultiBodySolverConstraint::m_contactNormal2
btVector3 m_contactNormal2
Definition: btMultiBodySolverConstraint.h:45
btTransform::setOrigin
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:146
btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint
virtual ~btMultiBodyFixedConstraint()
Definition: btMultiBodyFixedConstraint.cpp:56
btMultiBody::getBaseCollider
const btMultiBodyLinkCollider * getBaseCollider() const
Definition: btMultiBody.h:128
btMultiBodyConstraint::m_bodyB
btMultiBody * m_bodyB
Definition: btMultiBodyConstraint.h:45
btCollisionObject::getCompanionId
int getCompanionId() const
Definition: btCollisionObject.h:446