2017-08-01 14:30:58 +02:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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2022-01-06 23:37:49 +01:00
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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2017-08-01 14:30:58 +02:00
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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2007-09-09
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Refactored by Francisco Le?n
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email: projectileman@yahoo.com
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http://gimpact.sf.net
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*/
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#include "b3Generic6DofConstraint.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Common/b3TransformUtil.h"
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#include "Bullet3Common/b3TransformUtil.h"
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#include <new>
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#define D6_USE_OBSOLETE_METHOD false
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#define D6_USE_FRAME_OFFSET true
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2019-01-03 14:26:51 +01:00
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b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies)
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: b3TypedConstraint(B3_D6_CONSTRAINT_TYPE, rbA, rbB), m_frameInA(frameInA), m_frameInB(frameInB), m_useLinearReferenceFrameA(useLinearReferenceFrameA), m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET), m_flags(0)
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2017-08-01 14:30:58 +02:00
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{
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calculateTransforms(bodies);
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}
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#define GENERIC_D6_DISABLE_WARMSTARTING 1
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b3Scalar btGetMatrixElem(const b3Matrix3x3& mat, int index);
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b3Scalar btGetMatrixElem(const b3Matrix3x3& mat, int index)
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{
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int i = index % 3;
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int j = index / 3;
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2017-08-01 14:30:58 +02:00
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return mat[i][j];
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}
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///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
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bool matrixToEulerXYZ(const b3Matrix3x3& mat, b3Vector3& xyz);
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bool matrixToEulerXYZ(const b3Matrix3x3& mat, b3Vector3& xyz)
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{
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// // rot = cy*cz -cy*sz sy
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// // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
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// // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
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//
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b3Scalar fi = btGetMatrixElem(mat, 2);
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if (fi < b3Scalar(1.0f))
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{
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if (fi > b3Scalar(-1.0f))
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{
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xyz[0] = b3Atan2(-btGetMatrixElem(mat, 5), btGetMatrixElem(mat, 8));
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xyz[1] = b3Asin(btGetMatrixElem(mat, 2));
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xyz[2] = b3Atan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
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return true;
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}
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else
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{
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// WARNING. Not unique. XA - ZA = -atan2(r10,r11)
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xyz[0] = -b3Atan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
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xyz[1] = -B3_HALF_PI;
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xyz[2] = b3Scalar(0.0);
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return false;
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}
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}
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else
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{
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// WARNING. Not unique. XAngle + ZAngle = atan2(r10,r11)
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xyz[0] = b3Atan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
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xyz[1] = B3_HALF_PI;
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xyz[2] = 0.0;
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}
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return false;
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}
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//////////////////////////// b3RotationalLimitMotor ////////////////////////////////////
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int b3RotationalLimitMotor::testLimitValue(b3Scalar test_value)
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{
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if (m_loLimit > m_hiLimit)
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2017-08-01 14:30:58 +02:00
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{
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2019-01-03 14:26:51 +01:00
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m_currentLimit = 0; //Free from violation
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2017-08-01 14:30:58 +02:00
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return 0;
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}
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if (test_value < m_loLimit)
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{
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m_currentLimit = 1; //low limit violation
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m_currentLimitError = test_value - m_loLimit;
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if (m_currentLimitError > B3_PI)
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m_currentLimitError -= B3_2_PI;
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else if (m_currentLimitError < -B3_PI)
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m_currentLimitError += B3_2_PI;
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2017-08-01 14:30:58 +02:00
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return 1;
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}
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2019-01-03 14:26:51 +01:00
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else if (test_value > m_hiLimit)
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{
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m_currentLimit = 2; //High limit violation
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2017-08-01 14:30:58 +02:00
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m_currentLimitError = test_value - m_hiLimit;
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if (m_currentLimitError > B3_PI)
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m_currentLimitError -= B3_2_PI;
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else if (m_currentLimitError < -B3_PI)
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m_currentLimitError += B3_2_PI;
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return 2;
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};
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2019-01-03 14:26:51 +01:00
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m_currentLimit = 0; //Free from violation
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return 0;
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}
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//////////////////////////// End b3RotationalLimitMotor ////////////////////////////////////
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//////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
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int b3TranslationalLimitMotor::testLimitValue(int limitIndex, b3Scalar test_value)
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{
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b3Scalar loLimit = m_lowerLimit[limitIndex];
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b3Scalar hiLimit = m_upperLimit[limitIndex];
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if (loLimit > hiLimit)
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{
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m_currentLimit[limitIndex] = 0; //Free from violation
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m_currentLimitError[limitIndex] = b3Scalar(0.f);
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return 0;
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}
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if (test_value < loLimit)
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{
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m_currentLimit[limitIndex] = 2; //low limit violation
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m_currentLimitError[limitIndex] = test_value - loLimit;
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2017-08-01 14:30:58 +02:00
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return 2;
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}
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2019-01-03 14:26:51 +01:00
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else if (test_value > hiLimit)
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{
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m_currentLimit[limitIndex] = 1; //High limit violation
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m_currentLimitError[limitIndex] = test_value - hiLimit;
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return 1;
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};
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2019-01-03 14:26:51 +01:00
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m_currentLimit[limitIndex] = 0; //Free from violation
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m_currentLimitError[limitIndex] = b3Scalar(0.f);
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return 0;
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}
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//////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
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void b3Generic6DofConstraint::calculateAngleInfo()
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{
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b3Matrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse() * m_calculatedTransformB.getBasis();
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matrixToEulerXYZ(relative_frame, m_calculatedAxisAngleDiff);
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// in euler angle mode we do not actually constrain the angular velocity
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// along the axes axis[0] and axis[2] (although we do use axis[1]) :
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//
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// to get constrain w2-w1 along ...not
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// ------ --------------------- ------
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// d(angle[0])/dt = 0 ax[1] x ax[2] ax[0]
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// d(angle[1])/dt = 0 ax[1]
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// d(angle[2])/dt = 0 ax[0] x ax[1] ax[2]
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//
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// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
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// to prove the result for angle[0], write the expression for angle[0] from
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// GetInfo1 then take the derivative. to prove this for angle[2] it is
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// easier to take the euler rate expression for d(angle[2])/dt with respect
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// to the components of w and set that to 0.
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b3Vector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
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b3Vector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
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m_calculatedAxis[1] = axis2.cross(axis0);
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m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
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m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
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m_calculatedAxis[0].normalize();
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m_calculatedAxis[1].normalize();
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m_calculatedAxis[2].normalize();
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}
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static b3Transform getCenterOfMassTransform(const b3RigidBodyData& body)
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{
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b3Transform tr(body.m_quat, body.m_pos);
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return tr;
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}
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void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyData* bodies)
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{
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b3Transform transA;
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b3Transform transB;
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transA = getCenterOfMassTransform(bodies[m_rbA]);
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transB = getCenterOfMassTransform(bodies[m_rbB]);
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calculateTransforms(transA, transB, bodies);
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}
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2019-01-03 14:26:51 +01:00
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void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA, const b3Transform& transB, const b3RigidBodyData* bodies)
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{
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m_calculatedTransformA = transA * m_frameInA;
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m_calculatedTransformB = transB * m_frameInB;
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calculateLinearInfo();
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calculateAngleInfo();
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if (m_useOffsetForConstraintFrame)
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{ // get weight factors depending on masses
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b3Scalar miA = bodies[m_rbA].m_invMass;
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b3Scalar miB = bodies[m_rbB].m_invMass;
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m_hasStaticBody = (miA < B3_EPSILON) || (miB < B3_EPSILON);
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b3Scalar miS = miA + miB;
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if (miS > b3Scalar(0.f))
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{
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m_factA = miB / miS;
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}
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else
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{
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m_factA = b3Scalar(0.5f);
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}
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m_factB = b3Scalar(1.0f) - m_factA;
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}
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}
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bool b3Generic6DofConstraint::testAngularLimitMotor(int axis_index)
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{
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b3Scalar angle = m_calculatedAxisAngleDiff[axis_index];
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angle = b3AdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
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m_angularLimits[axis_index].m_currentPosition = angle;
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//test limits
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m_angularLimits[axis_index].testLimitValue(angle);
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return m_angularLimits[axis_index].needApplyTorques();
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}
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2019-01-03 14:26:51 +01:00
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void b3Generic6DofConstraint::getInfo1(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
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{
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//prepare constraint
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calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]), getCenterOfMassTransform(bodies[m_rbB]), bodies);
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info->m_numConstraintRows = 0;
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info->nub = 6;
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int i;
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//test linear limits
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for (i = 0; i < 3; i++)
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{
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if (m_linearLimits.needApplyForce(i))
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2017-08-01 14:30:58 +02:00
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{
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info->m_numConstraintRows++;
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info->nub--;
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}
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}
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//test angular limits
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for (i = 0; i < 3; i++)
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{
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if (testAngularLimitMotor(i))
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{
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info->m_numConstraintRows++;
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info->nub--;
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}
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}
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2019-01-03 14:26:51 +01:00
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// printf("info->m_numConstraintRows=%d\n",info->m_numConstraintRows);
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}
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2019-01-03 14:26:51 +01:00
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void b3Generic6DofConstraint::getInfo1NonVirtual(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
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2017-08-01 14:30:58 +02:00
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{
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//pre-allocate all 6
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info->m_numConstraintRows = 6;
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info->nub = 0;
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}
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2019-01-03 14:26:51 +01:00
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void b3Generic6DofConstraint::getInfo2(b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
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2017-08-01 14:30:58 +02:00
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{
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b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
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b3Transform transB = getCenterOfMassTransform(bodies[m_rbB]);
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const b3Vector3& linVelA = bodies[m_rbA].m_linVel;
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const b3Vector3& linVelB = bodies[m_rbB].m_linVel;
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const b3Vector3& angVelA = bodies[m_rbA].m_angVel;
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const b3Vector3& angVelB = bodies[m_rbB].m_angVel;
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2019-01-03 14:26:51 +01:00
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if (m_useOffsetForConstraintFrame)
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{ // for stability better to solve angular limits first
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int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
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setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
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2017-08-01 14:30:58 +02:00
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}
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else
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{ // leave old version for compatibility
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int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
|
|
|
|
setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
void b3Generic6DofConstraint::getInfo2NonVirtual(b3ConstraintInfo2* info, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB, const b3RigidBodyData* bodies)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
//prepare constraint
|
2019-01-03 14:26:51 +01:00
|
|
|
calculateTransforms(transA, transB, bodies);
|
2017-08-01 14:30:58 +02:00
|
|
|
|
|
|
|
int i;
|
2019-01-03 14:26:51 +01:00
|
|
|
for (i = 0; i < 3; i++)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
testAngularLimitMotor(i);
|
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
if (m_useOffsetForConstraintFrame)
|
|
|
|
{ // for stability better to solve angular limits first
|
|
|
|
int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
|
|
|
|
setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
|
|
|
else
|
2019-01-03 14:26:51 +01:00
|
|
|
{ // leave old version for compatibility
|
|
|
|
int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
|
|
|
|
setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
int b3Generic6DofConstraint::setLinearLimits(b3ConstraintInfo2* info, int row, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
// int row = 0;
|
2017-08-01 14:30:58 +02:00
|
|
|
//solve linear limits
|
|
|
|
b3RotationalLimitMotor limot;
|
2019-01-03 14:26:51 +01:00
|
|
|
for (int i = 0; i < 3; i++)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
if (m_linearLimits.needApplyForce(i))
|
|
|
|
{ // re-use rotational motor code
|
2017-08-01 14:30:58 +02:00
|
|
|
limot.m_bounce = b3Scalar(0.f);
|
|
|
|
limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
|
|
|
|
limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
|
2019-01-03 14:26:51 +01:00
|
|
|
limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
|
|
|
|
limot.m_damping = m_linearLimits.m_damping;
|
|
|
|
limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
|
|
|
|
limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
|
|
|
|
limot.m_limitSoftness = m_linearLimits.m_limitSoftness;
|
|
|
|
limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
|
|
|
|
limot.m_maxLimitForce = b3Scalar(0.f);
|
|
|
|
limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
|
|
|
|
limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
|
2017-08-01 14:30:58 +02:00
|
|
|
b3Vector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
|
|
|
|
int flags = m_flags >> (i * B3_6DOF_FLAGS_AXIS_SHIFT);
|
2019-01-03 14:26:51 +01:00
|
|
|
limot.m_normalCFM = (flags & B3_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
|
|
|
|
limot.m_stopCFM = (flags & B3_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
|
|
|
|
limot.m_stopERP = (flags & B3_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
|
|
|
|
if (m_useOffsetForConstraintFrame)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
int indx1 = (i + 1) % 3;
|
|
|
|
int indx2 = (i + 2) % 3;
|
2019-01-03 14:26:51 +01:00
|
|
|
int rotAllowed = 1; // rotations around orthos to current axis
|
|
|
|
if (m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
rotAllowed = 0;
|
|
|
|
}
|
2019-01-03 14:26:51 +01:00
|
|
|
row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0, rotAllowed);
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0);
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
return row;
|
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
int b3Generic6DofConstraint::setAngularLimits(b3ConstraintInfo2* info, int row_offset, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
b3Generic6DofConstraint* d6constraint = this;
|
2017-08-01 14:30:58 +02:00
|
|
|
int row = row_offset;
|
|
|
|
//solve angular limits
|
2019-01-03 14:26:51 +01:00
|
|
|
for (int i = 0; i < 3; i++)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
if (d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
b3Vector3 axis = d6constraint->getAxis(i);
|
|
|
|
int flags = m_flags >> ((i + 3) * B3_6DOF_FLAGS_AXIS_SHIFT);
|
2019-01-03 14:26:51 +01:00
|
|
|
if (!(flags & B3_6DOF_FLAGS_CFM_NORM))
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
m_angularLimits[i].m_normalCFM = info->cfm[0];
|
|
|
|
}
|
2019-01-03 14:26:51 +01:00
|
|
|
if (!(flags & B3_6DOF_FLAGS_CFM_STOP))
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
m_angularLimits[i].m_stopCFM = info->cfm[0];
|
|
|
|
}
|
2019-01-03 14:26:51 +01:00
|
|
|
if (!(flags & B3_6DOF_FLAGS_ERP_STOP))
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
m_angularLimits[i].m_stopERP = info->erp;
|
|
|
|
}
|
|
|
|
row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
|
2019-01-03 14:26:51 +01:00
|
|
|
transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 1);
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
return row;
|
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
void b3Generic6DofConstraint::updateRHS(b3Scalar timeStep)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
(void)timeStep;
|
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB, const b3RigidBodyData* bodies)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
m_frameInA = frameA;
|
|
|
|
m_frameInB = frameB;
|
|
|
|
|
|
|
|
calculateTransforms(bodies);
|
|
|
|
}
|
|
|
|
|
|
|
|
b3Vector3 b3Generic6DofConstraint::getAxis(int axis_index) const
|
|
|
|
{
|
|
|
|
return m_calculatedAxis[axis_index];
|
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
b3Scalar b3Generic6DofConstraint::getRelativePivotPosition(int axisIndex) const
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
return m_calculatedLinearDiff[axisIndex];
|
|
|
|
}
|
|
|
|
|
|
|
|
b3Scalar b3Generic6DofConstraint::getAngle(int axisIndex) const
|
|
|
|
{
|
|
|
|
return m_calculatedAxisAngleDiff[axisIndex];
|
|
|
|
}
|
|
|
|
|
|
|
|
void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyData* bodies)
|
|
|
|
{
|
|
|
|
b3Scalar imA = bodies[m_rbA].m_invMass;
|
|
|
|
b3Scalar imB = bodies[m_rbB].m_invMass;
|
|
|
|
b3Scalar weight;
|
2019-01-03 14:26:51 +01:00
|
|
|
if (imB == b3Scalar(0.0))
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
weight = b3Scalar(1.0);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
weight = imA / (imA + imB);
|
|
|
|
}
|
|
|
|
const b3Vector3& pA = m_calculatedTransformA.getOrigin();
|
|
|
|
const b3Vector3& pB = m_calculatedTransformB.getOrigin();
|
|
|
|
m_AnchorPos = pA * weight + pB * (b3Scalar(1.0) - weight);
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
void b3Generic6DofConstraint::calculateLinearInfo()
|
|
|
|
{
|
|
|
|
m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
|
|
|
|
m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
|
2019-01-03 14:26:51 +01:00
|
|
|
for (int i = 0; i < 3; i++)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
|
|
|
|
m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
int b3Generic6DofConstraint::get_limit_motor_info2(
|
2019-01-03 14:26:51 +01:00
|
|
|
b3RotationalLimitMotor* limot,
|
|
|
|
const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB,
|
|
|
|
b3ConstraintInfo2* info, int row, b3Vector3& ax1, int rotational, int rotAllowed)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
int srow = row * info->rowskip;
|
|
|
|
bool powered = limot->m_enableMotor;
|
|
|
|
int limit = limot->m_currentLimit;
|
|
|
|
if (powered || limit)
|
|
|
|
{ // if the joint is powered, or has joint limits, add in the extra row
|
|
|
|
b3Scalar* J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
|
|
|
|
b3Scalar* J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
|
2017-08-01 14:30:58 +02:00
|
|
|
if (J1)
|
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
J1[srow + 0] = ax1[0];
|
|
|
|
J1[srow + 1] = ax1[1];
|
|
|
|
J1[srow + 2] = ax1[2];
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
|
|
|
if (J2)
|
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
J2[srow + 0] = -ax1[0];
|
|
|
|
J2[srow + 1] = -ax1[1];
|
|
|
|
J2[srow + 2] = -ax1[2];
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
2019-01-03 14:26:51 +01:00
|
|
|
if ((!rotational))
|
|
|
|
{
|
2017-08-01 14:30:58 +02:00
|
|
|
if (m_useOffsetForConstraintFrame)
|
|
|
|
{
|
|
|
|
b3Vector3 tmpA, tmpB, relA, relB;
|
|
|
|
// get vector from bodyB to frameB in WCS
|
|
|
|
relB = m_calculatedTransformB.getOrigin() - transB.getOrigin();
|
|
|
|
// get its projection to constraint axis
|
|
|
|
b3Vector3 projB = ax1 * relB.dot(ax1);
|
|
|
|
// get vector directed from bodyB to constraint axis (and orthogonal to it)
|
|
|
|
b3Vector3 orthoB = relB - projB;
|
|
|
|
// same for bodyA
|
|
|
|
relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
|
|
|
|
b3Vector3 projA = ax1 * relA.dot(ax1);
|
|
|
|
b3Vector3 orthoA = relA - projA;
|
|
|
|
// get desired offset between frames A and B along constraint axis
|
|
|
|
b3Scalar desiredOffs = limot->m_currentPosition - limot->m_currentLimitError;
|
|
|
|
// desired vector from projection of center of bodyA to projection of center of bodyB to constraint axis
|
|
|
|
b3Vector3 totalDist = projA + ax1 * desiredOffs - projB;
|
|
|
|
// get offset vectors relA and relB
|
|
|
|
relA = orthoA + totalDist * m_factA;
|
|
|
|
relB = orthoB - totalDist * m_factB;
|
|
|
|
tmpA = relA.cross(ax1);
|
|
|
|
tmpB = relB.cross(ax1);
|
2019-01-03 14:26:51 +01:00
|
|
|
if (m_hasStaticBody && (!rotAllowed))
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
tmpA *= m_factA;
|
|
|
|
tmpB *= m_factB;
|
|
|
|
}
|
|
|
|
int i;
|
2019-01-03 14:26:51 +01:00
|
|
|
for (i = 0; i < 3; i++) info->m_J1angularAxis[srow + i] = tmpA[i];
|
|
|
|
for (i = 0; i < 3; i++) info->m_J2angularAxis[srow + i] = -tmpB[i];
|
|
|
|
}
|
|
|
|
else
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
b3Vector3 ltd; // Linear Torque Decoupling vector
|
2017-08-01 14:30:58 +02:00
|
|
|
b3Vector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
|
|
|
|
ltd = c.cross(ax1);
|
2019-01-03 14:26:51 +01:00
|
|
|
info->m_J1angularAxis[srow + 0] = ltd[0];
|
|
|
|
info->m_J1angularAxis[srow + 1] = ltd[1];
|
|
|
|
info->m_J1angularAxis[srow + 2] = ltd[2];
|
2017-08-01 14:30:58 +02:00
|
|
|
|
|
|
|
c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
|
|
|
|
ltd = -c.cross(ax1);
|
2019-01-03 14:26:51 +01:00
|
|
|
info->m_J2angularAxis[srow + 0] = ltd[0];
|
|
|
|
info->m_J2angularAxis[srow + 1] = ltd[1];
|
|
|
|
info->m_J2angularAxis[srow + 2] = ltd[2];
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
2019-01-03 14:26:51 +01:00
|
|
|
}
|
|
|
|
// if we're limited low and high simultaneously, the joint motor is
|
|
|
|
// ineffective
|
|
|
|
if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
|
|
|
|
info->m_constraintError[srow] = b3Scalar(0.f);
|
|
|
|
if (powered)
|
|
|
|
{
|
2017-08-01 14:30:58 +02:00
|
|
|
info->cfm[srow] = limot->m_normalCFM;
|
2019-01-03 14:26:51 +01:00
|
|
|
if (!limit)
|
|
|
|
{
|
2017-08-01 14:30:58 +02:00
|
|
|
b3Scalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
b3Scalar mot_fact = getMotorFactor(limot->m_currentPosition,
|
|
|
|
limot->m_loLimit,
|
|
|
|
limot->m_hiLimit,
|
|
|
|
tag_vel,
|
|
|
|
info->fps * limot->m_stopERP);
|
2017-08-01 14:30:58 +02:00
|
|
|
info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
|
2019-01-03 14:26:51 +01:00
|
|
|
info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
|
|
|
|
info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
if (limit)
|
|
|
|
{
|
|
|
|
b3Scalar k = info->fps * limot->m_stopERP;
|
|
|
|
if (!rotational)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
info->m_constraintError[srow] += k * limot->m_currentLimitError;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
info->m_constraintError[srow] += -k * limot->m_currentLimitError;
|
|
|
|
}
|
|
|
|
info->cfm[srow] = limot->m_stopCFM;
|
2019-01-03 14:26:51 +01:00
|
|
|
if (limot->m_loLimit == limot->m_hiLimit)
|
|
|
|
{ // limited low and high simultaneously
|
|
|
|
info->m_lowerLimit[srow] = -B3_INFINITY;
|
|
|
|
info->m_upperLimit[srow] = B3_INFINITY;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
if (limit == 1)
|
|
|
|
{
|
|
|
|
info->m_lowerLimit[srow] = 0;
|
|
|
|
info->m_upperLimit[srow] = B3_INFINITY;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
info->m_lowerLimit[srow] = -B3_INFINITY;
|
|
|
|
info->m_upperLimit[srow] = 0;
|
|
|
|
}
|
|
|
|
// deal with bounce
|
|
|
|
if (limot->m_bounce > 0)
|
|
|
|
{
|
|
|
|
// calculate joint velocity
|
|
|
|
b3Scalar vel;
|
|
|
|
if (rotational)
|
|
|
|
{
|
|
|
|
vel = angVelA.dot(ax1);
|
|
|
|
//make sure that if no body -> angVelB == zero vec
|
|
|
|
// if (body1)
|
|
|
|
vel -= angVelB.dot(ax1);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
vel = linVelA.dot(ax1);
|
|
|
|
//make sure that if no body -> angVelB == zero vec
|
|
|
|
// if (body1)
|
|
|
|
vel -= linVelB.dot(ax1);
|
|
|
|
}
|
|
|
|
// only apply bounce if the velocity is incoming, and if the
|
|
|
|
// resulting c[] exceeds what we already have.
|
|
|
|
if (limit == 1)
|
|
|
|
{
|
|
|
|
if (vel < 0)
|
|
|
|
{
|
|
|
|
b3Scalar newc = -limot->m_bounce * vel;
|
|
|
|
if (newc > info->m_constraintError[srow])
|
2017-08-01 14:30:58 +02:00
|
|
|
info->m_constraintError[srow] = newc;
|
2019-01-03 14:26:51 +01:00
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
if (vel > 0)
|
|
|
|
{
|
|
|
|
b3Scalar newc = -limot->m_bounce * vel;
|
|
|
|
if (newc < info->m_constraintError[srow])
|
2017-08-01 14:30:58 +02:00
|
|
|
info->m_constraintError[srow] = newc;
|
2019-01-03 14:26:51 +01:00
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
return 1;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
return 0;
|
2017-08-01 14:30:58 +02:00
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
|
|
|
|
///If no axis is provided, it uses the default axis for this constraint.
|
2017-08-01 14:30:58 +02:00
|
|
|
void b3Generic6DofConstraint::setParam(int num, b3Scalar value, int axis)
|
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
if ((axis >= 0) && (axis < 3))
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
switch (num)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_STOP_ERP:
|
2017-08-01 14:30:58 +02:00
|
|
|
m_linearLimits.m_stopERP[axis] = value;
|
|
|
|
m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_STOP_CFM:
|
2017-08-01 14:30:58 +02:00
|
|
|
m_linearLimits.m_stopCFM[axis] = value;
|
|
|
|
m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_CFM:
|
2017-08-01 14:30:58 +02:00
|
|
|
m_linearLimits.m_normalCFM[axis] = value;
|
|
|
|
m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
default:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(0);
|
|
|
|
}
|
|
|
|
}
|
2019-01-03 14:26:51 +01:00
|
|
|
else if ((axis >= 3) && (axis < 6))
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
switch (num)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_STOP_ERP:
|
2017-08-01 14:30:58 +02:00
|
|
|
m_angularLimits[axis - 3].m_stopERP = value;
|
|
|
|
m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_STOP_CFM:
|
2017-08-01 14:30:58 +02:00
|
|
|
m_angularLimits[axis - 3].m_stopCFM = value;
|
|
|
|
m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_CFM:
|
2017-08-01 14:30:58 +02:00
|
|
|
m_angularLimits[axis - 3].m_normalCFM = value;
|
|
|
|
m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
default:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
b3AssertConstrParams(0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
///return the local value of parameter
|
|
|
|
b3Scalar b3Generic6DofConstraint::getParam(int num, int axis) const
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
b3Scalar retVal = 0;
|
2019-01-03 14:26:51 +01:00
|
|
|
if ((axis >= 0) && (axis < 3))
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
switch (num)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_STOP_ERP:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
|
|
|
|
retVal = m_linearLimits.m_stopERP[axis];
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_STOP_CFM:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
|
|
|
|
retVal = m_linearLimits.m_stopCFM[axis];
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_CFM:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
|
|
|
|
retVal = m_linearLimits.m_normalCFM[axis];
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
default:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(0);
|
|
|
|
}
|
|
|
|
}
|
2019-01-03 14:26:51 +01:00
|
|
|
else if ((axis >= 3) && (axis < 6))
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
switch (num)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_STOP_ERP:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
|
|
|
|
retVal = m_angularLimits[axis - 3].m_stopERP;
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_STOP_CFM:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
|
|
|
|
retVal = m_angularLimits[axis - 3].m_stopCFM;
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
case B3_CONSTRAINT_CFM:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
|
|
|
|
retVal = m_angularLimits[axis - 3].m_normalCFM;
|
|
|
|
break;
|
2019-01-03 14:26:51 +01:00
|
|
|
default:
|
2017-08-01 14:30:58 +02:00
|
|
|
b3AssertConstrParams(0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
b3AssertConstrParams(0);
|
|
|
|
}
|
|
|
|
return retVal;
|
|
|
|
}
|
|
|
|
|
2019-01-03 14:26:51 +01:00
|
|
|
void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1, const b3Vector3& axis2, const b3RigidBodyData* bodies)
|
2017-08-01 14:30:58 +02:00
|
|
|
{
|
|
|
|
b3Vector3 zAxis = axis1.normalized();
|
|
|
|
b3Vector3 yAxis = axis2.normalized();
|
2019-01-03 14:26:51 +01:00
|
|
|
b3Vector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
|
|
|
|
|
2017-08-01 14:30:58 +02:00
|
|
|
b3Transform frameInW;
|
|
|
|
frameInW.setIdentity();
|
2019-01-03 14:26:51 +01:00
|
|
|
frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
|
|
|
|
xAxis[1], yAxis[1], zAxis[1],
|
|
|
|
xAxis[2], yAxis[2], zAxis[2]);
|
|
|
|
|
2017-08-01 14:30:58 +02:00
|
|
|
// now get constraint frame in local coordinate systems
|
|
|
|
m_frameInA = getCenterOfMassTransform(bodies[m_rbA]).inverse() * frameInW;
|
|
|
|
m_frameInB = getCenterOfMassTransform(bodies[m_rbB]).inverse() * frameInW;
|
2019-01-03 14:26:51 +01:00
|
|
|
|
2017-08-01 14:30:58 +02:00
|
|
|
calculateTransforms(bodies);
|
|
|
|
}
|