823 lines
25 KiB
C++
823 lines
25 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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Added by Roman Ponomarev (rponom@gmail.com)
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April 04, 2008
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*/
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#include "btSliderConstraint.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btTransformUtil.h"
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#include <new>
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#define USE_OFFSET_FOR_CONSTANT_FRAME true
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void btSliderConstraint::initParams()
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{
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m_lowerLinLimit = btScalar(1.0);
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m_upperLinLimit = btScalar(-1.0);
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m_lowerAngLimit = btScalar(0.);
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m_upperAngLimit = btScalar(0.);
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m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingDirLin = btScalar(0.);
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m_cfmDirLin = SLIDER_CONSTRAINT_DEF_CFM;
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m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingDirAng = btScalar(0.);
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m_cfmDirAng = SLIDER_CONSTRAINT_DEF_CFM;
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m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_cfmOrthoLin = SLIDER_CONSTRAINT_DEF_CFM;
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m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_cfmOrthoAng = SLIDER_CONSTRAINT_DEF_CFM;
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m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_cfmLimLin = SLIDER_CONSTRAINT_DEF_CFM;
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m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
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m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
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m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
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m_cfmLimAng = SLIDER_CONSTRAINT_DEF_CFM;
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m_poweredLinMotor = false;
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m_targetLinMotorVelocity = btScalar(0.);
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m_maxLinMotorForce = btScalar(0.);
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m_accumulatedLinMotorImpulse = btScalar(0.0);
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m_poweredAngMotor = false;
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m_targetAngMotorVelocity = btScalar(0.);
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m_maxAngMotorForce = btScalar(0.);
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m_accumulatedAngMotorImpulse = btScalar(0.0);
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m_flags = 0;
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m_flags = 0;
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m_useOffsetForConstraintFrame = USE_OFFSET_FOR_CONSTANT_FRAME;
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calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
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}
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btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
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: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
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m_useSolveConstraintObsolete(false),
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m_frameInA(frameInA),
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m_frameInB(frameInB),
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m_useLinearReferenceFrameA(useLinearReferenceFrameA)
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{
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initParams();
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}
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btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
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: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
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m_useSolveConstraintObsolete(false),
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m_frameInB(frameInB),
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m_useLinearReferenceFrameA(useLinearReferenceFrameA)
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{
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///not providing rigidbody A means implicitly using worldspace for body A
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m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
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// m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
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initParams();
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}
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void btSliderConstraint::getInfo1(btConstraintInfo1* info)
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{
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if (m_useSolveConstraintObsolete)
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{
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info->m_numConstraintRows = 0;
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info->nub = 0;
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}
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else
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{
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info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
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info->nub = 2;
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//prepare constraint
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calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
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testAngLimits();
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testLinLimits();
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if (getSolveLinLimit() || getPoweredLinMotor())
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{
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info->m_numConstraintRows++; // limit 3rd linear as well
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info->nub--;
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}
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if (getSolveAngLimit() || getPoweredAngMotor())
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{
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info->m_numConstraintRows++; // limit 3rd angular as well
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info->nub--;
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}
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}
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}
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void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
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{
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info->m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used)
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info->nub = 0;
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}
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void btSliderConstraint::getInfo2(btConstraintInfo2* info)
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{
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getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(), m_rbB.getLinearVelocity(), m_rbA.getInvMass(), m_rbB.getInvMass());
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}
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void btSliderConstraint::calculateTransforms(const btTransform& transA, const btTransform& transB)
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{
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if (m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
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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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}
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else
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{
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m_calculatedTransformA = transB * m_frameInB;
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m_calculatedTransformB = transA * m_frameInA;
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}
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m_realPivotAInW = m_calculatedTransformA.getOrigin();
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m_realPivotBInW = m_calculatedTransformB.getOrigin();
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m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
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if (m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
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{
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m_delta = m_realPivotBInW - m_realPivotAInW;
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}
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else
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{
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m_delta = m_realPivotAInW - m_realPivotBInW;
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}
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m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
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btVector3 normalWorld;
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int i;
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//linear part
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for (i = 0; i < 3; i++)
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{
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normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
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m_depth[i] = m_delta.dot(normalWorld);
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}
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}
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void btSliderConstraint::testLinLimits(void)
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{
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m_solveLinLim = false;
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m_linPos = m_depth[0];
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if (m_lowerLinLimit <= m_upperLinLimit)
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{
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if (m_depth[0] > m_upperLinLimit)
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{
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m_depth[0] -= m_upperLinLimit;
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m_solveLinLim = true;
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}
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else if (m_depth[0] < m_lowerLinLimit)
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{
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m_depth[0] -= m_lowerLinLimit;
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m_solveLinLim = true;
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}
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else
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{
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m_depth[0] = btScalar(0.);
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}
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}
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else
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{
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m_depth[0] = btScalar(0.);
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}
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}
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void btSliderConstraint::testAngLimits(void)
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{
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m_angDepth = btScalar(0.);
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m_solveAngLim = false;
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if (m_lowerAngLimit <= m_upperAngLimit)
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{
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const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
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const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
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const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
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// btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
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btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0));
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rot = btAdjustAngleToLimits(rot, m_lowerAngLimit, m_upperAngLimit);
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m_angPos = rot;
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if (rot < m_lowerAngLimit)
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{
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m_angDepth = rot - m_lowerAngLimit;
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m_solveAngLim = true;
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}
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else if (rot > m_upperAngLimit)
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{
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m_angDepth = rot - m_upperAngLimit;
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m_solveAngLim = true;
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}
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}
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}
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btVector3 btSliderConstraint::getAncorInA(void)
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{
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btVector3 ancorInA;
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ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
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ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
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return ancorInA;
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}
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btVector3 btSliderConstraint::getAncorInB(void)
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{
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btVector3 ancorInB;
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ancorInB = m_frameInB.getOrigin();
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return ancorInB;
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}
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void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass)
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{
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const btTransform& trA = getCalculatedTransformA();
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const btTransform& trB = getCalculatedTransformB();
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btAssert(!m_useSolveConstraintObsolete);
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int i, s = info->rowskip;
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btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
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// difference between frames in WCS
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btVector3 ofs = trB.getOrigin() - trA.getOrigin();
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// now get weight factors depending on masses
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btScalar miA = rbAinvMass;
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btScalar miB = rbBinvMass;
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bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
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btScalar miS = miA + miB;
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btScalar factA, factB;
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if (miS > btScalar(0.f))
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{
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factA = miB / miS;
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}
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else
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{
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factA = btScalar(0.5f);
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}
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factB = btScalar(1.0f) - factA;
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btVector3 ax1, p, q;
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btVector3 ax1A = trA.getBasis().getColumn(0);
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btVector3 ax1B = trB.getBasis().getColumn(0);
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if (m_useOffsetForConstraintFrame)
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{
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// get the desired direction of slider axis
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// as weighted sum of X-orthos of frameA and frameB in WCS
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ax1 = ax1A * factA + ax1B * factB;
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ax1.normalize();
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// construct two orthos to slider axis
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btPlaneSpace1(ax1, p, q);
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}
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else
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{ // old way - use frameA
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ax1 = trA.getBasis().getColumn(0);
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// get 2 orthos to slider axis (Y, Z)
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p = trA.getBasis().getColumn(1);
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q = trA.getBasis().getColumn(2);
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}
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// make rotations around these orthos equal
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// the slider axis should be the only unconstrained
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// rotational axis, the angular velocity of the two bodies perpendicular to
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// the slider axis should be equal. thus the constraint equations are
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// p*w1 - p*w2 = 0
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// q*w1 - q*w2 = 0
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// where p and q are unit vectors normal to the slider axis, and w1 and w2
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// are the angular velocity vectors of the two bodies.
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info->m_J1angularAxis[0] = p[0];
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info->m_J1angularAxis[1] = p[1];
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info->m_J1angularAxis[2] = p[2];
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info->m_J1angularAxis[s + 0] = q[0];
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info->m_J1angularAxis[s + 1] = q[1];
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info->m_J1angularAxis[s + 2] = q[2];
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info->m_J2angularAxis[0] = -p[0];
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info->m_J2angularAxis[1] = -p[1];
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info->m_J2angularAxis[2] = -p[2];
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info->m_J2angularAxis[s + 0] = -q[0];
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info->m_J2angularAxis[s + 1] = -q[1];
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info->m_J2angularAxis[s + 2] = -q[2];
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// compute the right hand side of the constraint equation. set relative
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// body velocities along p and q to bring the slider back into alignment.
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// if ax1A,ax1B are the unit length slider axes as computed from bodyA and
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// bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
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// if "theta" is the angle between ax1 and ax2, we need an angular velocity
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// along u to cover angle erp*theta in one step :
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// |angular_velocity| = angle/time = erp*theta / stepsize
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// = (erp*fps) * theta
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// angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
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// = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
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// ...as ax1 and ax2 are unit length. if theta is smallish,
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// theta ~= sin(theta), so
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// angular_velocity = (erp*fps) * (ax1 x ax2)
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// ax1 x ax2 is in the plane space of ax1, so we project the angular
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// velocity to p and q to find the right hand side.
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// btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
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btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp;
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btScalar k = info->fps * currERP;
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btVector3 u = ax1A.cross(ax1B);
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info->m_constraintError[0] = k * u.dot(p);
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info->m_constraintError[s] = k * u.dot(q);
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if (m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
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{
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info->cfm[0] = m_cfmOrthoAng;
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info->cfm[s] = m_cfmOrthoAng;
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}
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int nrow = 1; // last filled row
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int srow;
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btScalar limit_err;
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int limit;
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// next two rows.
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// we want: velA + wA x relA == velB + wB x relB ... but this would
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// result in three equations, so we project along two orthos to the slider axis
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btTransform bodyA_trans = transA;
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btTransform bodyB_trans = transB;
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nrow++;
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int s2 = nrow * s;
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nrow++;
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int s3 = nrow * s;
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btVector3 tmpA(0, 0, 0), tmpB(0, 0, 0), relA(0, 0, 0), relB(0, 0, 0), c(0, 0, 0);
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if (m_useOffsetForConstraintFrame)
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{
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// get vector from bodyB to frameB in WCS
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relB = trB.getOrigin() - bodyB_trans.getOrigin();
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// get its projection to slider axis
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btVector3 projB = ax1 * relB.dot(ax1);
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// get vector directed from bodyB to slider axis (and orthogonal to it)
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btVector3 orthoB = relB - projB;
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// same for bodyA
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relA = trA.getOrigin() - bodyA_trans.getOrigin();
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btVector3 projA = ax1 * relA.dot(ax1);
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btVector3 orthoA = relA - projA;
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// get desired offset between frames A and B along slider axis
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btScalar sliderOffs = m_linPos - m_depth[0];
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// desired vector from projection of center of bodyA to projection of center of bodyB to slider axis
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btVector3 totalDist = projA + ax1 * sliderOffs - projB;
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// get offset vectors relA and relB
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relA = orthoA + totalDist * factA;
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relB = orthoB - totalDist * factB;
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// now choose average ortho to slider axis
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p = orthoB * factA + orthoA * factB;
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btScalar len2 = p.length2();
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if (len2 > SIMD_EPSILON)
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{
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p /= btSqrt(len2);
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}
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else
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{
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p = trA.getBasis().getColumn(1);
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}
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// make one more ortho
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q = ax1.cross(p);
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// fill two rows
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tmpA = relA.cross(p);
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tmpB = relB.cross(p);
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for (i = 0; i < 3; i++) info->m_J1angularAxis[s2 + i] = tmpA[i];
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for (i = 0; i < 3; i++) info->m_J2angularAxis[s2 + i] = -tmpB[i];
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tmpA = relA.cross(q);
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tmpB = relB.cross(q);
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if (hasStaticBody && getSolveAngLimit())
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{ // to make constraint between static and dynamic objects more rigid
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// remove wA (or wB) from equation if angular limit is hit
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tmpB *= factB;
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tmpA *= factA;
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}
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for (i = 0; i < 3; i++) info->m_J1angularAxis[s3 + i] = tmpA[i];
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for (i = 0; i < 3; i++) info->m_J2angularAxis[s3 + i] = -tmpB[i];
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for (i = 0; i < 3; i++) info->m_J1linearAxis[s2 + i] = p[i];
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for (i = 0; i < 3; i++) info->m_J1linearAxis[s3 + i] = q[i];
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for (i = 0; i < 3; i++) info->m_J2linearAxis[s2 + i] = -p[i];
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for (i = 0; i < 3; i++) info->m_J2linearAxis[s3 + i] = -q[i];
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}
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else
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{ // old way - maybe incorrect if bodies are not on the slider axis
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// see discussion "Bug in slider constraint" http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4024&start=0
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c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
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btVector3 tmp = c.cross(p);
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for (i = 0; i < 3; i++) info->m_J1angularAxis[s2 + i] = factA * tmp[i];
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for (i = 0; i < 3; i++) info->m_J2angularAxis[s2 + i] = factB * tmp[i];
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tmp = c.cross(q);
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for (i = 0; i < 3; i++) info->m_J1angularAxis[s3 + i] = factA * tmp[i];
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for (i = 0; i < 3; i++) info->m_J2angularAxis[s3 + i] = factB * tmp[i];
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for (i = 0; i < 3; i++) info->m_J1linearAxis[s2 + i] = p[i];
|
|
for (i = 0; i < 3; i++) info->m_J1linearAxis[s3 + i] = q[i];
|
|
for (i = 0; i < 3; i++) info->m_J2linearAxis[s2 + i] = -p[i];
|
|
for (i = 0; i < 3; i++) info->m_J2linearAxis[s3 + i] = -q[i];
|
|
}
|
|
// compute two elements of right hand side
|
|
|
|
// k = info->fps * info->erp * getSoftnessOrthoLin();
|
|
currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN) ? m_softnessOrthoLin : m_softnessOrthoLin * info->erp;
|
|
k = info->fps * currERP;
|
|
|
|
btScalar rhs = k * p.dot(ofs);
|
|
info->m_constraintError[s2] = rhs;
|
|
rhs = k * q.dot(ofs);
|
|
info->m_constraintError[s3] = rhs;
|
|
if (m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
|
|
{
|
|
info->cfm[s2] = m_cfmOrthoLin;
|
|
info->cfm[s3] = m_cfmOrthoLin;
|
|
}
|
|
|
|
// check linear limits
|
|
limit_err = btScalar(0.0);
|
|
limit = 0;
|
|
if (getSolveLinLimit())
|
|
{
|
|
limit_err = getLinDepth() * signFact;
|
|
limit = (limit_err > btScalar(0.0)) ? 2 : 1;
|
|
}
|
|
bool powered = getPoweredLinMotor();
|
|
// if the slider has joint limits or motor, add in the extra row
|
|
if (limit || powered)
|
|
{
|
|
nrow++;
|
|
srow = nrow * info->rowskip;
|
|
info->m_J1linearAxis[srow + 0] = ax1[0];
|
|
info->m_J1linearAxis[srow + 1] = ax1[1];
|
|
info->m_J1linearAxis[srow + 2] = ax1[2];
|
|
info->m_J2linearAxis[srow + 0] = -ax1[0];
|
|
info->m_J2linearAxis[srow + 1] = -ax1[1];
|
|
info->m_J2linearAxis[srow + 2] = -ax1[2];
|
|
// linear torque decoupling step:
|
|
//
|
|
// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
|
|
// do not create a torque couple. in other words, the points that the
|
|
// constraint force is applied at must lie along the same ax1 axis.
|
|
// a torque couple will result in limited slider-jointed free
|
|
// bodies from gaining angular momentum.
|
|
if (m_useOffsetForConstraintFrame)
|
|
{
|
|
// this is needed only when bodyA and bodyB are both dynamic.
|
|
if (!hasStaticBody)
|
|
{
|
|
tmpA = relA.cross(ax1);
|
|
tmpB = relB.cross(ax1);
|
|
info->m_J1angularAxis[srow + 0] = tmpA[0];
|
|
info->m_J1angularAxis[srow + 1] = tmpA[1];
|
|
info->m_J1angularAxis[srow + 2] = tmpA[2];
|
|
info->m_J2angularAxis[srow + 0] = -tmpB[0];
|
|
info->m_J2angularAxis[srow + 1] = -tmpB[1];
|
|
info->m_J2angularAxis[srow + 2] = -tmpB[2];
|
|
}
|
|
}
|
|
else
|
|
{ // The old way. May be incorrect if bodies are not on the slider axis
|
|
btVector3 ltd; // Linear Torque Decoupling vector (a torque)
|
|
ltd = c.cross(ax1);
|
|
info->m_J1angularAxis[srow + 0] = factA * ltd[0];
|
|
info->m_J1angularAxis[srow + 1] = factA * ltd[1];
|
|
info->m_J1angularAxis[srow + 2] = factA * ltd[2];
|
|
info->m_J2angularAxis[srow + 0] = factB * ltd[0];
|
|
info->m_J2angularAxis[srow + 1] = factB * ltd[1];
|
|
info->m_J2angularAxis[srow + 2] = factB * ltd[2];
|
|
}
|
|
// right-hand part
|
|
btScalar lostop = getLowerLinLimit();
|
|
btScalar histop = getUpperLinLimit();
|
|
if (limit && (lostop == histop))
|
|
{ // the joint motor is ineffective
|
|
powered = false;
|
|
}
|
|
info->m_constraintError[srow] = 0.;
|
|
info->m_lowerLimit[srow] = 0.;
|
|
info->m_upperLimit[srow] = 0.;
|
|
currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp;
|
|
if (powered)
|
|
{
|
|
if (m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
|
|
{
|
|
info->cfm[srow] = m_cfmDirLin;
|
|
}
|
|
btScalar tag_vel = getTargetLinMotorVelocity();
|
|
btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * currERP);
|
|
info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
|
|
info->m_lowerLimit[srow] += -getMaxLinMotorForce() / info->fps;
|
|
info->m_upperLimit[srow] += getMaxLinMotorForce() / info->fps;
|
|
}
|
|
if (limit)
|
|
{
|
|
k = info->fps * currERP;
|
|
info->m_constraintError[srow] += k * limit_err;
|
|
if (m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
|
|
{
|
|
info->cfm[srow] = m_cfmLimLin;
|
|
}
|
|
if (lostop == histop)
|
|
{ // limited low and high simultaneously
|
|
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
|
info->m_upperLimit[srow] = SIMD_INFINITY;
|
|
}
|
|
else if (limit == 1)
|
|
{ // low limit
|
|
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
|
info->m_upperLimit[srow] = 0;
|
|
}
|
|
else
|
|
{ // high limit
|
|
info->m_lowerLimit[srow] = 0;
|
|
info->m_upperLimit[srow] = SIMD_INFINITY;
|
|
}
|
|
// bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
|
|
btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
|
|
if (bounce > btScalar(0.0))
|
|
{
|
|
btScalar vel = linVelA.dot(ax1);
|
|
vel -= linVelB.dot(ax1);
|
|
vel *= signFact;
|
|
// only apply bounce if the velocity is incoming, and if the
|
|
// resulting c[] exceeds what we already have.
|
|
if (limit == 1)
|
|
{ // low limit
|
|
if (vel < 0)
|
|
{
|
|
btScalar newc = -bounce * vel;
|
|
if (newc > info->m_constraintError[srow])
|
|
{
|
|
info->m_constraintError[srow] = newc;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{ // high limit - all those computations are reversed
|
|
if (vel > 0)
|
|
{
|
|
btScalar newc = -bounce * vel;
|
|
if (newc < info->m_constraintError[srow])
|
|
{
|
|
info->m_constraintError[srow] = newc;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
info->m_constraintError[srow] *= getSoftnessLimLin();
|
|
} // if(limit)
|
|
} // if linear limit
|
|
// check angular limits
|
|
limit_err = btScalar(0.0);
|
|
limit = 0;
|
|
if (getSolveAngLimit())
|
|
{
|
|
limit_err = getAngDepth();
|
|
limit = (limit_err > btScalar(0.0)) ? 1 : 2;
|
|
}
|
|
// if the slider has joint limits, add in the extra row
|
|
powered = getPoweredAngMotor();
|
|
if (limit || powered)
|
|
{
|
|
nrow++;
|
|
srow = nrow * info->rowskip;
|
|
info->m_J1angularAxis[srow + 0] = ax1[0];
|
|
info->m_J1angularAxis[srow + 1] = ax1[1];
|
|
info->m_J1angularAxis[srow + 2] = ax1[2];
|
|
|
|
info->m_J2angularAxis[srow + 0] = -ax1[0];
|
|
info->m_J2angularAxis[srow + 1] = -ax1[1];
|
|
info->m_J2angularAxis[srow + 2] = -ax1[2];
|
|
|
|
btScalar lostop = getLowerAngLimit();
|
|
btScalar histop = getUpperAngLimit();
|
|
if (limit && (lostop == histop))
|
|
{ // the joint motor is ineffective
|
|
powered = false;
|
|
}
|
|
currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
|
|
if (powered)
|
|
{
|
|
if (m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
|
|
{
|
|
info->cfm[srow] = m_cfmDirAng;
|
|
}
|
|
btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
|
|
info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
|
|
info->m_lowerLimit[srow] = -getMaxAngMotorForce() / info->fps;
|
|
info->m_upperLimit[srow] = getMaxAngMotorForce() / info->fps;
|
|
}
|
|
if (limit)
|
|
{
|
|
k = info->fps * currERP;
|
|
info->m_constraintError[srow] += k * limit_err;
|
|
if (m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
|
|
{
|
|
info->cfm[srow] = m_cfmLimAng;
|
|
}
|
|
if (lostop == histop)
|
|
{
|
|
// limited low and high simultaneously
|
|
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
|
info->m_upperLimit[srow] = SIMD_INFINITY;
|
|
}
|
|
else if (limit == 1)
|
|
{ // low limit
|
|
info->m_lowerLimit[srow] = 0;
|
|
info->m_upperLimit[srow] = SIMD_INFINITY;
|
|
}
|
|
else
|
|
{ // high limit
|
|
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
|
info->m_upperLimit[srow] = 0;
|
|
}
|
|
// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
|
|
btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng());
|
|
if (bounce > btScalar(0.0))
|
|
{
|
|
btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
|
|
vel -= m_rbB.getAngularVelocity().dot(ax1);
|
|
// only apply bounce if the velocity is incoming, and if the
|
|
// resulting c[] exceeds what we already have.
|
|
if (limit == 1)
|
|
{ // low limit
|
|
if (vel < 0)
|
|
{
|
|
btScalar newc = -bounce * vel;
|
|
if (newc > info->m_constraintError[srow])
|
|
{
|
|
info->m_constraintError[srow] = newc;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{ // high limit - all those computations are reversed
|
|
if (vel > 0)
|
|
{
|
|
btScalar newc = -bounce * vel;
|
|
if (newc < info->m_constraintError[srow])
|
|
{
|
|
info->m_constraintError[srow] = newc;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
info->m_constraintError[srow] *= getSoftnessLimAng();
|
|
} // if(limit)
|
|
} // if angular limit or powered
|
|
}
|
|
|
|
///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.
|
|
void btSliderConstraint::setParam(int num, btScalar value, int axis)
|
|
{
|
|
switch (num)
|
|
{
|
|
case BT_CONSTRAINT_STOP_ERP:
|
|
if (axis < 1)
|
|
{
|
|
m_softnessLimLin = value;
|
|
m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN;
|
|
}
|
|
else if (axis < 3)
|
|
{
|
|
m_softnessOrthoLin = value;
|
|
m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN;
|
|
}
|
|
else if (axis == 3)
|
|
{
|
|
m_softnessLimAng = value;
|
|
m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG;
|
|
}
|
|
else if (axis < 6)
|
|
{
|
|
m_softnessOrthoAng = value;
|
|
m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG;
|
|
}
|
|
else
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
break;
|
|
case BT_CONSTRAINT_CFM:
|
|
if (axis < 1)
|
|
{
|
|
m_cfmDirLin = value;
|
|
m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN;
|
|
}
|
|
else if (axis == 3)
|
|
{
|
|
m_cfmDirAng = value;
|
|
m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG;
|
|
}
|
|
else
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
break;
|
|
case BT_CONSTRAINT_STOP_CFM:
|
|
if (axis < 1)
|
|
{
|
|
m_cfmLimLin = value;
|
|
m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN;
|
|
}
|
|
else if (axis < 3)
|
|
{
|
|
m_cfmOrthoLin = value;
|
|
m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN;
|
|
}
|
|
else if (axis == 3)
|
|
{
|
|
m_cfmLimAng = value;
|
|
m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG;
|
|
}
|
|
else if (axis < 6)
|
|
{
|
|
m_cfmOrthoAng = value;
|
|
m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG;
|
|
}
|
|
else
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
///return the local value of parameter
|
|
btScalar btSliderConstraint::getParam(int num, int axis) const
|
|
{
|
|
btScalar retVal(SIMD_INFINITY);
|
|
switch (num)
|
|
{
|
|
case BT_CONSTRAINT_STOP_ERP:
|
|
if (axis < 1)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN);
|
|
retVal = m_softnessLimLin;
|
|
}
|
|
else if (axis < 3)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN);
|
|
retVal = m_softnessOrthoLin;
|
|
}
|
|
else if (axis == 3)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG);
|
|
retVal = m_softnessLimAng;
|
|
}
|
|
else if (axis < 6)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG);
|
|
retVal = m_softnessOrthoAng;
|
|
}
|
|
else
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
break;
|
|
case BT_CONSTRAINT_CFM:
|
|
if (axis < 1)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN);
|
|
retVal = m_cfmDirLin;
|
|
}
|
|
else if (axis == 3)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG);
|
|
retVal = m_cfmDirAng;
|
|
}
|
|
else
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
break;
|
|
case BT_CONSTRAINT_STOP_CFM:
|
|
if (axis < 1)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN);
|
|
retVal = m_cfmLimLin;
|
|
}
|
|
else if (axis < 3)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN);
|
|
retVal = m_cfmOrthoLin;
|
|
}
|
|
else if (axis == 3)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG);
|
|
retVal = m_cfmLimAng;
|
|
}
|
|
else if (axis < 6)
|
|
{
|
|
btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG);
|
|
retVal = m_cfmOrthoAng;
|
|
}
|
|
else
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
break;
|
|
}
|
|
return retVal;
|
|
}
|