Changeset 2882 for code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp (modified) (4 diffs)

code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp

@@ -22 +22 @@
 
 btPoint2PointConstraint::btPoint2PointConstraint()
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE)
+:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE),
+m_useSolveConstraintObsolete(false)
 {
 }
 
 btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
+:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
+m_useSolveConstraintObsolete(false)
 {
 
@@ -34 +36 @@
 
 btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
+:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
+m_useSolveConstraintObsolete(false)
 {
         
@@ -41 +44 @@
 void    btPoint2PointConstraint::buildJacobian()
 {
-        m_appliedImpulse = btScalar(0.);
-
-        btVector3       normal(0,0,0);
-
-        for (int i=0;i<3;i++)
-        {
-                normal[i] = 1;
-                new (&m_jac[i]) btJacobianEntry(
+        ///we need it for both methods
+        {
+                m_appliedImpulse = btScalar(0.);
+
+                btVector3       normal(0,0,0);
+
+                for (int i=0;i<3;i++)
+                {
+                        normal[i] = 1;
+                        new (&m_jac[i]) btJacobianEntry(
                         m_rbA.getCenterOfMassTransform().getBasis().transpose(),
                         m_rbB.getCenterOfMassTransform().getBasis().transpose(),
@@ -59 +64 @@
                         m_rbB.getInvMass());
                 normal[i] = 0;
-        }
-
-}
-
-void    btPoint2PointConstraint::solveConstraint(btScalar       timeStep)
-{
-        btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
-        btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
-
-
-        btVector3 normal(0,0,0);
-        
-
-//      btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-//      btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-
-        for (int i=0;i<3;i++)
-        {               
-                normal[i] = 1;
-                btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
-
-                btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-                btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-                //this jacobian entry could be re-used for all iterations
-                
-                btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
-                btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
-                btVector3 vel = vel1 - vel2;
-                
-                btScalar rel_vel;
-                rel_vel = normal.dot(vel);
-
-        /*
-                //velocity error (first order error)
-                btScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
-                                                                                                                m_rbB.getLinearVelocity(),angvelB);
+                }
+        }
+
+}
+
+
+void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info)
+{
+        if (m_useSolveConstraintObsolete)
+        {
+                info->m_numConstraintRows = 0;
+                info->nub = 0;
+        } else
+        {
+                info->m_numConstraintRows = 3;
+                info->nub = 3;
+        }
+}
+
+void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info)
+{
+        btAssert(!m_useSolveConstraintObsolete);
+
+         //retrieve matrices
+        btTransform body0_trans;
+        body0_trans = m_rbA.getCenterOfMassTransform();
+    btTransform body1_trans;
+        body1_trans = m_rbB.getCenterOfMassTransform();
+
+        // anchor points in global coordinates with respect to body PORs.
+   
+    // set jacobian
+    info->m_J1linearAxis[0] = 1;
+    info->m_J1linearAxis[info->rowskip+1] = 1;
+    info->m_J1linearAxis[2*info->rowskip+2] = 1;
+
+        btVector3 a1 = body0_trans.getBasis()*getPivotInA();
+        {
+                btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
+                btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
+                btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
+                btVector3 a1neg = -a1;
+                a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+        }
+    
+        /*info->m_J2linearAxis[0] = -1;
+    info->m_J2linearAxis[s+1] = -1;
+    info->m_J2linearAxis[2*s+2] = -1;
         */
         
-                //positional error (zeroth order error)
-                btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+        btVector3 a2 = body1_trans.getBasis()*getPivotInB();
+   
+        {
+                btVector3 a2n = -a2;
+                btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
+                btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
+                btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
+                a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+        }
+    
+
+
+    // set right hand side
+    btScalar k = info->fps * info->erp;
+    int j;
+
+        for (j=0; j<3; j++)
+    {
+        info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] -                     a1[j] - body0_trans.getOrigin()[j]);
+                //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
+    }
+
+        btScalar impulseClamp = m_setting.m_impulseClamp;//
+        for (j=0; j<3; j++)
+    {
+                if (m_setting.m_impulseClamp > 0)
+                {
+                        info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
+                        info->m_upperLimit[j*info->rowskip] = impulseClamp;
+                }
+        }
+        
+}
+
+
+void    btPoint2PointConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar       timeStep)
+{
+        if (m_useSolveConstraintObsolete)
+        {
+                btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
+                btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
+
+
+                btVector3 normal(0,0,0);
                 
-                btScalar impulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
-
-                btScalar impulseClamp = m_setting.m_impulseClamp;
-                if (impulseClamp > 0)
-                {
-                        if (impulse < -impulseClamp) 
-                                impulse = -impulseClamp;
-                        if (impulse > impulseClamp) 
-                                impulse = impulseClamp;
+
+        //      btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
+        //      btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
+
+                for (int i=0;i<3;i++)
+                {               
+                        normal[i] = 1;
+                        btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
+
+                        btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
+                        btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
+                        //this jacobian entry could be re-used for all iterations
+                        
+                        btVector3 vel1,vel2;
+                        bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
+                        bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
+                        btVector3 vel = vel1 - vel2;
+                        
+                        btScalar rel_vel;
+                        rel_vel = normal.dot(vel);
+
+                /*
+                        //velocity error (first order error)
+                        btScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
+                                                                                                                        m_rbB.getLinearVelocity(),angvelB);
+                */
+                
+                        //positional error (zeroth order error)
+                        btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+                        
+                        btScalar deltaImpulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
+
+                        btScalar impulseClamp = m_setting.m_impulseClamp;
+                        
+                        const btScalar sum = btScalar(m_appliedImpulse) + deltaImpulse;
+                        if (sum < -impulseClamp)
+                        {
+                                deltaImpulse = -impulseClamp-m_appliedImpulse;
+                                m_appliedImpulse = -impulseClamp;
+                        }
+                        else if (sum > impulseClamp) 
+                        {
+                                deltaImpulse = impulseClamp-m_appliedImpulse;
+                                m_appliedImpulse = impulseClamp;
+                        }
+                        else
+                        {
+                                m_appliedImpulse = sum;
+                        }
+
+                        
+                        btVector3 impulse_vector = normal * deltaImpulse;
+                        
+                        btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
+                        btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
+                        bodyA.applyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,deltaImpulse);
+                        bodyB.applyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-deltaImpulse);
+
+
+                        normal[i] = 0;
                 }
-
-                m_appliedImpulse+=impulse;
-                btVector3 impulse_vector = normal * impulse;
-                m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
-                m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
-                
-                normal[i] = 0;
         }
 }