Changeset 8351 for code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

Timestamp:

Apr 28, 2011, 7:15:14 AM (13 years ago)

Author:

rgrieder

Message:

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

• *Support for Mac OS X*
• Visual Studio 2010 support
• Bullet library update to 2.77
• OIS library update to 1.3
• Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
• Improved install target
• Compiles now with GCC 4.6
• Ogre Cg Shader plugin activated for Linux if available
• And of course lots of bug fixes

There are also some regressions:

• No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
• In game console is not working in main menu for CEGUI 0.7
• Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
• And of course lots of new bugs we don't yet know about

File:

• code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h (modified) (7 diffs)

code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

@@ -18 +18 @@
 
 
+/*
+Overview:
+
+btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc).
+It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint".
+It divides the 3 rotational DOFs into swing (movement within a cone) and twist.
+Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape.
+(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.)
+
+In the contraint's frame of reference:
+twist is along the x-axis,
+and swing 1 and 2 are along the z and y axes respectively.
+*/
+
+
+
 #ifndef CONETWISTCONSTRAINT_H
 #define CONETWISTCONSTRAINT_H
@@ -27 +43 @@
 class btRigidBody;
 
+enum btConeTwistFlags
+{
+        BT_CONETWIST_FLAGS_LIN_CFM = 1,
+        BT_CONETWIST_FLAGS_LIN_ERP = 2,
+        BT_CONETWIST_FLAGS_ANG_CFM = 4
+};
 
 ///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
@@ -84 +106 @@
         btVector3        m_accMotorImpulse;
         
+        // parameters
+        int                     m_flags;
+        btScalar        m_linCFM;
+        btScalar        m_linERP;
+        btScalar        m_angCFM;
+        
+protected:
+
+        void init();
+
+        void computeConeLimitInfo(const btQuaternion& qCone, // in
+                btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
+
+        void computeTwistLimitInfo(const btQuaternion& qTwist, // in
+                btScalar& twistAngle, btVector3& vTwistAxis); // all outs
+
+        void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
+
+
 public:
 
@@ -90 +131 @@
         btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
 
-        btConeTwistConstraint();
-
         virtual void    buildJacobian();
 
         virtual void getInfo1 (btConstraintInfo1* info);
+
+        void    getInfo1NonVirtual(btConstraintInfo1* info);
         
         virtual void getInfo2 (btConstraintInfo2* info);
         
-
-        virtual void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar        timeStep);
+        void    getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
+
+        virtual void    solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar  timeStep);
 
         void    updateRHS(btScalar      timeStep);
@@ -142 +184 @@
         }
 
-        void    setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan,  btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+        // setLimit(), a few notes:
+        // _softness:
+        //              0->1, recommend ~0.8->1.
+        //              describes % of limits where movement is free.
+        //              beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.
+        // _biasFactor:
+        //              0->1?, recommend 0.3 +/-0.3 or so.
+        //              strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
+        // __relaxationFactor:
+        //              0->1, recommend to stay near 1.
+        //              the lower the value, the less the constraint will fight velocities which violate the angular limits.
+        void    setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
         {
                 m_swingSpan1 = _swingSpan1;
@@ -172 +225 @@
 
         void calcAngleInfo();
-        void calcAngleInfo2();
+        void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
 
         inline btScalar getSwingSpan1()
@@ -213 +266 @@
         btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
 
-
-
-protected:
-        void init();
-
-        void computeConeLimitInfo(const btQuaternion& qCone, // in
-                btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
-
-        void computeTwistLimitInfo(const btQuaternion& qTwist, // in
-                btScalar& twistAngle, btVector3& vTwistAxis); // all outs
-
-        void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
+        ///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.
+        virtual void setParam(int num, btScalar value, int axis = -1);
+        ///return the local value of parameter
+        virtual btScalar getParam(int num, int axis = -1) const;
+
+        virtual int     calculateSerializeBufferSize() const;
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
+
 };
 
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct  btConeTwistConstraintData
+{
+        btTypedConstraintData   m_typeConstraintData;
+        btTransformFloatData m_rbAFrame;
+        btTransformFloatData m_rbBFrame;
+
+        //limits
+        float   m_swingSpan1;
+        float   m_swingSpan2;
+        float   m_twistSpan;
+        float   m_limitSoftness;
+        float   m_biasFactor;
+        float   m_relaxationFactor;
+
+        float   m_damping;
+                
+        char m_pad[4];
+
+};
+        
+
+
+SIMD_FORCE_INLINE int   btConeTwistConstraint::calculateSerializeBufferSize() const
+{
+        return sizeof(btConeTwistConstraintData);
+
+}
+
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char*   btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+        btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
+        btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
+
+        m_rbAFrame.serializeFloat(cone->m_rbAFrame);
+        m_rbBFrame.serializeFloat(cone->m_rbBFrame);
+        
+        cone->m_swingSpan1 = float(m_swingSpan1);
+        cone->m_swingSpan2 = float(m_swingSpan2);
+        cone->m_twistSpan = float(m_twistSpan);
+        cone->m_limitSoftness = float(m_limitSoftness);
+        cone->m_biasFactor = float(m_biasFactor);
+        cone->m_relaxationFactor = float(m_relaxationFactor);
+        cone->m_damping = float(m_damping);
+
+        return "btConeTwistConstraintData";
+}
+
+
 #endif //CONETWISTCONSTRAINT_H