101 lines
6.0 KiB
C++
101 lines
6.0 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H
|
|
#define BT_MULTIBODY_CONSTRAINT_SOLVER_H
|
|
|
|
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
|
|
#include "btMultiBodySolverConstraint.h"
|
|
|
|
#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
|
|
|
|
class btMultiBody;
|
|
|
|
#include "btMultiBodyConstraint.h"
|
|
|
|
|
|
|
|
ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
|
|
{
|
|
|
|
protected:
|
|
|
|
btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
|
|
|
|
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
|
|
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
|
|
|
|
btMultiBodyJacobianData m_data;
|
|
|
|
//temp storage for multi body constraints for a specific island/group called by 'solveGroup'
|
|
btMultiBodyConstraint** m_tmpMultiBodyConstraints;
|
|
int m_tmpNumMultiBodyConstraints;
|
|
|
|
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
|
|
|
|
|
|
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);
|
|
|
|
btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
|
|
|
|
btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,
|
|
btScalar combinedTorsionalFriction,
|
|
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
|
|
|
|
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow,
|
|
btScalar* jacA,btScalar* jacB,
|
|
btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
|
|
const btContactSolverInfo& infoGlobal);
|
|
|
|
void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
|
|
const btVector3& contactNormal,
|
|
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
|
|
btScalar& relaxation,
|
|
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
|
|
|
|
//either rolling or spinning friction
|
|
void setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
|
|
const btVector3& contactNormal,
|
|
btManifoldPoint& cp,
|
|
btScalar combinedTorsionalFriction,
|
|
const btContactSolverInfo& infoGlobal,
|
|
btScalar& relaxation,
|
|
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
|
|
|
|
void convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
|
|
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
|
// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
|
|
|
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
|
void applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof);
|
|
void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& constraint, btScalar deltaTime);
|
|
public:
|
|
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
|
|
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
|
|
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
|
|
|
|
virtual void solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H
|
|
|