108 lines
3.1 KiB
C++
108 lines
3.1 KiB
C++
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#include "b3FixedConstraint.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Common/b3TransformUtil.h"
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#include <new>
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b3FixedConstraint::b3FixedConstraint(int rbA,int rbB, const b3Transform& frameInA,const b3Transform& frameInB)
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:b3TypedConstraint(B3_FIXED_CONSTRAINT_TYPE,rbA,rbB)
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{
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m_pivotInA = frameInA.getOrigin();
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m_pivotInB = frameInB.getOrigin();
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m_relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
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}
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b3FixedConstraint::~b3FixedConstraint ()
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{
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}
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void b3FixedConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
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{
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info->m_numConstraintRows = 6;
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info->nub = 6;
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}
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void b3FixedConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
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{
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//fix the 3 linear degrees of freedom
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const b3Vector3& worldPosA = bodies[m_rbA].m_pos;
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const b3Quaternion& worldOrnA = bodies[m_rbA].m_quat;
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const b3Vector3& worldPosB= bodies[m_rbB].m_pos;
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const b3Quaternion& worldOrnB = bodies[m_rbB].m_quat;
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info->m_J1linearAxis[0] = 1;
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info->m_J1linearAxis[info->rowskip+1] = 1;
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info->m_J1linearAxis[2*info->rowskip+2] = 1;
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b3Vector3 a1 = b3QuatRotate(worldOrnA,m_pivotInA);
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{
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b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
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b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis+info->rowskip);
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b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis+2*info->rowskip);
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b3Vector3 a1neg = -a1;
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a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
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}
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if (info->m_J2linearAxis)
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{
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info->m_J2linearAxis[0] = -1;
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info->m_J2linearAxis[info->rowskip+1] = -1;
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info->m_J2linearAxis[2*info->rowskip+2] = -1;
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}
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b3Vector3 a2 = b3QuatRotate(worldOrnB,m_pivotInB);
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{
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// b3Vector3 a2n = -a2;
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b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
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b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis+info->rowskip);
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b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis+2*info->rowskip);
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a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
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}
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// set right hand side for the linear dofs
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b3Scalar k = info->fps * info->erp;
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b3Vector3 linearError = k*(a2+worldPosB-a1-worldPosA);
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int j;
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for (j=0; j<3; j++)
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{
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info->m_constraintError[j*info->rowskip] = linearError[j];
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//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
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}
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//fix the 3 angular degrees of freedom
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int start_row = 3;
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int s = info->rowskip;
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int start_index = start_row * s;
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// 3 rows to make body rotations equal
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info->m_J1angularAxis[start_index] = 1;
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info->m_J1angularAxis[start_index + s + 1] = 1;
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info->m_J1angularAxis[start_index + s*2+2] = 1;
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if ( info->m_J2angularAxis)
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{
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info->m_J2angularAxis[start_index] = -1;
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info->m_J2angularAxis[start_index + s+1] = -1;
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info->m_J2angularAxis[start_index + s*2+2] = -1;
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}
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// set right hand side for the angular dofs
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b3Vector3 diff;
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b3Scalar angle;
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b3Quaternion qrelCur = worldOrnA *worldOrnB.inverse();
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b3TransformUtil::calculateDiffAxisAngleQuaternion(m_relTargetAB,qrelCur,diff,angle);
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diff*=-angle;
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for (j=0; j<3; j++)
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{
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info->m_constraintError[(3+j)*info->rowskip] = k * diff[j];
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}
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} |