102 lines
6.6 KiB
C++
102 lines
6.6 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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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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#ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H
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#define BT_MULTIBODY_CONSTRAINT_SOLVER_H
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#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
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#include "btMultiBodySolverConstraint.h"
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#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
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class btMultiBody;
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#include "btMultiBodyConstraint.h"
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ATTRIBUTE_ALIGNED16(class)
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btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
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{
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protected:
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btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
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btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
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btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
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btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints;
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btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints;
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btMultiBodyJacobianData m_data;
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//temp storage for multi body constraints for a specific island/group called by 'solveGroup'
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btMultiBodyConstraint** m_tmpMultiBodyConstraints;
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int m_tmpNumMultiBodyConstraints;
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btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
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//solve 2 friction directions and clamp against the implicit friction cone
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btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB);
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void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
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btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
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btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
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btScalar combinedTorsionalFriction,
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btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
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btMultiBodySolverConstraint& addMultiBodySpinningFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
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btScalar combinedTorsionalFriction,
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btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
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void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint & constraintRow,
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btScalar * jacA, btScalar * jacB,
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btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
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const btContactSolverInfo& infoGlobal);
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void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint,
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const btVector3& contactNormal,
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const btScalar& appliedImpulse,
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btManifoldPoint& cp,
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const btContactSolverInfo& infoGlobal,
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btScalar& relaxation,
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bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
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//either rolling or spinning friction
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void setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint & solverConstraint,
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const btVector3& contactNormal,
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btManifoldPoint& cp,
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btScalar combinedTorsionalFriction,
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const btContactSolverInfo& infoGlobal,
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btScalar& relaxation,
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bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
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void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
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virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
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// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
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virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
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void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
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void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime);
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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///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)
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virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
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virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
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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);
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};
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#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H
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