Bullet Collision Detection & Physics Library: btPoint2PointConstraint.cpp Source File

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btPoint2PointConstraint.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btPoint2PointConstraint.h"
17#include "BulletDynamics/Dynamics/btRigidBody.h"
18#include <new>
19
20btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB)
21 : btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA, rbB), m_pivotInA(pivotInA), m_pivotInB(pivotInB), m_flags(0), m_useSolveConstraintObsolete(false)
22{
23}
24
25 btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, const btVector3& pivotInA)
26 : btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA), m_pivotInA(pivotInA), m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), m_flags(0), m_useSolveConstraintObsolete(false)
27{
28}
29
30 void btPoint2PointConstraint::buildJacobian()
31{
33 {
34 m_appliedImpulse = btScalar(0.);
35
36 btVector3 normal(0, 0, 0);
37
38 for (int i = 0; i < 3; i++)
39 {
40 normal[i] = 1;
41 new (&m_jac[i]) btJacobianEntry(
42 m_rbA.getCenterOfMassTransform().getBasis().transpose(),
43 m_rbB.getCenterOfMassTransform().getBasis().transpose(),
44 m_rbA.getCenterOfMassTransform() * m_pivotInA - m_rbA.getCenterOfMassPosition(),
45 m_rbB.getCenterOfMassTransform() * m_pivotInB - m_rbB.getCenterOfMassPosition(),
46 normal,
47 m_rbA.getInvInertiaDiagLocal(),
48 m_rbA.getInvMass(),
49 m_rbB.getInvInertiaDiagLocal(),
50 m_rbB.getInvMass());
51 normal[i] = 0;
52 }
53 }
54}
55
56 void btPoint2PointConstraint::getInfo1(btConstraintInfo1* info)
57{
58 getInfo1NonVirtual(info);
59}
60
61 void btPoint2PointConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
62{
63 if (m_useSolveConstraintObsolete)
64 {
65 info->m_numConstraintRows = 0;
66 info->nub = 0;
67 }
68 else
69 {
70 info->m_numConstraintRows = 3;
71 info->nub = 3;
72 }
73}
74
75 void btPoint2PointConstraint::getInfo2(btConstraintInfo2* info)
76{
77 getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
78}
79
80 void btPoint2PointConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
81{
82 btAssert(!m_useSolveConstraintObsolete);
83
84 //retrieve matrices
85
86 // anchor points in global coordinates with respect to body PORs.
87
88 // set jacobian
89 info->m_J1linearAxis[0] = 1;
90 info->m_J1linearAxis[info->rowskip + 1] = 1;
91 info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
92
93 btVector3 a1 = body0_trans.getBasis() * getPivotInA();
94 {
95 btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
96 btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + info->rowskip);
97 btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * info->rowskip);
98 btVector3 a1neg = -a1;
99 a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
100 }
101
102 info->m_J2linearAxis[0] = -1;
103 info->m_J2linearAxis[info->rowskip + 1] = -1;
104 info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
105
106 btVector3 a2 = body1_trans.getBasis() * getPivotInB();
107
108 {
109 // btVector3 a2n = -a2;
110 btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
111 btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + info->rowskip);
112 btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * info->rowskip);
113 a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
114 }
115
116 // set right hand side
117 btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
118 btScalar k = info->fps * currERP;
119 int j;
120 for (j = 0; j < 3; j++)
121 {
122 info->m_constraintError[j * info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
123 //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
124 }
125 if (m_flags & BT_P2P_FLAGS_CFM)
126 {
127 for (j = 0; j < 3; j++)
128 {
129 info->cfm[j * info->rowskip] = m_cfm;
130 }
131 }
132
133 btScalar impulseClamp = m_setting.m_impulseClamp; //
134 for (j = 0; j < 3; j++)
135 {
136 if (m_setting.m_impulseClamp > 0)
137 {
138 info->m_lowerLimit[j * info->rowskip] = -impulseClamp;
139 info->m_upperLimit[j * info->rowskip] = impulseClamp;
140 }
141 }
142 info->m_damping = m_setting.m_damping;
143}
144
145 void btPoint2PointConstraint::updateRHS(btScalar timeStep)
146{
147 (void)timeStep;
148}
149
152 void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
153{
154 if (axis != -1)
155 {
156 btAssertConstrParams(0);
157 }
158 else
159 {
160 switch (num)
161 {
162 case BT_CONSTRAINT_ERP:
163 case BT_CONSTRAINT_STOP_ERP:
164 m_erp = value;
165 m_flags |= BT_P2P_FLAGS_ERP;
166 break;
167 case BT_CONSTRAINT_CFM:
168 case BT_CONSTRAINT_STOP_CFM:
169 m_cfm = value;
170 m_flags |= BT_P2P_FLAGS_CFM;
171 break;
172 default:
173 btAssertConstrParams(0);
174 }
175 }
176}
177
179 btScalar btPoint2PointConstraint::getParam(int num, int axis) const
180{
181 btScalar retVal(SIMD_INFINITY);
182 if (axis != -1)
183 {
184 btAssertConstrParams(0);
185 }
186 else
187 {
188 switch (num)
189 {
190 case BT_CONSTRAINT_ERP:
191 case BT_CONSTRAINT_STOP_ERP:
192 btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
193 retVal = m_erp;
194 break;
195 case BT_CONSTRAINT_CFM:
196 case BT_CONSTRAINT_STOP_CFM:
197 btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
198 retVal = m_cfm;
199 break;
200 default:
201 btAssertConstrParams(0);
202 }
203 }
204 return retVal;
205}
btPoint2PointConstraint.h
BT_P2P_FLAGS_CFM
@ BT_P2P_FLAGS_CFM
Definition: btPoint2PointConstraint.h:48
BT_P2P_FLAGS_ERP
@ BT_P2P_FLAGS_ERP
Definition: btPoint2PointConstraint.h:47
btRigidBody.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_INFINITY
#define SIMD_INFINITY
Definition: btScalar.h:544
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btAssertConstrParams
#define btAssertConstrParams(_par)
Definition: btTypedConstraint.h:58
BT_CONSTRAINT_CFM
@ BT_CONSTRAINT_CFM
Definition: btTypedConstraint.h:53
BT_CONSTRAINT_ERP
@ BT_CONSTRAINT_ERP
Definition: btTypedConstraint.h:51
BT_CONSTRAINT_STOP_CFM
@ BT_CONSTRAINT_STOP_CFM
Definition: btTypedConstraint.h:54
BT_CONSTRAINT_STOP_ERP
@ BT_CONSTRAINT_STOP_ERP
Definition: btTypedConstraint.h:52
POINT2POINT_CONSTRAINT_TYPE
@ POINT2POINT_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:36
btJacobianEntry
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
Definition: btJacobianEntry.h:31
btMatrix3x3::transpose
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition: btMatrix3x3.h:1049
btPoint2PointConstraint::btPoint2PointConstraint
btPoint2PointConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
Definition: btPoint2PointConstraint.cpp:20
btPoint2PointConstraint::buildJacobian
virtual void buildJacobian()
internal method used by the constraint solver, don't use them directly
Definition: btPoint2PointConstraint.cpp:30
btPoint2PointConstraint::getInfo1
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly
Definition: btPoint2PointConstraint.cpp:56
btPoint2PointConstraint::m_flags
int m_flags
Definition: btPoint2PointConstraint.h:63
btPoint2PointConstraint::getInfo1NonVirtual
void getInfo1NonVirtual(btConstraintInfo1 *info)
Definition: btPoint2PointConstraint.cpp:61
btPoint2PointConstraint::updateRHS
void updateRHS(btScalar timeStep)
Definition: btPoint2PointConstraint.cpp:145
btPoint2PointConstraint::m_cfm
btScalar m_cfm
Definition: btPoint2PointConstraint.h:65
btPoint2PointConstraint::getInfo2NonVirtual
void getInfo2NonVirtual(btConstraintInfo2 *info, const btTransform &body0_trans, const btTransform &body1_trans)
Definition: btPoint2PointConstraint.cpp:80
btPoint2PointConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btPoint2PointConstraint.h:106
btPoint2PointConstraint::setParam
virtual void setParam(int num, btScalar value, int axis=-1)
override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0...
Definition: btPoint2PointConstraint.cpp:152
btPoint2PointConstraint::m_pivotInA
btVector3 m_pivotInA
Definition: btPoint2PointConstraint.h:60
btPoint2PointConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btPoint2PointConstraint.h:61
btPoint2PointConstraint::m_useSolveConstraintObsolete
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
Definition: btPoint2PointConstraint.h:71
btPoint2PointConstraint::getParam
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter
Definition: btPoint2PointConstraint.cpp:179
btPoint2PointConstraint::m_jac
btJacobianEntry m_jac[3]
Definition: btPoint2PointConstraint.h:58
btPoint2PointConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btPoint2PointConstraint.h:101
btPoint2PointConstraint::m_setting
btConstraintSetting m_setting
Definition: btPoint2PointConstraint.h:73
btPoint2PointConstraint::getInfo2
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
Definition: btPoint2PointConstraint.cpp:75
btPoint2PointConstraint::m_erp
btScalar m_erp
Definition: btPoint2PointConstraint.h:64
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btRigidBody::getInvMass
btScalar getInvMass() const
Definition: btRigidBody.h:263
btRigidBody::getInvInertiaDiagLocal
const btVector3 & getInvInertiaDiagLocal() const
Definition: btRigidBody.h:289
btRigidBody::getCenterOfMassTransform
const btTransform & getCenterOfMassTransform() const
Definition: btRigidBody.h:429
btRigidBody::getCenterOfMassPosition
const btVector3 & getCenterOfMassPosition() const
Definition: btRigidBody.h:423
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:109
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:114
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
btTypedConstraint::m_appliedImpulse
btScalar m_appliedImpulse
Definition: btTypedConstraint.h:99
btTypedConstraint::m_rbA
btRigidBody & m_rbA
Definition: btTypedConstraint.h:97
btTypedConstraint::m_rbB
btRigidBody & m_rbB
Definition: btTypedConstraint.h:98
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::getSkewSymmetricMatrix
void getSkewSymmetricMatrix(btVector3 *v0, btVector3 *v1, btVector3 *v2) const
Definition: btVector3.h:648
btConstraintSetting::m_impulseClamp
btScalar m_impulseClamp
Definition: btPoint2PointConstraint.h:42
btConstraintSetting::m_damping
btScalar m_damping
Definition: btPoint2PointConstraint.h:41
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:114
btTypedConstraint::btConstraintInfo1::m_numConstraintRows
int m_numConstraintRows
Definition: btTypedConstraint.h:115
btTypedConstraint::btConstraintInfo1::nub
int nub
Definition: btTypedConstraint.h:115
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:121
btTypedConstraint::btConstraintInfo2::m_J2angularAxis
btScalar * m_J2angularAxis
Definition: btTypedConstraint.h:130
btTypedConstraint::btConstraintInfo2::m_J1linearAxis
btScalar * m_J1linearAxis
Definition: btTypedConstraint.h:130
btTypedConstraint::btConstraintInfo2::erp
btScalar erp
Definition: btTypedConstraint.h:124
btTypedConstraint::btConstraintInfo2::m_upperLimit
btScalar * m_upperLimit
Definition: btTypedConstraint.h:141
btTypedConstraint::btConstraintInfo2::m_lowerLimit
btScalar * m_lowerLimit
Definition: btTypedConstraint.h:141
btTypedConstraint::btConstraintInfo2::cfm
btScalar * cfm
Definition: btTypedConstraint.h:138
btTypedConstraint::btConstraintInfo2::m_J2linearAxis
btScalar * m_J2linearAxis
Definition: btTypedConstraint.h:130
btTypedConstraint::btConstraintInfo2::fps
btScalar fps
Definition: btTypedConstraint.h:124
btTypedConstraint::btConstraintInfo2::m_J1angularAxis
btScalar * m_J1angularAxis
Definition: btTypedConstraint.h:130
btTypedConstraint::btConstraintInfo2::m_constraintError
btScalar * m_constraintError
Definition: btTypedConstraint.h:138
btTypedConstraint::btConstraintInfo2::m_damping
btScalar m_damping
Definition: btTypedConstraint.h:147
btTypedConstraint::btConstraintInfo2::rowskip
int rowskip
Definition: btTypedConstraint.h:133