b7901c773c
Stop include Bullet headers using `-isystem` for GCC/Clang as it misleads SCons into not properly rebuilding all files when headers change. This means we also need to make sure Bullet builds without warning, and current version fares fairly well, there were just a couple to fix (patch included). Increase minimum version for distro packages to 2.90 (this was never released as the "next" version after 2.89 was 3.05... but that covers it too).
896 lines
34 KiB
C++
896 lines
34 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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#include "btMultiBodyDynamicsWorld.h"
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#include "btMultiBodyConstraintSolver.h"
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#include "btMultiBody.h"
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#include "btMultiBodyLinkCollider.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
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#include "LinearMath/btQuickprof.h"
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#include "btMultiBodyConstraint.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "LinearMath/btSerializer.h"
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void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, int group, int mask)
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{
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m_multiBodies.push_back(body);
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}
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void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body)
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{
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m_multiBodies.remove(body);
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}
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void btMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
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{
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btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
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predictMultiBodyTransforms(timeStep);
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}
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void btMultiBodyDynamicsWorld::calculateSimulationIslands()
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{
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BT_PROFILE("calculateSimulationIslands");
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getSimulationIslandManager()->updateActivationState(getCollisionWorld(), getCollisionWorld()->getDispatcher());
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{
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//merge islands based on speculative contact manifolds too
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for (int i = 0; i < this->m_predictiveManifolds.size(); i++)
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{
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btPersistentManifold* manifold = m_predictiveManifolds[i];
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const btCollisionObject* colObj0 = manifold->getBody0();
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const btCollisionObject* colObj1 = manifold->getBody1();
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if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
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((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
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{
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getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
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}
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}
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}
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{
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int i;
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int numConstraints = int(m_constraints.size());
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for (i = 0; i < numConstraints; i++)
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{
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btTypedConstraint* constraint = m_constraints[i];
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if (constraint->isEnabled())
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{
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const btRigidBody* colObj0 = &constraint->getRigidBodyA();
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const btRigidBody* colObj1 = &constraint->getRigidBodyB();
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if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
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((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
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{
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getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
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}
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}
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}
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}
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//merge islands linked by Featherstone link colliders
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for (int i = 0; i < m_multiBodies.size(); i++)
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{
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btMultiBody* body = m_multiBodies[i];
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{
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btMultiBodyLinkCollider* prev = body->getBaseCollider();
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for (int b = 0; b < body->getNumLinks(); b++)
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{
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btMultiBodyLinkCollider* cur = body->getLink(b).m_collider;
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if (((cur) && (!(cur)->isStaticOrKinematicObject())) &&
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((prev) && (!(prev)->isStaticOrKinematicObject())))
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{
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int tagPrev = prev->getIslandTag();
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int tagCur = cur->getIslandTag();
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getSimulationIslandManager()->getUnionFind().unite(tagPrev, tagCur);
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}
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if (cur && !cur->isStaticOrKinematicObject())
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prev = cur;
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}
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}
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}
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//merge islands linked by multibody constraints
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{
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for (int i = 0; i < this->m_multiBodyConstraints.size(); i++)
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{
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btMultiBodyConstraint* c = m_multiBodyConstraints[i];
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int tagA = c->getIslandIdA();
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int tagB = c->getIslandIdB();
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if (tagA >= 0 && tagB >= 0)
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getSimulationIslandManager()->getUnionFind().unite(tagA, tagB);
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}
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}
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//Store the island id in each body
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getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
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}
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void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
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{
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BT_PROFILE("btMultiBodyDynamicsWorld::updateActivationState");
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for (int i = 0; i < m_multiBodies.size(); i++)
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{
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btMultiBody* body = m_multiBodies[i];
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if (body)
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{
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body->checkMotionAndSleepIfRequired(timeStep);
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if (!body->isAwake())
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{
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btMultiBodyLinkCollider* col = body->getBaseCollider();
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if (col && col->getActivationState() == ACTIVE_TAG)
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{
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if (body->hasFixedBase())
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{
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col->setActivationState(FIXED_BASE_MULTI_BODY);
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} else
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{
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col->setActivationState(WANTS_DEACTIVATION);
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}
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col->setDeactivationTime(0.f);
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}
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for (int b = 0; b < body->getNumLinks(); b++)
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{
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btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
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if (col && col->getActivationState() == ACTIVE_TAG)
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{
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col->setActivationState(WANTS_DEACTIVATION);
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col->setDeactivationTime(0.f);
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}
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}
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}
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else
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{
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btMultiBodyLinkCollider* col = body->getBaseCollider();
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if (col && col->getActivationState() != DISABLE_DEACTIVATION)
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col->setActivationState(ACTIVE_TAG);
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for (int b = 0; b < body->getNumLinks(); b++)
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{
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btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
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if (col && col->getActivationState() != DISABLE_DEACTIVATION)
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col->setActivationState(ACTIVE_TAG);
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}
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}
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}
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}
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btDiscreteDynamicsWorld::updateActivationState(timeStep);
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}
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void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const
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{
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islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData;
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}
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btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
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: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
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m_multiBodyConstraintSolver(constraintSolver)
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{
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//split impulse is not yet supported for Featherstone hierarchies
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// getSolverInfo().m_splitImpulse = false;
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getSolverInfo().m_solverMode |= SOLVER_USE_2_FRICTION_DIRECTIONS;
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m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver, dispatcher);
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}
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btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld()
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{
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delete m_solverMultiBodyIslandCallback;
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}
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void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
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{
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m_multiBodyConstraintSolver = solver;
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m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver);
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btDiscreteDynamicsWorld::setConstraintSolver(solver);
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}
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void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
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{
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if (solver->getSolverType() == BT_MULTIBODY_SOLVER)
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{
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m_multiBodyConstraintSolver = (btMultiBodyConstraintSolver*)solver;
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}
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btDiscreteDynamicsWorld::setConstraintSolver(solver);
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}
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void btMultiBodyDynamicsWorld::forwardKinematics()
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{
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for (int b = 0; b < m_multiBodies.size(); b++)
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{
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btMultiBody* bod = m_multiBodies[b];
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bod->forwardKinematics(m_scratch_world_to_local, m_scratch_local_origin);
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}
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}
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void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
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{
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solveExternalForces(solverInfo);
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buildIslands();
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solveInternalConstraints(solverInfo);
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}
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void btMultiBodyDynamicsWorld::buildIslands()
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{
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m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
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}
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void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo)
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{
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/// solve all the constraints for this island
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m_solverMultiBodyIslandCallback->processConstraints();
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m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
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{
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BT_PROFILE("btMultiBody stepVelocities");
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for (int i = 0; i < this->m_multiBodies.size(); i++)
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{
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btMultiBody* bod = m_multiBodies[i];
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bool isSleeping = false;
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if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
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{
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isSleeping = true;
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}
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for (int b = 0; b < bod->getNumLinks(); b++)
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{
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if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
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isSleeping = true;
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}
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if (!isSleeping)
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{
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//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
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m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd)
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m_scratch_v.resize(bod->getNumLinks() + 1);
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m_scratch_m.resize(bod->getNumLinks() + 1);
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if (bod->internalNeedsJointFeedback())
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{
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if (!bod->isUsingRK4Integration())
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{
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if (bod->internalNeedsJointFeedback())
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{
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bool isConstraintPass = true;
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bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
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getSolverInfo().m_jointFeedbackInWorldSpace,
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getSolverInfo().m_jointFeedbackInJointFrame);
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}
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}
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}
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}
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}
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}
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for (int i = 0; i < this->m_multiBodies.size(); i++)
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{
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btMultiBody* bod = m_multiBodies[i];
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bod->processDeltaVeeMultiDof2();
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}
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}
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void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo)
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{
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forwardKinematics();
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BT_PROFILE("solveConstraints");
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clearMultiBodyConstraintForces();
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m_sortedConstraints.resize(m_constraints.size());
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int i;
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for (i = 0; i < getNumConstraints(); i++)
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{
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m_sortedConstraints[i] = m_constraints[i];
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}
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m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2());
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btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
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m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size());
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for (i = 0; i < m_multiBodyConstraints.size(); i++)
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{
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m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i];
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}
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m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate());
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btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
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m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer());
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m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
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#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
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{
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BT_PROFILE("btMultiBody addForce");
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for (int i = 0; i < this->m_multiBodies.size(); i++)
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{
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btMultiBody* bod = m_multiBodies[i];
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bool isSleeping = false;
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if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
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{
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isSleeping = true;
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}
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for (int b = 0; b < bod->getNumLinks(); b++)
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{
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if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
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isSleeping = true;
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}
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if (!isSleeping)
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{
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//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
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m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd)
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m_scratch_v.resize(bod->getNumLinks() + 1);
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m_scratch_m.resize(bod->getNumLinks() + 1);
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bod->addBaseForce(m_gravity * bod->getBaseMass());
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for (int j = 0; j < bod->getNumLinks(); ++j)
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{
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bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
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}
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} //if (!isSleeping)
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}
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}
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#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
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{
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BT_PROFILE("btMultiBody stepVelocities");
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for (int i = 0; i < this->m_multiBodies.size(); i++)
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{
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btMultiBody* bod = m_multiBodies[i];
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bool isSleeping = false;
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if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
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{
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isSleeping = true;
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}
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for (int b = 0; b < bod->getNumLinks(); b++)
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{
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if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
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isSleeping = true;
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}
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if (!isSleeping)
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{
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//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
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m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd)
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m_scratch_v.resize(bod->getNumLinks() + 1);
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m_scratch_m.resize(bod->getNumLinks() + 1);
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bool doNotUpdatePos = false;
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bool isConstraintPass = false;
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{
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if (!bod->isUsingRK4Integration())
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{
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bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
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m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
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getSolverInfo().m_jointFeedbackInWorldSpace,
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getSolverInfo().m_jointFeedbackInJointFrame);
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}
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else
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{
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//
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int numDofs = bod->getNumDofs() + 6;
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int numPosVars = bod->getNumPosVars() + 7;
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btAlignedObjectArray<btScalar> scratch_r2;
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scratch_r2.resize(2 * numPosVars + 8 * numDofs);
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//convenience
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btScalar* pMem = &scratch_r2[0];
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btScalar* scratch_q0 = pMem;
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pMem += numPosVars;
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btScalar* scratch_qx = pMem;
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pMem += numPosVars;
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btScalar* scratch_qd0 = pMem;
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pMem += numDofs;
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btScalar* scratch_qd1 = pMem;
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pMem += numDofs;
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btScalar* scratch_qd2 = pMem;
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pMem += numDofs;
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btScalar* scratch_qd3 = pMem;
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pMem += numDofs;
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btScalar* scratch_qdd0 = pMem;
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pMem += numDofs;
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btScalar* scratch_qdd1 = pMem;
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pMem += numDofs;
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btScalar* scratch_qdd2 = pMem;
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pMem += numDofs;
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btScalar* scratch_qdd3 = pMem;
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pMem += numDofs;
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btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]);
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/////
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//copy q0 to scratch_q0 and qd0 to scratch_qd0
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scratch_q0[0] = bod->getWorldToBaseRot().x();
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scratch_q0[1] = bod->getWorldToBaseRot().y();
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scratch_q0[2] = bod->getWorldToBaseRot().z();
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scratch_q0[3] = bod->getWorldToBaseRot().w();
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scratch_q0[4] = bod->getBasePos().x();
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scratch_q0[5] = bod->getBasePos().y();
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scratch_q0[6] = bod->getBasePos().z();
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//
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for (int link = 0; link < bod->getNumLinks(); ++link)
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{
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for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof)
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scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof];
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}
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//
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for (int dof = 0; dof < numDofs; ++dof)
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scratch_qd0[dof] = bod->getVelocityVector()[dof];
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////
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struct
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{
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btMultiBody* bod;
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btScalar *scratch_qx, *scratch_q0;
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void operator()()
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{
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for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof)
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scratch_qx[dof] = scratch_q0[dof];
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}
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} pResetQx = {bod, scratch_qx, scratch_q0};
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//
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struct
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{
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void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size)
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{
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for (int i = 0; i < size; ++i)
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pVal[i] = pCurVal[i] + dt * pDer[i];
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}
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} pEulerIntegrate;
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//
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struct
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{
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void operator()(btMultiBody* pBody, const btScalar* pData)
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|
{
|
|
btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector());
|
|
|
|
for (int i = 0; i < pBody->getNumDofs() + 6; ++i)
|
|
pVel[i] = pData[i];
|
|
}
|
|
} pCopyToVelocityVector;
|
|
//
|
|
struct
|
|
{
|
|
void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size)
|
|
{
|
|
for (int i = 0; i < size; ++i)
|
|
pDst[i] = pSrc[start + i];
|
|
}
|
|
} pCopy;
|
|
//
|
|
|
|
btScalar h = solverInfo.m_timeStep;
|
|
#define output &m_scratch_r[bod->getNumDofs()]
|
|
//calc qdd0 from: q0 & qd0
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
|
|
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
|
|
getSolverInfo().m_jointFeedbackInJointFrame);
|
|
pCopy(output, scratch_qdd0, 0, numDofs);
|
|
//calc q1 = q0 + h/2 * qd0
|
|
pResetQx();
|
|
bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0);
|
|
//calc qd1 = qd0 + h/2 * qdd0
|
|
pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs);
|
|
//
|
|
//calc qdd1 from: q1 & qd1
|
|
pCopyToVelocityVector(bod, scratch_qd1);
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
|
|
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
|
|
getSolverInfo().m_jointFeedbackInJointFrame);
|
|
pCopy(output, scratch_qdd1, 0, numDofs);
|
|
//calc q2 = q0 + h/2 * qd1
|
|
pResetQx();
|
|
bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1);
|
|
//calc qd2 = qd0 + h/2 * qdd1
|
|
pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs);
|
|
//
|
|
//calc qdd2 from: q2 & qd2
|
|
pCopyToVelocityVector(bod, scratch_qd2);
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
|
|
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
|
|
getSolverInfo().m_jointFeedbackInJointFrame);
|
|
pCopy(output, scratch_qdd2, 0, numDofs);
|
|
//calc q3 = q0 + h * qd2
|
|
pResetQx();
|
|
bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2);
|
|
//calc qd3 = qd0 + h * qdd2
|
|
pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs);
|
|
//
|
|
//calc qdd3 from: q3 & qd3
|
|
pCopyToVelocityVector(bod, scratch_qd3);
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
|
|
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
|
|
getSolverInfo().m_jointFeedbackInJointFrame);
|
|
pCopy(output, scratch_qdd3, 0, numDofs);
|
|
|
|
//
|
|
//calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3)
|
|
//calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3)
|
|
btAlignedObjectArray<btScalar> delta_q;
|
|
delta_q.resize(numDofs);
|
|
btAlignedObjectArray<btScalar> delta_qd;
|
|
delta_qd.resize(numDofs);
|
|
for (int i = 0; i < numDofs; ++i)
|
|
{
|
|
delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]);
|
|
delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]);
|
|
//delta_q[i] = h*scratch_qd0[i];
|
|
//delta_qd[i] = h*scratch_qdd0[i];
|
|
}
|
|
//
|
|
pCopyToVelocityVector(bod, scratch_qd0);
|
|
bod->applyDeltaVeeMultiDof(&delta_qd[0], 1);
|
|
//
|
|
if (!doNotUpdatePos)
|
|
{
|
|
btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector());
|
|
pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs();
|
|
|
|
for (int i = 0; i < numDofs; ++i)
|
|
pRealBuf[i] = delta_q[i];
|
|
|
|
//bod->stepPositionsMultiDof(1, 0, &delta_q[0]);
|
|
bod->setPosUpdated(true);
|
|
}
|
|
|
|
//ugly hack which resets the cached data to t0 (needed for constraint solver)
|
|
{
|
|
for (int link = 0; link < bod->getNumLinks(); ++link)
|
|
bod->getLink(link).updateCacheMultiDof();
|
|
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m,
|
|
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
|
|
getSolverInfo().m_jointFeedbackInJointFrame);
|
|
}
|
|
}
|
|
}
|
|
|
|
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
bod->clearForcesAndTorques();
|
|
#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
} //if (!isSleeping)
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
|
|
{
|
|
btDiscreteDynamicsWorld::integrateTransforms(timeStep);
|
|
integrateMultiBodyTransforms(timeStep);
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep)
|
|
{
|
|
BT_PROFILE("btMultiBody stepPositions");
|
|
//integrate and update the Featherstone hierarchies
|
|
|
|
for (int b = 0; b < m_multiBodies.size(); b++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[b];
|
|
bool isSleeping = false;
|
|
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
isSleeping = true;
|
|
}
|
|
for (int b = 0; b < bod->getNumLinks(); b++)
|
|
{
|
|
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
|
|
isSleeping = true;
|
|
}
|
|
|
|
if (!isSleeping)
|
|
{
|
|
bod->addSplitV();
|
|
int nLinks = bod->getNumLinks();
|
|
|
|
///base + num m_links
|
|
if (!bod->isPosUpdated())
|
|
bod->stepPositionsMultiDof(timeStep);
|
|
else
|
|
{
|
|
btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector());
|
|
pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs();
|
|
|
|
bod->stepPositionsMultiDof(1, 0, pRealBuf);
|
|
bod->setPosUpdated(false);
|
|
}
|
|
|
|
|
|
m_scratch_world_to_local.resize(nLinks + 1);
|
|
m_scratch_local_origin.resize(nLinks + 1);
|
|
bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin);
|
|
bod->substractSplitV();
|
|
}
|
|
else
|
|
{
|
|
bod->clearVelocities();
|
|
}
|
|
}
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::predictMultiBodyTransforms(btScalar timeStep)
|
|
{
|
|
BT_PROFILE("btMultiBody stepPositions");
|
|
//integrate and update the Featherstone hierarchies
|
|
|
|
for (int b = 0; b < m_multiBodies.size(); b++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[b];
|
|
bool isSleeping = false;
|
|
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
isSleeping = true;
|
|
}
|
|
for (int b = 0; b < bod->getNumLinks(); b++)
|
|
{
|
|
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
|
|
isSleeping = true;
|
|
}
|
|
|
|
if (!isSleeping)
|
|
{
|
|
int nLinks = bod->getNumLinks();
|
|
bod->predictPositionsMultiDof(timeStep);
|
|
m_scratch_world_to_local.resize(nLinks + 1);
|
|
m_scratch_local_origin.resize(nLinks + 1);
|
|
bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin);
|
|
}
|
|
else
|
|
{
|
|
bod->clearVelocities();
|
|
}
|
|
}
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint)
|
|
{
|
|
m_multiBodyConstraints.push_back(constraint);
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::removeMultiBodyConstraint(btMultiBodyConstraint* constraint)
|
|
{
|
|
m_multiBodyConstraints.remove(constraint);
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint)
|
|
{
|
|
constraint->debugDraw(getDebugDrawer());
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::debugDrawWorld()
|
|
{
|
|
BT_PROFILE("btMultiBodyDynamicsWorld debugDrawWorld");
|
|
|
|
btDiscreteDynamicsWorld::debugDrawWorld();
|
|
|
|
bool drawConstraints = false;
|
|
if (getDebugDrawer())
|
|
{
|
|
int mode = getDebugDrawer()->getDebugMode();
|
|
if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
|
|
{
|
|
drawConstraints = true;
|
|
}
|
|
|
|
if (drawConstraints)
|
|
{
|
|
BT_PROFILE("btMultiBody debugDrawWorld");
|
|
|
|
for (int c = 0; c < m_multiBodyConstraints.size(); c++)
|
|
{
|
|
btMultiBodyConstraint* constraint = m_multiBodyConstraints[c];
|
|
debugDrawMultiBodyConstraint(constraint);
|
|
}
|
|
|
|
for (int b = 0; b < m_multiBodies.size(); b++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[b];
|
|
bod->forwardKinematics(m_scratch_world_to_local1, m_scratch_local_origin1);
|
|
|
|
if (mode & btIDebugDraw::DBG_DrawFrames)
|
|
{
|
|
getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
|
|
}
|
|
|
|
for (int m = 0; m < bod->getNumLinks(); m++)
|
|
{
|
|
const btTransform& tr = bod->getLink(m).m_cachedWorldTransform;
|
|
if (mode & btIDebugDraw::DBG_DrawFrames)
|
|
{
|
|
getDebugDrawer()->drawTransform(tr, 0.1);
|
|
}
|
|
//draw the joint axis
|
|
if (bod->getLink(m).m_jointType == btMultibodyLink::eRevolute)
|
|
{
|
|
btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_topVec) * 0.1;
|
|
|
|
btVector4 color(0, 0, 0, 1); //1,1,1);
|
|
btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
|
|
btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
|
|
getDebugDrawer()->drawLine(from, to, color);
|
|
}
|
|
if (bod->getLink(m).m_jointType == btMultibodyLink::eFixed)
|
|
{
|
|
btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_bottomVec) * 0.1;
|
|
|
|
btVector4 color(0, 0, 0, 1); //1,1,1);
|
|
btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
|
|
btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
|
|
getDebugDrawer()->drawLine(from, to, color);
|
|
}
|
|
if (bod->getLink(m).m_jointType == btMultibodyLink::ePrismatic)
|
|
{
|
|
btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_bottomVec) * 0.1;
|
|
|
|
btVector4 color(0, 0, 0, 1); //1,1,1);
|
|
btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
|
|
btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
|
|
getDebugDrawer()->drawLine(from, to, color);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::applyGravity()
|
|
{
|
|
btDiscreteDynamicsWorld::applyGravity();
|
|
#ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
BT_PROFILE("btMultiBody addGravity");
|
|
for (int i = 0; i < this->m_multiBodies.size(); i++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
|
|
bool isSleeping = false;
|
|
|
|
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
isSleeping = true;
|
|
}
|
|
for (int b = 0; b < bod->getNumLinks(); b++)
|
|
{
|
|
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
|
|
isSleeping = true;
|
|
}
|
|
|
|
if (!isSleeping)
|
|
{
|
|
bod->addBaseForce(m_gravity * bod->getBaseMass());
|
|
|
|
for (int j = 0; j < bod->getNumLinks(); ++j)
|
|
{
|
|
bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
|
|
}
|
|
} //if (!isSleeping)
|
|
}
|
|
#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces()
|
|
{
|
|
for (int i = 0; i < this->m_multiBodies.size(); i++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
bod->clearConstraintForces();
|
|
}
|
|
}
|
|
void btMultiBodyDynamicsWorld::clearMultiBodyForces()
|
|
{
|
|
{
|
|
// BT_PROFILE("clearMultiBodyForces");
|
|
for (int i = 0; i < this->m_multiBodies.size(); i++)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
|
|
bool isSleeping = false;
|
|
|
|
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
isSleeping = true;
|
|
}
|
|
for (int b = 0; b < bod->getNumLinks(); b++)
|
|
{
|
|
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
|
|
isSleeping = true;
|
|
}
|
|
|
|
if (!isSleeping)
|
|
{
|
|
btMultiBody* bod = m_multiBodies[i];
|
|
bod->clearForcesAndTorques();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
void btMultiBodyDynamicsWorld::clearForces()
|
|
{
|
|
btDiscreteDynamicsWorld::clearForces();
|
|
|
|
#ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
|
|
clearMultiBodyForces();
|
|
#endif
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
|
|
{
|
|
serializer->startSerialization();
|
|
|
|
serializeDynamicsWorldInfo(serializer);
|
|
|
|
serializeMultiBodies(serializer);
|
|
|
|
serializeRigidBodies(serializer);
|
|
|
|
serializeCollisionObjects(serializer);
|
|
|
|
serializeContactManifolds(serializer);
|
|
|
|
serializer->finishSerialization();
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
|
|
{
|
|
int i;
|
|
//serialize all collision objects
|
|
for (i = 0; i < m_multiBodies.size(); i++)
|
|
{
|
|
btMultiBody* mb = m_multiBodies[i];
|
|
{
|
|
int len = mb->calculateSerializeBufferSize();
|
|
btChunk* chunk = serializer->allocate(len, 1);
|
|
const char* structType = mb->serialize(chunk->m_oldPtr, serializer);
|
|
serializer->finalizeChunk(chunk, structType, BT_MULTIBODY_CODE, mb);
|
|
}
|
|
}
|
|
|
|
//serialize all multibody links (collision objects)
|
|
for (i = 0; i < m_collisionObjects.size(); i++)
|
|
{
|
|
btCollisionObject* colObj = m_collisionObjects[i];
|
|
if (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
|
|
{
|
|
int len = colObj->calculateSerializeBufferSize();
|
|
btChunk* chunk = serializer->allocate(len, 1);
|
|
const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
|
|
serializer->finalizeChunk(chunk, structType, BT_MB_LINKCOLLIDER_CODE, colObj);
|
|
}
|
|
}
|
|
}
|
|
|
|
void btMultiBodyDynamicsWorld::saveKinematicState(btScalar timeStep)
|
|
{
|
|
btDiscreteDynamicsWorld::saveKinematicState(timeStep);
|
|
for(int i = 0; i < m_multiBodies.size(); i++)
|
|
{
|
|
btMultiBody* body = m_multiBodies[i];
|
|
if(body->isBaseKinematic())
|
|
body->saveKinematicState(timeStep);
|
|
}
|
|
}
|
|
|
|
//
|
|
//void btMultiBodyDynamicsWorld::setSplitIslands(bool split)
|
|
//{
|
|
// m_islandManager->setSplitIslands(split);
|
|
//}
|