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520 lines
16 KiB
C++
520 lines
16 KiB
C++
#ifndef B3_GENERIC_6DOF_CONSTRAINT_H
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#define B3_GENERIC_6DOF_CONSTRAINT_H
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://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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/// 2009 March: b3Generic6DofConstraint refactored by Roman Ponomarev
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/// Added support for generic constraint solver through getInfo1/getInfo2 methods
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/*
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2007-09-09
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b3Generic6DofConstraint Refactored by Francisco Le?n
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email: projectileman@yahoo.com
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http://gimpact.sf.net
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*/
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#include "Bullet3Common/b3Vector3.h"
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#include "b3JacobianEntry.h"
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#include "b3TypedConstraint.h"
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struct b3RigidBodyData;
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//! Rotation Limit structure for generic joints
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class b3RotationalLimitMotor
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{
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public:
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//! limit_parameters
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//!@{
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b3Scalar m_loLimit; //!< joint limit
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b3Scalar m_hiLimit; //!< joint limit
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b3Scalar m_targetVelocity; //!< target motor velocity
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b3Scalar m_maxMotorForce; //!< max force on motor
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b3Scalar m_maxLimitForce; //!< max force on limit
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b3Scalar m_damping; //!< Damping.
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b3Scalar m_limitSoftness; //! Relaxation factor
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b3Scalar m_normalCFM; //!< Constraint force mixing factor
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b3Scalar m_stopERP; //!< Error tolerance factor when joint is at limit
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b3Scalar m_stopCFM; //!< Constraint force mixing factor when joint is at limit
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b3Scalar m_bounce; //!< restitution factor
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bool m_enableMotor;
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//!@}
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//! temp_variables
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//!@{
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b3Scalar m_currentLimitError; //! How much is violated this limit
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b3Scalar m_currentPosition; //! current value of angle
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int m_currentLimit; //!< 0=free, 1=at lo limit, 2=at hi limit
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b3Scalar m_accumulatedImpulse;
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//!@}
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b3RotationalLimitMotor()
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{
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m_accumulatedImpulse = 0.f;
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m_targetVelocity = 0;
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m_maxMotorForce = 6.0f;
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m_maxLimitForce = 300.0f;
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m_loLimit = 1.0f;
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m_hiLimit = -1.0f;
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m_normalCFM = 0.f;
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m_stopERP = 0.2f;
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m_stopCFM = 0.f;
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m_bounce = 0.0f;
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m_damping = 1.0f;
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m_limitSoftness = 0.5f;
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m_currentLimit = 0;
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m_currentLimitError = 0;
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m_enableMotor = false;
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}
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b3RotationalLimitMotor(const b3RotationalLimitMotor& limot)
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{
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m_targetVelocity = limot.m_targetVelocity;
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m_maxMotorForce = limot.m_maxMotorForce;
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m_limitSoftness = limot.m_limitSoftness;
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m_loLimit = limot.m_loLimit;
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m_hiLimit = limot.m_hiLimit;
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m_normalCFM = limot.m_normalCFM;
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m_stopERP = limot.m_stopERP;
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m_stopCFM = limot.m_stopCFM;
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m_bounce = limot.m_bounce;
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m_currentLimit = limot.m_currentLimit;
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m_currentLimitError = limot.m_currentLimitError;
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m_enableMotor = limot.m_enableMotor;
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}
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//! Is limited
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bool isLimited()
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{
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if (m_loLimit > m_hiLimit) return false;
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return true;
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}
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//! Need apply correction
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bool needApplyTorques()
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{
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if (m_currentLimit == 0 && m_enableMotor == false) return false;
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return true;
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}
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//! calculates error
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/*!
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calculates m_currentLimit and m_currentLimitError.
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*/
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int testLimitValue(b3Scalar test_value);
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//! apply the correction impulses for two bodies
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b3Scalar solveAngularLimits(b3Scalar timeStep, b3Vector3& axis, b3Scalar jacDiagABInv, b3RigidBodyData* body0, b3RigidBodyData* body1);
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};
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class b3TranslationalLimitMotor
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{
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public:
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b3Vector3 m_lowerLimit; //!< the constraint lower limits
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b3Vector3 m_upperLimit; //!< the constraint upper limits
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b3Vector3 m_accumulatedImpulse;
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//! Linear_Limit_parameters
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//!@{
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b3Vector3 m_normalCFM; //!< Constraint force mixing factor
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b3Vector3 m_stopERP; //!< Error tolerance factor when joint is at limit
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b3Vector3 m_stopCFM; //!< Constraint force mixing factor when joint is at limit
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b3Vector3 m_targetVelocity; //!< target motor velocity
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b3Vector3 m_maxMotorForce; //!< max force on motor
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b3Vector3 m_currentLimitError; //! How much is violated this limit
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b3Vector3 m_currentLinearDiff; //! Current relative offset of constraint frames
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b3Scalar m_limitSoftness; //!< Softness for linear limit
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b3Scalar m_damping; //!< Damping for linear limit
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b3Scalar m_restitution; //! Bounce parameter for linear limit
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//!@}
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bool m_enableMotor[3];
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int m_currentLimit[3]; //!< 0=free, 1=at lower limit, 2=at upper limit
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b3TranslationalLimitMotor()
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{
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m_lowerLimit.setValue(0.f, 0.f, 0.f);
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m_upperLimit.setValue(0.f, 0.f, 0.f);
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m_accumulatedImpulse.setValue(0.f, 0.f, 0.f);
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m_normalCFM.setValue(0.f, 0.f, 0.f);
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m_stopERP.setValue(0.2f, 0.2f, 0.2f);
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m_stopCFM.setValue(0.f, 0.f, 0.f);
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m_limitSoftness = 0.7f;
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m_damping = b3Scalar(1.0f);
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m_restitution = b3Scalar(0.5f);
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for (int i = 0; i < 3; i++)
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{
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m_enableMotor[i] = false;
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m_targetVelocity[i] = b3Scalar(0.f);
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m_maxMotorForce[i] = b3Scalar(0.f);
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}
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}
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b3TranslationalLimitMotor(const b3TranslationalLimitMotor& other)
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{
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m_lowerLimit = other.m_lowerLimit;
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m_upperLimit = other.m_upperLimit;
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m_accumulatedImpulse = other.m_accumulatedImpulse;
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m_limitSoftness = other.m_limitSoftness;
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m_damping = other.m_damping;
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m_restitution = other.m_restitution;
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m_normalCFM = other.m_normalCFM;
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m_stopERP = other.m_stopERP;
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m_stopCFM = other.m_stopCFM;
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for (int i = 0; i < 3; i++)
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{
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m_enableMotor[i] = other.m_enableMotor[i];
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m_targetVelocity[i] = other.m_targetVelocity[i];
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m_maxMotorForce[i] = other.m_maxMotorForce[i];
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}
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}
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//! Test limit
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/*!
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- free means upper < lower,
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- locked means upper == lower
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- limited means upper > lower
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- limitIndex: first 3 are linear, next 3 are angular
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*/
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inline bool isLimited(int limitIndex)
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{
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return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
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}
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inline bool needApplyForce(int limitIndex)
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{
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if (m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
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return true;
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}
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int testLimitValue(int limitIndex, b3Scalar test_value);
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b3Scalar solveLinearAxis(
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b3Scalar timeStep,
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b3Scalar jacDiagABInv,
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b3RigidBodyData& body1, const b3Vector3& pointInA,
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b3RigidBodyData& body2, const b3Vector3& pointInB,
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int limit_index,
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const b3Vector3& axis_normal_on_a,
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const b3Vector3& anchorPos);
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};
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enum b36DofFlags
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{
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B3_6DOF_FLAGS_CFM_NORM = 1,
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B3_6DOF_FLAGS_CFM_STOP = 2,
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B3_6DOF_FLAGS_ERP_STOP = 4
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};
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#define B3_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis
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/// b3Generic6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
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/*!
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b3Generic6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'.
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currently this limit supports rotational motors<br>
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<ul>
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<li> For Linear limits, use b3Generic6DofConstraint.setLinearUpperLimit, b3Generic6DofConstraint.setLinearLowerLimit. You can set the parameters with the b3TranslationalLimitMotor structure accsesible through the b3Generic6DofConstraint.getTranslationalLimitMotor method.
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At this moment translational motors are not supported. May be in the future. </li>
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<li> For Angular limits, use the b3RotationalLimitMotor structure for configuring the limit.
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This is accessible through b3Generic6DofConstraint.getLimitMotor method,
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This brings support for limit parameters and motors. </li>
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<li> Angulars limits have these possible ranges:
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<table border=1 >
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<tr>
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<td><b>AXIS</b></td>
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<td><b>MIN ANGLE</b></td>
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<td><b>MAX ANGLE</b></td>
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</tr><tr>
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<td>X</td>
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<td>-PI</td>
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<td>PI</td>
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</tr><tr>
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<td>Y</td>
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<td>-PI/2</td>
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<td>PI/2</td>
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</tr><tr>
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<td>Z</td>
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<td>-PI</td>
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<td>PI</td>
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</tr>
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</table>
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</li>
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</ul>
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*/
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B3_ATTRIBUTE_ALIGNED16(class)
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b3Generic6DofConstraint : public b3TypedConstraint
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{
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protected:
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//! relative_frames
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//!@{
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b3Transform m_frameInA; //!< the constraint space w.r.t body A
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b3Transform m_frameInB; //!< the constraint space w.r.t body B
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//!@}
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//! Jacobians
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//!@{
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// b3JacobianEntry m_jacLinear[3];//!< 3 orthogonal linear constraints
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// b3JacobianEntry m_jacAng[3];//!< 3 orthogonal angular constraints
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//!@}
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//! Linear_Limit_parameters
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//!@{
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b3TranslationalLimitMotor m_linearLimits;
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//!@}
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//! hinge_parameters
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//!@{
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b3RotationalLimitMotor m_angularLimits[3];
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//!@}
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protected:
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//! temporal variables
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//!@{
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b3Transform m_calculatedTransformA;
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b3Transform m_calculatedTransformB;
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b3Vector3 m_calculatedAxisAngleDiff;
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b3Vector3 m_calculatedAxis[3];
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b3Vector3 m_calculatedLinearDiff;
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b3Scalar m_timeStep;
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b3Scalar m_factA;
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b3Scalar m_factB;
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bool m_hasStaticBody;
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b3Vector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
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bool m_useLinearReferenceFrameA;
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bool m_useOffsetForConstraintFrame;
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int m_flags;
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//!@}
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b3Generic6DofConstraint& operator=(b3Generic6DofConstraint& other)
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{
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b3Assert(0);
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(void)other;
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return *this;
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}
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int setAngularLimits(b3ConstraintInfo2 * info, int row_offset, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB);
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int setLinearLimits(b3ConstraintInfo2 * info, int row, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB);
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// tests linear limits
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void calculateLinearInfo();
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//! calcs the euler angles between the two bodies.
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void calculateAngleInfo();
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public:
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B3_DECLARE_ALIGNED_ALLOCATOR();
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b3Generic6DofConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies);
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//! Calcs global transform of the offsets
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/*!
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Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
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\sa b3Generic6DofConstraint.getCalculatedTransformA , b3Generic6DofConstraint.getCalculatedTransformB, b3Generic6DofConstraint.calculateAngleInfo
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*/
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void calculateTransforms(const b3Transform& transA, const b3Transform& transB, const b3RigidBodyData* bodies);
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void calculateTransforms(const b3RigidBodyData* bodies);
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//! Gets the global transform of the offset for body A
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/*!
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\sa b3Generic6DofConstraint.getFrameOffsetA, b3Generic6DofConstraint.getFrameOffsetB, b3Generic6DofConstraint.calculateAngleInfo.
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*/
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const b3Transform& getCalculatedTransformA() const
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{
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return m_calculatedTransformA;
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}
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//! Gets the global transform of the offset for body B
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/*!
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\sa b3Generic6DofConstraint.getFrameOffsetA, b3Generic6DofConstraint.getFrameOffsetB, b3Generic6DofConstraint.calculateAngleInfo.
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*/
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const b3Transform& getCalculatedTransformB() const
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{
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return m_calculatedTransformB;
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}
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const b3Transform& getFrameOffsetA() const
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{
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return m_frameInA;
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}
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const b3Transform& getFrameOffsetB() const
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{
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return m_frameInB;
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}
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b3Transform& getFrameOffsetA()
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{
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return m_frameInA;
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}
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b3Transform& getFrameOffsetB()
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{
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return m_frameInB;
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}
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virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
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void getInfo1NonVirtual(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
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virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies);
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void getInfo2NonVirtual(b3ConstraintInfo2 * info, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB, const b3RigidBodyData* bodies);
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void updateRHS(b3Scalar timeStep);
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//! Get the rotation axis in global coordinates
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b3Vector3 getAxis(int axis_index) const;
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//! Get the relative Euler angle
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/*!
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\pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
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*/
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b3Scalar getAngle(int axis_index) const;
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//! Get the relative position of the constraint pivot
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/*!
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\pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
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*/
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b3Scalar getRelativePivotPosition(int axis_index) const;
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void setFrames(const b3Transform& frameA, const b3Transform& frameB, const b3RigidBodyData* bodies);
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//! Test angular limit.
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/*!
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Calculates angular correction and returns true if limit needs to be corrected.
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\pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
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*/
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bool testAngularLimitMotor(int axis_index);
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void setLinearLowerLimit(const b3Vector3& linearLower)
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{
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m_linearLimits.m_lowerLimit = linearLower;
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}
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void getLinearLowerLimit(b3Vector3 & linearLower)
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{
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linearLower = m_linearLimits.m_lowerLimit;
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}
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void setLinearUpperLimit(const b3Vector3& linearUpper)
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{
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m_linearLimits.m_upperLimit = linearUpper;
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}
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void getLinearUpperLimit(b3Vector3 & linearUpper)
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{
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linearUpper = m_linearLimits.m_upperLimit;
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}
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void setAngularLowerLimit(const b3Vector3& angularLower)
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{
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for (int i = 0; i < 3; i++)
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m_angularLimits[i].m_loLimit = b3NormalizeAngle(angularLower[i]);
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}
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void getAngularLowerLimit(b3Vector3 & angularLower)
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{
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for (int i = 0; i < 3; i++)
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angularLower[i] = m_angularLimits[i].m_loLimit;
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}
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void setAngularUpperLimit(const b3Vector3& angularUpper)
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{
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for (int i = 0; i < 3; i++)
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m_angularLimits[i].m_hiLimit = b3NormalizeAngle(angularUpper[i]);
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}
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void getAngularUpperLimit(b3Vector3 & angularUpper)
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{
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for (int i = 0; i < 3; i++)
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angularUpper[i] = m_angularLimits[i].m_hiLimit;
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}
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//! Retrieves the angular limit informacion
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b3RotationalLimitMotor* getRotationalLimitMotor(int index)
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{
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return &m_angularLimits[index];
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}
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//! Retrieves the limit informacion
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b3TranslationalLimitMotor* getTranslationalLimitMotor()
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{
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return &m_linearLimits;
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}
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//first 3 are linear, next 3 are angular
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void setLimit(int axis, b3Scalar lo, b3Scalar hi)
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{
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if (axis < 3)
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{
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m_linearLimits.m_lowerLimit[axis] = lo;
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m_linearLimits.m_upperLimit[axis] = hi;
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}
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else
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{
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lo = b3NormalizeAngle(lo);
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hi = b3NormalizeAngle(hi);
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m_angularLimits[axis - 3].m_loLimit = lo;
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m_angularLimits[axis - 3].m_hiLimit = hi;
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}
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}
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//! Test limit
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/*!
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- free means upper < lower,
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- locked means upper == lower
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- limited means upper > lower
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- limitIndex: first 3 are linear, next 3 are angular
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*/
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bool isLimited(int limitIndex)
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{
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if (limitIndex < 3)
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{
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return m_linearLimits.isLimited(limitIndex);
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}
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return m_angularLimits[limitIndex - 3].isLimited();
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}
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virtual void calcAnchorPos(const b3RigidBodyData* bodies); // overridable
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int get_limit_motor_info2(b3RotationalLimitMotor * limot,
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const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB,
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b3ConstraintInfo2* info, int row, b3Vector3& ax1, int rotational, int rotAllowed = false);
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// access for UseFrameOffset
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bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
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void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
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///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
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///If no axis is provided, it uses the default axis for this constraint.
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virtual void setParam(int num, b3Scalar value, int axis = -1);
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///return the local value of parameter
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virtual b3Scalar getParam(int num, int axis = -1) const;
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void setAxis(const b3Vector3& axis1, const b3Vector3& axis2, const b3RigidBodyData* bodies);
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};
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#endif //B3_GENERIC_6DOF_CONSTRAINT_H
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