15 m_isUnilateral(isUnilateral),
16 m_numDofsFinalized(-1),
17 m_maxAppliedImpulse(100)
51 for (
int i = 0; i < ndof; ++i)
92 rel_pos1 = posAworld - multiBodyA->
getBasePos();
98 const int ndofA = multiBodyA->
getNumDofs() + 6;
119 for (
int i=0;i<ndofA;i++)
139 torqueAxis0 = constraintNormalAng;
142 torqueAxis0 = rel_pos1.
cross(constraintNormalLin);
152 torqueAxis0 = constraintNormalAng;
155 torqueAxis0 = rel_pos1.
cross(constraintNormalLin);
164 if (solverConstraint.
m_linkB<0)
166 rel_pos2 = posBworld - multiBodyB->
getBasePos();
172 const int ndofB = multiBodyB->
getNumDofs() + 6;
189 for (
int i=0;i<ndofB;i++)
208 torqueAxis1 = constraintNormalAng;
211 torqueAxis1 = rel_pos2.
cross(constraintNormalLin);
220 torqueAxis1 = constraintNormalAng;
223 torqueAxis1 = rel_pos2.
cross(constraintNormalLin);
245 for (
int i = 0; i < ndofA; ++i)
265 const int ndofB = multiBodyB->
getNumDofs() + 6;
268 for (
int i = 0; i < ndofB; ++i)
302 btScalar penetration = isFriction? 0 : posError;
313 for (
int i = 0; i < ndofA ; ++i)
325 for (
int i = 0; i < ndofB ; ++i)
379 btScalar velocityError = desiredVelocity - rel_vel;
387 erp = infoGlobal.
m_erp;
390 positionalError = -penetration * erp/infoGlobal.
m_timeStep;
400 solverConstraint.
m_rhs = penetrationImpulse+velocityImpulse;
412 solverConstraint.
m_cfm = 0.f;
btScalar getInvMass() const
btScalar m_rhsPenetration
const btMultibodyLink & getLink(int index) const
btVector3 m_relpos1CrossNormal
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btVector3 m_contactNormal2
btAlignedObjectArray< btScalar > scratch_r
btAlignedObjectArray< btScalar > m_deltaVelocities
const btVector3 & getAngularFactor() const
btAlignedObjectArray< btSolverBody > * m_solverBodyPool
const T & at(int n) const
btVector3 m_angularComponentA
btVector3 m_angularComponentB
virtual ~btMultiBodyConstraint()
btAlignedObjectArray< btMatrix3x3 > scratch_m
btScalar dot(const btVector3 &v) const
Return the dot product.
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
int size() const
return the number of elements in the array
btMultiBody * m_multiBodyA
void setCompanionId(int id)
void fillConstraintJacobianMultiDof(int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
const btVector3 & getAngularVelocity() const
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
btMultiBody * m_multiBodyB
The btRigidBody is the main class for rigid body objects.
btAlignedObjectArray< btScalar > m_data
btAlignedObjectArray< btScalar > m_jacobians
btVector3 can be used to represent 3D points and vectors.
btAlignedObjectArray< btVector3 > scratch_v
btSimdScalar m_appliedImpulse
void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
int getCompanionId() const
void resize(int newsize, const T &fillData=T())
btRigidBody * m_originalBody
const btMatrix3x3 & getInvInertiaTensorWorld() const
btVector3 m_relpos2CrossNormal
btTransform m_cachedWorldTransform
const btVector3 & getLinearVelocity() const
void allocateJacobiansMultiDof()
const btTransform & getWorldTransform() const
btMultiBodyConstraint(btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
btSimdScalar m_appliedPushImpulse
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
const btVector3 & getBasePos() const
btVector3 m_contactNormal1
void updateJacobianSizes()
void applyDeltaVee(btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)
const btScalar * getVelocityVector() const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...