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Code Releases Wiki Activity

Update Bullet to the latest commit 126b676

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This commit is contained in:
Oussama
2019-01-03 14:26:51 +01:00
committed by Rémi Verschelde
parent a6722cf362
commit 22b7c9dfa8
612 changed files with 114715 additions and 103413 deletions
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64
thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp vendored
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@@ -17,26 +17,23 @@ subject to the following restrictions:
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
{
init();
init();
}
btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
: btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB)
: btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB)
{
init();
init();
}
void btGeneric6DofSpringConstraint::init()
{
m_objectType = D6_SPRING_CONSTRAINT_TYPE;
for(int i = 0; i < 6; i++)
for (int i = 0; i < 6; i++)
{
m_springEnabled[i] = false;
m_equilibriumPoint[i] = btScalar(0.f);
@@ -45,12 +42,11 @@ void btGeneric6DofSpringConstraint::init()
}
}
void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
{
btAssert((index >= 0) && (index < 6));
m_springEnabled[index] = onOff;
if(index < 3)
if (index < 3)
{
m_linearLimits.m_enableMotor[index] = onOff;
}
@@ -60,44 +56,38 @@ void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
}
}
void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
{
btAssert((index >= 0) && (index < 6));
m_springStiffness[index] = stiffness;
}
void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
{
btAssert((index >= 0) && (index < 6));
m_springDamping[index] = damping;
}
void btGeneric6DofSpringConstraint::setEquilibriumPoint()
{
calculateTransforms();
int i;
for( i = 0; i < 3; i++)
for (i = 0; i < 3; i++)
{
m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
}
for(i = 0; i < 3; i++)
for (i = 0; i < 3; i++)
{
m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
}
}
void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
{
btAssert((index >= 0) && (index < 6));
calculateTransforms();
if(index < 3)
if (index < 3)
{
m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
}
@@ -113,15 +103,14 @@ void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
m_equilibriumPoint[index] = val;
}
void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
{
// it is assumed that calculateTransforms() have been called before this call
int i;
//btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
for(i = 0; i < 3; i++)
for (i = 0; i < 3; i++)
{
if(m_springEnabled[i])
if (m_springEnabled[i])
{
// get current position of constraint
btScalar currPos = m_calculatedLinearDiff[i];
@@ -130,28 +119,27 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
// spring force is (delta * m_stiffness) according to Hooke's Law
btScalar force = delta * m_springStiffness[i];
btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
m_linearLimits.m_targetVelocity[i] = velFactor * force;
m_linearLimits.m_maxMotorForce[i] = btFabs(force);
m_linearLimits.m_targetVelocity[i] = velFactor * force;
m_linearLimits.m_maxMotorForce[i] = btFabs(force);
}
}
for(i = 0; i < 3; i++)
for (i = 0; i < 3; i++)
{
if(m_springEnabled[i + 3])
if (m_springEnabled[i + 3])
{
// get current position of constraint
btScalar currPos = m_calculatedAxisAngleDiff[i];
// calculate difference
btScalar delta = currPos - m_equilibriumPoint[i+3];
btScalar delta = currPos - m_equilibriumPoint[i + 3];
// spring force is (-delta * m_stiffness) according to Hooke's Law
btScalar force = -delta * m_springStiffness[i+3];
btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
btScalar force = -delta * m_springStiffness[i + 3];
btScalar velFactor = info->fps * m_springDamping[i + 3] / btScalar(info->m_numIterations);
m_angularLimits[i].m_targetVelocity = velFactor * force;
m_angularLimits[i].m_maxMotorForce = btFabs(force);
}
}
}
void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
{
// this will be called by constraint solver at the constraint setup stage
@@ -161,25 +149,21 @@ void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
btGeneric6DofConstraint::getInfo2(info);
}
void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
{
btVector3 zAxis = axis1.normalized();
btVector3 yAxis = axis2.normalized();
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
btTransform frameInW;
frameInW.setIdentity();
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
xAxis[1], yAxis[1], zAxis[1],
xAxis[2], yAxis[2], zAxis[2]);
frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
xAxis[1], yAxis[1], zAxis[1],
xAxis[2], yAxis[2], zAxis[2]);
// now get constraint frame in local coordinate systems
m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
calculateTransforms();
calculateTransforms();
}