Revision: 20366
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20366
Author: erwin
Date: 2009-05-23 22:02:12 +0200 (Sat, 23 May 2009)
Log Message:
-----------
Minor fixes in Bullet/constraint solving
Should make generic 6DOF constraint more useable, and rigid body stacking more
stable (warmstarting was accidently switched off)
If time allows, a few more minor last-minute 2.49 fixes might follow.
Check out http://bulletphysics.com/constraintsTutorial.blend
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
trunk/blender/extern/bullet2/src/LinearMath/btScalar.h
trunk/blender/source/blender/src/buttons_object.c
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
2009-05-23 19:47:47 UTC (rev 20365)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
2009-05-23 20:02:12 UTC (rev 20366)
@@ -22,13 +22,14 @@
#include "LinearMath/btMinMax.h"
#include <new>
-//-----------------------------------------------------------------------------
+
+//#define CONETWIST_USE_OBSOLETE_SOLVER true
#define CONETWIST_USE_OBSOLETE_SOLVER false
#define CONETWIST_DEF_FIX_THRESH btScalar(.05f)
-//-----------------------------------------------------------------------------
+
btConeTwistConstraint::btConeTwistConstraint()
:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE),
m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
@@ -63,14 +64,14 @@
m_bMotorEnabled = false;
m_maxMotorImpulse = btScalar(-1);
- setLimit(btScalar(1e30), btScalar(1e30), btScalar(1e30));
+ setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT),
btScalar(BT_LARGE_FLOAT));
m_damping = btScalar(0.01);
m_fixThresh = CONETWIST_DEF_FIX_THRESH;
}
-//-----------------------------------------------------------------------------
+
void btConeTwistConstraint::getInfo1 (btConstraintInfo1* info)
{
if (m_useSolveConstraintObsolete)
@@ -99,10 +100,10 @@
info->nub--;
}
}
-} // btConeTwistConstraint::getInfo1()
+}
-//-----------------------------------------------------------------------------
+
void btConeTwistConstraint::getInfo2 (btConstraintInfo2* info)
{
btAssert(!m_useSolveConstraintObsolete);
@@ -230,8 +231,8 @@
}
}
-//-----------------------------------------------------------------------------
+
void btConeTwistConstraint::buildJacobian()
{
if (m_useSolveConstraintObsolete)
@@ -239,6 +240,7 @@
m_appliedImpulse = btScalar(0.);
m_accTwistLimitImpulse = btScalar(0.);
m_accSwingLimitImpulse = btScalar(0.);
+ m_accMotorImpulse = btVector3(0.,0.,0.);
if (!m_angularOnly)
{
@@ -277,8 +279,8 @@
}
}
-//-----------------------------------------------------------------------------
+
void btConeTwistConstraint::solveConstraintObsolete(btSolverBody&
bodyA,btSolverBody& bodyB,btScalar timeStep)
{
if (m_useSolveConstraintObsolete)
@@ -406,10 +408,10 @@
}
}
- else // no motor: do a little damping
+ else if (m_damping > SIMD_EPSILON) // no motor: do a little
damping
{
- const btVector3& angVelA =
getRigidBodyA().getAngularVelocity();
- const btVector3& angVelB =
getRigidBodyB().getAngularVelocity();
+ btVector3 angVelA; bodyA.getAngularVelocity(angVelA);
+ btVector3 angVelB; bodyB.getAngularVelocity(angVelB);
btVector3 relVel = angVelB - angVelA;
if (relVel.length2() > SIMD_EPSILON)
{
@@ -490,16 +492,16 @@
}
-//-----------------------------------------------------------------------------
+
void btConeTwistConstraint::updateRHS(btScalar timeStep)
{
(void)timeStep;
}
-//-----------------------------------------------------------------------------
+
void btConeTwistConstraint::calcAngleInfo()
{
m_swingCorrection = btScalar(0.);
@@ -584,26 +586,47 @@
m_twistAxis.normalize();
}
}
-} // btConeTwistConstraint::calcAngleInfo()
+}
static btVector3 vTwist(1,0,0); // twist axis in constraint's space
-//-----------------------------------------------------------------------------
+
void btConeTwistConstraint::calcAngleInfo2()
{
m_swingCorrection = btScalar(0.);
m_twistLimitSign = btScalar(0.);
m_solveTwistLimit = false;
m_solveSwingLimit = false;
+ // compute rotation of A wrt B (in constraint space)
+ if (m_bMotorEnabled && (!m_useSolveConstraintObsolete))
+ { // it is assumed that setMotorTarget() was alredy called
+ // and motor target m_qTarget is within constraint limits
+ // TODO : split rotation to pure swing and pure twist
+ // compute desired transforms in world
+ btTransform trPose(m_qTarget);
+ btTransform trA = getRigidBodyA().getCenterOfMassTransform() *
m_rbAFrame;
+ btTransform trB = getRigidBodyB().getCenterOfMassTransform() *
m_rbBFrame;
+ btTransform trDeltaAB = trB * trPose * trA.inverse();
+ btQuaternion qDeltaAB = trDeltaAB.getRotation();
+ btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(),
qDeltaAB.z());
+ m_swingAxis = swingAxis;
+ m_swingAxis.normalize();
+ m_swingCorrection = qDeltaAB.getAngle();
+ if(!btFuzzyZero(m_swingCorrection))
+ {
+ m_solveSwingLimit = true;
+ }
+ return;
+ }
+
{
// compute rotation of A wrt B (in constraint space)
btQuaternion qA =
getRigidBodyA().getCenterOfMassTransform().getRotation() *
m_rbAFrame.getRotation();
btQuaternion qB =
getRigidBodyB().getCenterOfMassTransform().getRotation() *
m_rbBFrame.getRotation();
btQuaternion qAB = qB.inverse() * qA;
-
// split rotation into cone and twist
// (all this is done from B's perspective. Maybe I should be
averaging axes...)
btVector3 vConeNoTwist = quatRotate(qAB, vTwist);
vConeNoTwist.normalize();
@@ -756,7 +779,7 @@
m_twistAngle = btScalar(0.f);
}
}
-} // btConeTwistConstraint::calcAngleInfo2()
+}
@@ -982,8 +1005,5 @@
}
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
2009-05-23 19:47:47 UTC (rev 20365)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
2009-05-23 20:02:12 UTC (rev 20366)
@@ -17,6 +17,22 @@
+/*
+Overview:
+
+btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg
etc).
+It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint".
+It divides the 3 rotational DOFs into swing (movement within a cone) and twist.
+Swing is divided into swing1 and swing2 which can have different limits,
giving an elliptical shape.
+(Note: the cone's base isn't flat, so this ellipse is "embedded" on the
surface of a sphere.)
+
+In the contraint's frame of reference:
+twist is along the x-axis,
+and swing 1 and 2 are along the z and y axes respectively.
+*/
+
+
+
#ifndef CONETWISTCONSTRAINT_H
#define CONETWISTCONSTRAINT_H
@@ -141,7 +157,18 @@
};
}
- void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar
_twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar
_relaxationFactor = 1.0f)
+ // setLimit(), a few notes:
+ // _softness:
+ // 0->1, recommend ~0.8->1.
+ // describes % of limits where movement is free.
+ // beyond this softness %, the limit is gradually enforced
until the "hard" (1.0) limit is reached.
+ // _biasFactor:
+ // 0->1?, recommend 0.3 +/-0.3 or so.
+ // strength with which constraint resists zeroth order
(angular, not angular velocity) limit violation.
+ // __relaxationFactor:
+ // 0->1, recommend to stay near 1.
+ // the lower the value, the less the constraint will fight
velocities which violate the angular limits.
+ void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar
_twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar
_relaxationFactor = 1.0f)
{
m_swingSpan1 = _swingSpan1;
m_swingSpan2 = _swingSpan2;
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
2009-05-23 19:47:47 UTC (rev 20365)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
2009-05-23 20:02:12 UTC (rev 20366)
@@ -26,8 +26,8 @@
#define D6_USE_OBSOLETE_METHOD false
-//-----------------------------------------------------------------------------
+
btGeneric6DofConstraint::btGeneric6DofConstraint()
:btTypedConstraint(D6_CONSTRAINT_TYPE),
m_useLinearReferenceFrameA(true),
@@ -35,8 +35,8 @@
{
}
-//-----------------------------------------------------------------------------
+
btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA,
btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB,
bool useLinearReferenceFrameA)
: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
, m_frameInA(frameInA)
@@ -46,13 +46,13 @@
{
}
-//-----------------------------------------------------------------------------
+
#define GENERIC_D6_DISABLE_WARMSTARTING 1
-//-----------------------------------------------------------------------------
+
btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
{
@@ -61,8 +61,8 @@
return mat[i][j];
}
-//-----------------------------------------------------------------------------
+
///MatrixToEulerXYZ from
http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
@@ -129,8 +129,8 @@
}
-//-----------------------------------------------------------------------------
+
btScalar btRotationalLimitMotor::solveAngularLimits(
btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
btRigidBody * body0, btSolverBody& bodyA, btRigidBody * body1,
btSolverBody& bodyB)
@@ -191,8 +191,8 @@
// sort with accumulated impulses
- btScalar lo = btScalar(-1e30);
- btScalar hi = btScalar(1e30);
+ btScalar lo = btScalar(-BT_LARGE_FLOAT);
+ btScalar hi = btScalar(BT_LARGE_FLOAT);
btScalar oldaccumImpulse = m_accumulatedImpulse;
btScalar sum = oldaccumImpulse + clippedMotorImpulse;
@@ -249,10 +249,10 @@
m_currentLimit[limitIndex] = 0;//Free from violation
m_currentLimitError[limitIndex] = btScalar(0.f);
return 0;
-} // btTranslationalLimitMotor::testLimitValue()
+}
-//-----------------------------------------------------------------------------
+
btScalar btTranslationalLimitMotor::solveLinearAxis(
btScalar timeStep,
btScalar jacDiagABInv,
@@ -283,8 +283,8 @@
@@ Diff output truncated at 10240 characters. @@
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