53 if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
54 ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
64 for (i=0;i< numConstraints ; i++ )
72 if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
73 ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
92 if (((cur) && (!(cur)->isStaticOrKinematicObject())) &&
93 ((prev) && (!(prev)->isStaticOrKinematicObject())))
113 if (tagA>=0 && tagB>=0)
126 BT_PROFILE(
"btMultiBodyDynamicsWorld::updateActivationState");
192 int rIslandId0,lIslandId0;
195 return lIslandId0 < rIslandId0;
207 islandId= islandTagA>=0?islandTagA:islandTagB;
219 int rIslandId0,lIslandId0;
222 return lIslandId0 < rIslandId0;
248 m_multiBodySortedConstraints(NULL),
251 m_dispatcher(dispatcher)
266 m_solverInfo = solverInfo;
268 m_multiBodySortedConstraints = sortedMultiBodyConstraints;
269 m_numMultiBodyConstraints = numMultiBodyConstraints;
270 m_sortedConstraints = sortedConstraints;
271 m_numConstraints = numConstraints;
273 m_debugDrawer = debugDrawer;
277 m_multiBodyConstraints.
resize(0);
286 m_solver->
solveMultiBodyGroup( bodies,numBodies,manifolds, numManifolds,m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
293 int numCurConstraints = 0;
294 int numCurMultiBodyConstraints = 0;
300 for (i=0;i<m_numConstraints;i++)
304 startConstraint = &m_sortedConstraints[i];
309 for (;i<m_numConstraints;i++)
317 for (i=0;i<m_numMultiBodyConstraints;i++)
322 startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
327 for (;i<m_numMultiBodyConstraints;i++)
331 numCurMultiBodyConstraints++;
337 m_solver->
solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
341 for (i=0;i<numBodies;i++)
343 for (i=0;i<numManifolds;i++)
345 for (i=0;i<numCurConstraints;i++)
346 m_constraints.
push_back(startConstraint[i]);
348 for (i=0;i<numCurMultiBodyConstraints;i++)
349 m_multiBodyConstraints.
push_back(startMultiBodyConstraint[i]);
353 processConstraints();
371 m_solver->
solveMultiBodyGroup( bodies,m_bodies.
size(),manifold, m_manifolds.
size(),constraints, m_constraints.
size() ,multiBodyConstraints, m_multiBodyConstraints.
size(), *
m_solverInfo,
m_debugDrawer,m_dispatcher);
375 m_multiBodyConstraints.
resize(0);
434 BT_PROFILE(
"btMultiBody addForce and stepVelocities");
439 bool isSleeping =
false;
465 bool doNotUpdatePos =
false;
481 btScalar *scratch_q0 = pMem; pMem += numPosVars;
482 btScalar *scratch_qx = pMem; pMem += numPosVars;
483 btScalar *scratch_qd0 = pMem; pMem += numDofs;
484 btScalar *scratch_qd1 = pMem; pMem += numDofs;
485 btScalar *scratch_qd2 = pMem; pMem += numDofs;
486 btScalar *scratch_qd3 = pMem; pMem += numDofs;
487 btScalar *scratch_qdd0 = pMem; pMem += numDofs;
488 btScalar *scratch_qdd1 = pMem; pMem += numDofs;
489 btScalar *scratch_qdd2 = pMem; pMem += numDofs;
490 btScalar *scratch_qdd3 = pMem; pMem += numDofs;
491 btAssert((pMem - (2*numPosVars + 8*numDofs)) == &scratch_r2[0]);
503 for(
int link = 0; link < bod->
getNumLinks(); ++link)
509 for(
int dof = 0; dof < numDofs; ++dof)
520 scratch_qx[dof] = scratch_q0[dof];
522 } pResetQx = {bod, scratch_qx, scratch_q0};
528 for(
int i = 0; i <
size; ++i)
529 pVal[i] = pCurVal[i] + dt * pDer[i];
540 for(
int i = 0; i < pBody->
getNumDofs() + 6; ++i)
544 } pCopyToVelocityVector;
550 for(
int i = 0; i <
size; ++i)
551 pDst[i] = pSrc[start + i];
557 #define output &scratch_r[bod->getNumDofs()] 560 pCopy(
output, scratch_qdd0, 0, numDofs);
565 pEulerIntegrate(
btScalar(.5)*h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs);
568 pCopyToVelocityVector(bod, scratch_qd1);
570 pCopy(
output, scratch_qdd1, 0, numDofs);
575 pEulerIntegrate(
btScalar(.5)*h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs);
578 pCopyToVelocityVector(bod, scratch_qd2);
580 pCopy(
output, scratch_qdd2, 0, numDofs);
585 pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs);
588 pCopyToVelocityVector(bod, scratch_qd3);
590 pCopy(
output, scratch_qdd3, 0, numDofs);
597 for(
int i = 0; i < numDofs; ++i)
599 delta_q[i] = h/
btScalar(6.)*(scratch_qd0[i] + 2*scratch_qd1[i] + 2*scratch_qd2[i] + scratch_qd3[i]);
600 delta_qd[i] = h/
btScalar(6.)*(scratch_qdd0[i] + 2*scratch_qdd1[i] + 2*scratch_qdd2[i] + scratch_qdd3[i]);
605 pCopyToVelocityVector(bod, scratch_qd0);
613 for(
int i = 0; i < numDofs; ++i)
614 pRealBuf[i] = delta_q[i];
622 for(
int link = 0; link < bod->
getNumLinks(); ++link)
657 bool isSleeping =
false;
674 world_to_local.
resize(nLinks+1);
675 local_origin.
resize(nLinks+1);
700 btScalar quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
730 btScalar quat[4]={-world_to_local[index].x(),-world_to_local[index].y(),-world_to_local[index].z(),world_to_local[index].w()};
767 BT_PROFILE(
"btMultiBodyDynamicsWorld debugDrawWorld");
769 bool drawConstraints =
false;
775 drawConstraints =
true;
797 world_to_local.
resize(nLinks + 1);
798 local_origin.
resize(nLinks + 1);
808 btScalar quat[4] = { -world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w() };
829 int index = link + 1;
833 btScalar quat[4] = { -world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w() };
MultiBodyInplaceSolverIslandCallback & operator=(MultiBodyInplaceSolverIslandCallback &other)
const btScalar & x() const
Return the x value.
btAlignedObjectArray< btTypedConstraint * > m_constraints
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
virtual void updateActivationState(btScalar timeStep)
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint *constraint)
void push_back(const T &_Val)
const btVector3 & getBasePos() const
const btMultiBodyLinkCollider * getBaseCollider() const
btSimulationIslandManager * m_islandManager
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
void stepPositionsMultiDof(btScalar dt, btScalar *pq=0, btScalar *pqd=0)
class btMultiBodyLinkCollider * m_collider
void updateCacheMultiDof(btScalar *pq=0)
btIDebugDraw * m_debugDrawer
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
const btRigidBody & getRigidBodyA() const
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
void buildAndProcessIslands(btDispatcher *dispatcher, btCollisionWorld *collisionWorld, IslandCallback *callback)
virtual void debugDrawWorld()
const btQuaternion & getWorldToBaseRot() const
btSimulationIslandManager * getSimulationIslandManager()
#define SIMD_FORCE_INLINE
void addLinkForce(int i, const btVector3 &f)
bool isPosUpdated() const
bool isUsingRK4Integration() const
int getActivationState() const
btMultiBodyConstraintSolver * m_solver
virtual void integrateTransforms(btScalar timeStep)
int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint *lhs)
virtual void updateActivationState(btCollisionWorld *colWorld, btDispatcher *dispatcher)
const btRigidBody & getRigidBodyB() const
virtual void debugDraw(class btIDebugDraw *drawer)=0
void applyDeltaVeeMultiDof(const btScalar *delta_vee, btScalar multiplier)
btQuaternion inverse(const btQuaternion &q)
Return the inverse of a quaternion.
bool isStaticOrKinematicObject() const
btContactSolverInfo m_solverInfo
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
void clearForcesAndTorques()
int getNumCollisionObjects() const
btVector3 quatRotate(const btQuaternion &rotation, const btVector3 &v)
btDispatcher * m_dispatcher
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)
this method should not be called, it was just used during porting/integration of Featherstone btMulti...
virtual int getIslandIdB() const =0
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
btCollisionWorld * getCollisionWorld()
btContactSolverInfo * m_solverInfo
btAlignedObjectArray< btCollisionObject * > m_bodies
virtual void processIsland(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifolds, int numManifolds, int islandId)
const btQuaternion & getParentToLocalRot(int i) const
virtual void solveMultiBodyGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, btMultiBodyConstraint **multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)
btIDebugDraw * m_debugDrawer
const btScalar & x() const
Return the x value.
virtual btIDebugDraw * getDebugDrawer()
virtual ~btMultiBodyDynamicsWorld()
btScalar getBaseMass() const
virtual void debugDrawWorld()
const btCollisionObject * getBody0() const
virtual void removeMultiBodyConstraint(btMultiBodyConstraint *constraint)
btAlignedObjectArray< btPersistentManifold * > m_manifolds
int getParent(int link_num) const
btCollisionObject can be used to manage collision detection objects.
const btScalar & y() const
Return the y value.
const btScalar & z() const
Return the z value.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
The btRigidBody is the main class for rigid body objects.
const btScalar & z() const
Return the z value.
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
void setDeactivationTime(btScalar time)
void setWorldTransform(const btTransform &worldTrans)
btDispatcher * getDispatcher()
virtual void solveConstraints(btContactSolverInfo &solverInfo)
MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver *solver, btDispatcher *dispatcher)
void checkMotionAndSleepIfRequired(btScalar timestep)
btAlignedObjectArray< btMultiBody * > m_multiBodies
virtual int getIslandIdA() const =0
int m_numMultiBodyConstraints
btVector3 can be used to represent 3D points and vectors.
const btMultibodyLink & getLink(int index) const
btMultiBodyConstraint ** m_multiBodySortedConstraints
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
btMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
int getNumPosVars() const
int size() const
return the number of elements in the array
void addBaseForce(const btVector3 &f)
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
virtual void prepareSolve(int, int)
#define WANTS_DEACTIVATION
void remove(const T &key)
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
virtual void addMultiBody(btMultiBody *body, short group=btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter)
TypedConstraint is the baseclass for Bullet constraints and vehicles.
void resize(int newsize, const T &fillData=T())
virtual void integrateTransforms(btScalar timeStep)
const btCollisionObject * getBody1() const
virtual int getDebugMode() const =0
void setPosUpdated(bool updated)
void setup(btContactSolverInfo *solverInfo, btTypedConstraint **sortedConstraints, int numConstraints, btMultiBodyConstraint **sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw *debugDrawer)
virtual void storeIslandActivationState(btCollisionWorld *world)
#define DISABLE_DEACTIVATION
virtual void removeMultiBody(btMultiBody *body)
btUnionFind & getUnionFind()
const btScalar & y() const
Return the y value.
btConstraintSolver * m_constraintSolver
btScalar getLinkMass(int i) const
virtual int getNumConstraints() const
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
void stepVelocitiesMultiDof(btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m)
virtual void updateActivationState(btScalar timeStep)
void processConstraints()
void stepPositions(btScalar dt)
btTypedConstraint ** m_sortedConstraints
virtual void addMultiBodyConstraint(btMultiBodyConstraint *constraint)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
const btScalar & w() const
Return the w value.
btContactSolverInfo & getSolverInfo()
const btScalar * getVelocityVector() const
void setActivationState(int newState) const
const btVector3 & getRVector(int i) const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
void quickSort(const L &CompareFunc)
int btGetConstraintIslandId2(const btTypedConstraint *lhs)
void stepVelocities(btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m)
virtual void calculateSimulationIslands()
btAlignedObjectArray< btTypedConstraint * > m_constraints