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Merge pull request #529 from erwincoumans/master

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[InverseDynamics] 4-spaces->tabs for src/BulletInverseDynamics, Add custom namespaces per configuration
This commit is contained in:
erwincoumans 2015-11-19 13:02:37 -08:00
commit 4605282b11
15 changed files with 2106 additions and 2090 deletions
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12
src/BulletInverseDynamics/IDConfig.hpp
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@ -1,5 +1,5 @@
///@file Configuration for Inverse Dynamics Library, ///@file Configuration for Inverse Dynamics Library,
/// such as choice of linear algebra library and underlying scalar type /// such as choice of linear algebra library and underlying scalar type
#ifndef IDCONFIG_HPP_ #ifndef IDCONFIG_HPP_
#define IDCONFIG_HPP_ #define IDCONFIG_HPP_
// If we have a custom configuration, compile without using other parts of bullet. // If we have a custom configuration, compile without using other parts of bullet.
@ -8,6 +8,7 @@
#define BT_ID_POW(a,b) std::pow(a,b) #define BT_ID_POW(a,b) std::pow(a,b)
#define BT_ID_SNPRINTF snprintf #define BT_ID_SNPRINTF snprintf
#define BT_ID_PI M_PI #define BT_ID_PI M_PI
#define BT_ID_USE_DOUBLE_PRECISION
#else #else
#define BT_ID_POW(a,b) btPow(a,b) #define BT_ID_POW(a,b) btPow(a,b)
#define BT_ID_PI SIMD_PI #define BT_ID_PI SIMD_PI
@ -24,11 +25,18 @@
#define INVDYN_INCLUDE_HELPER_2(x) #x #define INVDYN_INCLUDE_HELPER_2(x) #x
#define INVDYN_INCLUDE_HELPER(x) INVDYN_INCLUDE_HELPER_2(x) #define INVDYN_INCLUDE_HELPER(x) INVDYN_INCLUDE_HELPER_2(x)
#include INVDYN_INCLUDE_HELPER(BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H) #include INVDYN_INCLUDE_HELPER(BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H)
#ifndef btInverseDynamics
#error "custom inverse dynamics config, but no custom namespace defined"
#endif
#else #else
#define btInverseDynamics btInverseDynamicsBullet3
// Use default configuration with bullet's types // Use default configuration with bullet's types
// Use the same scalar type as rest of bullet library // Use the same scalar type as rest of bullet library
#include "LinearMath/btScalar.h" #include "LinearMath/btScalar.h"
typedef btScalar idScalar; typedef btScalar idScalar;
#ifdef BT_USE_DOUBLE_PRECISION
#define BT_ID_USE_DOUBLE_PRECISION
#endif
// use bullet types for arrays and array indices // use bullet types for arrays and array indices
#include "Bullet3Common/b3AlignedObjectArray.h" #include "Bullet3Common/b3AlignedObjectArray.h"
// this is to make it work with C++2003, otherwise we could do this: // this is to make it work with C++2003, otherwise we could do this:
@ -36,7 +44,7 @@ typedef btScalar idScalar;
// using idArray = b3AlignedObjectArray<T>; // using idArray = b3AlignedObjectArray<T>;
template <typename T> template <typename T>
struct idArray { struct idArray {
typedef b3AlignedObjectArray<T> type; typedef b3AlignedObjectArray<T> type;
}; };
typedef int idArrayIdx; typedef int idArrayIdx;
#define ID_DECLARE_ALIGNED_ALLOCATOR B3_DECLARE_ALIGNED_ALLOCATOR #define ID_DECLARE_ALIGNED_ALLOCATOR B3_DECLARE_ALIGNED_ALLOCATOR

21
src/BulletInverseDynamics/IDConfigBuiltin.hpp
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@ -1,6 +1,7 @@
///@file Configuration for Inverse Dynamics Library without external dependencies ///@file Configuration for Inverse Dynamics Library without external dependencies
#ifndef INVDYNCONFIG_BUILTIN_HPP_ #ifndef INVDYNCONFIG_BUILTIN_HPP_
#define INVDYNCONFIG_BUILTIN_HPP_ #define INVDYNCONFIG_BUILTIN_HPP_
#define btInverseDynamics btInverseDynamicsBuiltin
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
// choose double/single precision version // choose double/single precision version
typedef double idScalar; typedef double idScalar;
@ -14,7 +15,7 @@ typedef float idScalar;
// using idArray = std::vector<T>; // using idArray = std::vector<T>;
template <typename T> template <typename T>
struct idArray { struct idArray {
typedef std::vector<T> type; typedef std::vector<T> type;
}; };
typedef std::vector<int>::size_type idArrayIdx; typedef std::vector<int>::size_type idArrayIdx;
// default to standard malloc/free // default to standard malloc/free
@ -22,15 +23,15 @@ typedef std::vector<int>::size_type idArrayIdx;
#define idMalloc ::malloc #define idMalloc ::malloc
#define idFree ::free #define idFree ::free
// currently not aligned at all... // currently not aligned at all...
#define ID_DECLARE_ALIGNED_ALLOCATOR() \ #define ID_DECLARE_ALIGNED_ALLOCATOR() \
inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \ inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \
inline void operator delete(void* ptr) { idFree(ptr); } \ inline void operator delete(void* ptr) { idFree(ptr); } \
inline void* operator new(std::size_t, void* ptr) { return ptr; } \ inline void* operator new(std::size_t, void* ptr) { return ptr; } \
inline void operator delete(void*, void*) {} \ inline void operator delete(void*, void*) {} \
inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \ inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \
inline void operator delete[](void* ptr) { idFree(ptr); } \ inline void operator delete[](void* ptr) { idFree(ptr); } \
inline void* operator new[](std::size_t, void* ptr) { return ptr; } \ inline void* operator new[](std::size_t, void* ptr) { return ptr; } \
inline void operator delete[](void*, void*) {} inline void operator delete[](void*, void*) {}
#include "details/IDMatVec.hpp" #include "details/IDMatVec.hpp"
#endif #endif

21
src/BulletInverseDynamics/IDConfigEigen.hpp
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@ -1,6 +1,7 @@
///@file Configuration for Inverse Dynamics Library with Eigen ///@file Configuration for Inverse Dynamics Library with Eigen
#ifndef INVDYNCONFIG_EIGEN_HPP_ #ifndef INVDYNCONFIG_EIGEN_HPP_
#define INVDYNCONFIG_EIGEN_HPP_ #define INVDYNCONFIG_EIGEN_HPP_
#define btInverseDynamics btInverseDynamicsEigen
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
// choose double/single precision version // choose double/single precision version
typedef double idScalar; typedef double idScalar;
@ -15,7 +16,7 @@ typedef float idScalar;
// using idArray = std::vector<T>; // using idArray = std::vector<T>;
template <typename T> template <typename T>
struct idArray { struct idArray {
typedef std::vector<T> type; typedef std::vector<T> type;
}; };
typedef std::vector<int>::size_type idArrayIdx; typedef std::vector<int>::size_type idArrayIdx;
// default to standard malloc/free // default to standard malloc/free
@ -24,15 +25,15 @@ typedef std::vector<int>::size_type idArrayIdx;
#define idFree ::free #define idFree ::free
// currently not aligned at all... // currently not aligned at all...
#define ID_DECLARE_ALIGNED_ALLOCATOR() \ #define ID_DECLARE_ALIGNED_ALLOCATOR() \
inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \ inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \
inline void operator delete(void* ptr) { idFree(ptr); } \ inline void operator delete(void* ptr) { idFree(ptr); } \
inline void* operator new(std::size_t, void* ptr) { return ptr; } \ inline void* operator new(std::size_t, void* ptr) { return ptr; } \
inline void operator delete(void*, void*) {} \ inline void operator delete(void*, void*) {} \
inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \ inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \
inline void operator delete[](void* ptr) { idFree(ptr); } \ inline void operator delete[](void* ptr) { idFree(ptr); } \
inline void* operator new[](std::size_t, void* ptr) { return ptr; } \ inline void* operator new[](std::size_t, void* ptr) { return ptr; } \
inline void operator delete[](void*, void*) {} inline void operator delete[](void*, void*) {}
// Note on interfaces: // Note on interfaces:
// Eigen::Matrix has data(), to get c-array storage // Eigen::Matrix has data(), to get c-array storage

30
src/BulletInverseDynamics/IDErrorMessages.hpp
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@ -13,22 +13,22 @@
#else // BT_ID_WO_BULLET #else // BT_ID_WO_BULLET
#include <cstdio> #include <cstdio>
/// print error message with file/line information /// print error message with file/line information
#define error_message(...) \ #define error_message(...) \
do { \ do { \
fprintf(stderr, "[Error:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \ fprintf(stderr, "[Error:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
fprintf(stderr, __VA_ARGS__); \ fprintf(stderr, __VA_ARGS__); \
} while (0) } while (0)
/// print warning message with file/line information /// print warning message with file/line information
#define warning_message(...) \ #define warning_message(...) \
do { \ do { \
fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \ fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
fprintf(stderr, __VA_ARGS__); \ fprintf(stderr, __VA_ARGS__); \
} while (0) } while (0)
#define warning_message(...) \ #define warning_message(...) \
do { \ do { \
fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \ fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
fprintf(stderr, __VA_ARGS__); \ fprintf(stderr, __VA_ARGS__); \
} while (0) } while (0)
#define id_printf(...) printf(__VA_ARGS__) #define id_printf(...) printf(__VA_ARGS__)
#endif // BT_ID_WO_BULLET #endif // BT_ID_WO_BULLET
#endif #endif

566
src/BulletInverseDynamics/IDMath.cpp
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@ -10,362 +10,362 @@ static const idScalar kIsZero = 5 * std::numeric_limits<idScalar>::epsilon();
static const idScalar kAxisLengthEpsilon = 10 * kIsZero; static const idScalar kAxisLengthEpsilon = 10 * kIsZero;
void setZero(vec3 &v) { void setZero(vec3 &v) {
v(0) = 0; v(0) = 0;
v(1) = 0; v(1) = 0;
v(2) = 0; v(2) = 0;
} }
void setZero(vecx &v) { void setZero(vecx &v) {
for (int i = 0; i < v.size(); i++) { for (int i = 0; i < v.size(); i++) {
v(i) = 0; v(i) = 0;
} }
} }
void setZero(mat33 &m) { void setZero(mat33 &m) {
m(0, 0) = 0; m(0, 0) = 0;
m(0, 1) = 0; m(0, 1) = 0;
m(0, 2) = 0; m(0, 2) = 0;
m(1, 0) = 0; m(1, 0) = 0;
m(1, 1) = 0; m(1, 1) = 0;
m(1, 2) = 0; m(1, 2) = 0;
m(2, 0) = 0; m(2, 0) = 0;
m(2, 1) = 0; m(2, 1) = 0;
m(2, 2) = 0; m(2, 2) = 0;
} }
idScalar maxAbs(const vecx &v) { idScalar maxAbs(const vecx &v) {
idScalar result = 0.0; idScalar result = 0.0;
for (int i = 0; i < v.size(); i++) { for (int i = 0; i < v.size(); i++) {
const idScalar tmp = std::fabs(v(i)); const idScalar tmp = std::fabs(v(i));
if (tmp > result) { if (tmp > result) {
result = tmp; result = tmp;
} }
} }
return result; return result;
} }
idScalar maxAbs(const vec3 &v) { idScalar maxAbs(const vec3 &v) {
idScalar result = 0.0; idScalar result = 0.0;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
const idScalar tmp = std::fabs(v(i)); const idScalar tmp = std::fabs(v(i));
if (tmp > result) { if (tmp > result) {
result = tmp; result = tmp;
} }
} }
return result; return result;
} }
mat33 transformX(const idScalar &alpha) { mat33 transformX(const idScalar &alpha) {
mat33 T; mat33 T;
const idScalar cos_alpha = std::cos(alpha); const idScalar cos_alpha = std::cos(alpha);
const idScalar sin_alpha = std::sin(alpha); const idScalar sin_alpha = std::sin(alpha);
// [1 0 0] // [1 0 0]
// [0 c s] // [0 c s]
// [0 -s c] // [0 -s c]
T(0, 0) = 1.0; T(0, 0) = 1.0;
T(0, 1) = 0.0; T(0, 1) = 0.0;
T(0, 2) = 0.0; T(0, 2) = 0.0;
T(1, 0) = 0.0; T(1, 0) = 0.0;
T(1, 1) = cos_alpha; T(1, 1) = cos_alpha;
T(1, 2) = sin_alpha; T(1, 2) = sin_alpha;
T(2, 0) = 0.0; T(2, 0) = 0.0;
T(2, 1) = -sin_alpha; T(2, 1) = -sin_alpha;
T(2, 2) = cos_alpha; T(2, 2) = cos_alpha;
return T; return T;
} }
mat33 transformY(const idScalar &beta) { mat33 transformY(const idScalar &beta) {
mat33 T; mat33 T;
const idScalar cos_beta = std::cos(beta); const idScalar cos_beta = std::cos(beta);
const idScalar sin_beta = std::sin(beta); const idScalar sin_beta = std::sin(beta);
// [c 0 -s] // [c 0 -s]
// [0 1 0] // [0 1 0]
// [s 0 c] // [s 0 c]
T(0, 0) = cos_beta; T(0, 0) = cos_beta;
T(0, 1) = 0.0; T(0, 1) = 0.0;
T(0, 2) = -sin_beta; T(0, 2) = -sin_beta;
T(1, 0) = 0.0; T(1, 0) = 0.0;
T(1, 1) = 1.0; T(1, 1) = 1.0;
T(1, 2) = 0.0; T(1, 2) = 0.0;
T(2, 0) = sin_beta; T(2, 0) = sin_beta;
T(2, 1) = 0.0; T(2, 1) = 0.0;
T(2, 2) = cos_beta; T(2, 2) = cos_beta;
return T; return T;
} }
mat33 transformZ(const idScalar &gamma) { mat33 transformZ(const idScalar &gamma) {
mat33 T; mat33 T;
const idScalar cos_gamma = std::cos(gamma); const idScalar cos_gamma = std::cos(gamma);
const idScalar sin_gamma = std::sin(gamma); const idScalar sin_gamma = std::sin(gamma);
// [ c s 0] // [ c s 0]
// [-s c 0] // [-s c 0]
// [ 0 0 1] // [ 0 0 1]
T(0, 0) = cos_gamma; T(0, 0) = cos_gamma;
T(0, 1) = sin_gamma; T(0, 1) = sin_gamma;
T(0, 2) = 0.0; T(0, 2) = 0.0;
T(1, 0) = -sin_gamma; T(1, 0) = -sin_gamma;
T(1, 1) = cos_gamma; T(1, 1) = cos_gamma;
T(1, 2) = 0.0; T(1, 2) = 0.0;
T(2, 0) = 0.0; T(2, 0) = 0.0;
T(2, 1) = 0.0; T(2, 1) = 0.0;
T(2, 2) = 1.0; T(2, 2) = 1.0;
return T; return T;
} }
mat33 tildeOperator(const vec3 &v) { mat33 tildeOperator(const vec3 &v) {
mat33 m; mat33 m;
m(0, 0) = 0.0; m(0, 0) = 0.0;
m(0, 1) = -v(2); m(0, 1) = -v(2);
m(0, 2) = v(1); m(0, 2) = v(1);
m(1, 0) = v(2); m(1, 0) = v(2);
m(1, 1) = 0.0; m(1, 1) = 0.0;
m(1, 2) = -v(0); m(1, 2) = -v(0);
m(2, 0) = -v(1); m(2, 0) = -v(1);
m(2, 1) = v(0); m(2, 1) = v(0);
m(2, 2) = 0.0; m(2, 2) = 0.0;
return m; return m;
} }
void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3 *r, mat33 *T) { void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3 *r, mat33 *T) {
const idScalar sa = std::sin(alpha); const idScalar sa = std::sin(alpha);
const idScalar ca = std::cos(alpha); const idScalar ca = std::cos(alpha);
const idScalar st = std::sin(theta); const idScalar st = std::sin(theta);
const idScalar ct = std::cos(theta); const idScalar ct = std::cos(theta);
(*r)(0) = a; (*r)(0) = a;
(*r)(1) = -sa * d; (*r)(1) = -sa * d;
(*r)(2) = ca * d; (*r)(2) = ca * d;
(*T)(0, 0) = ct; (*T)(0, 0) = ct;
(*T)(0, 1) = -st; (*T)(0, 1) = -st;
(*T)(0, 2) = 0.0; (*T)(0, 2) = 0.0;
(*T)(1, 0) = st * ca; (*T)(1, 0) = st * ca;
(*T)(1, 1) = ct * ca; (*T)(1, 1) = ct * ca;
(*T)(1, 2) = -sa; (*T)(1, 2) = -sa;
(*T)(2, 0) = st * sa; (*T)(2, 0) = st * sa;
(*T)(2, 1) = ct * sa; (*T)(2, 1) = ct * sa;
(*T)(2, 2) = ca; (*T)(2, 2) = ca;
} }
void bodyTParentFromAxisAngle(const vec3 &axis, const idScalar &angle, mat33 *T) { void bodyTParentFromAxisAngle(const vec3 &axis, const idScalar &angle, mat33 *T) {
const idScalar c = cos(angle); const idScalar c = cos(angle);
const idScalar s = -sin(angle); const idScalar s = -sin(angle);
const idScalar one_m_c = 1.0 - c; const idScalar one_m_c = 1.0 - c;
const idScalar &x = axis(0); const idScalar &x = axis(0);
const idScalar &y = axis(1); const idScalar &y = axis(1);
const idScalar &z = axis(2); const idScalar &z = axis(2);
(*T)(0, 0) = x * x * one_m_c + c; (*T)(0, 0) = x * x * one_m_c + c;
(*T)(0, 1) = x * y * one_m_c - z * s; (*T)(0, 1) = x * y * one_m_c - z * s;
(*T)(0, 2) = x * z * one_m_c + y * s; (*T)(0, 2) = x * z * one_m_c + y * s;
(*T)(1, 0) = x * y * one_m_c + z * s; (*T)(1, 0) = x * y * one_m_c + z * s;
(*T)(1, 1) = y * y * one_m_c + c; (*T)(1, 1) = y * y * one_m_c + c;
(*T)(1, 2) = y * z * one_m_c - x * s; (*T)(1, 2) = y * z * one_m_c - x * s;
(*T)(2, 0) = x * z * one_m_c - y * s; (*T)(2, 0) = x * z * one_m_c - y * s;
(*T)(2, 1) = y * z * one_m_c + x * s; (*T)(2, 1) = y * z * one_m_c + x * s;
(*T)(2, 2) = z * z * one_m_c + c; (*T)(2, 2) = z * z * one_m_c + c;
} }
bool isPositiveDefinite(const mat33 &m) { bool isPositiveDefinite(const mat33 &m) {
// test if all upper left determinants are positive // test if all upper left determinants are positive
if (m(0, 0) <= 0) { // upper 1x1 if (m(0, 0) <= 0) { // upper 1x1
return false; return false;
} }
if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) <= 0) { // upper 2x2 if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) <= 0) { // upper 2x2
return false; return false;
} }
if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) - if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) + m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0) { m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0) {
return false; return false;
} }
return true; return true;
} }
bool isPositiveSemiDefinite(const mat33 &m) { bool isPositiveSemiDefinite(const mat33 &m) {
// test if all upper left determinants are positive // test if all upper left determinants are positive
if (m(0, 0) < 0) { // upper 1x1 if (m(0, 0) < 0) { // upper 1x1
return false; return false;
} }
if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < 0) { // upper 2x2 if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < 0) { // upper 2x2
return false; return false;
} }
if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) - if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) + m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0) { m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0) {
return false; return false;
} }
return true; return true;
} }
bool isPositiveSemiDefiniteFuzzy(const mat33 &m) { bool isPositiveSemiDefiniteFuzzy(const mat33 &m) {
// test if all upper left determinants are positive // test if all upper left determinants are positive
if (m(0, 0) < -kIsZero) { // upper 1x1 if (m(0, 0) < -kIsZero) { // upper 1x1
return false; return false;
} }
if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < -kIsZero) { // upper 2x2 if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < -kIsZero) { // upper 2x2
return false; return false;
} }
if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) - if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) + m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < -kIsZero) { m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < -kIsZero) {
return false; return false;
} }
return true; return true;
} }
idScalar determinant(const mat33 &m) { idScalar determinant(const mat33 &m) {
return m(0, 0) * m(1, 1) * m(2, 2) + m(0, 1) * m(1, 2) * m(2, 0) + m(0, 2) * m(1, 0) * m(2, 1) - return m(0, 0) * m(1, 1) * m(2, 2) + m(0, 1) * m(1, 2) * m(2, 0) + m(0, 2) * m(1, 0) * m(2, 1) -
m(0, 2) * m(1, 1) * m(2, 0) - m(0, 0) * m(1, 2) * m(2, 1) - m(0, 1) * m(1, 0) * m(2, 2); m(0, 2) * m(1, 1) * m(2, 0) - m(0, 0) * m(1, 2) * m(2, 1) - m(0, 1) * m(1, 0) * m(2, 2);
} }
bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) { bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) {
// TODO(Thomas) do we really want this? // TODO(Thomas) do we really want this?
// in cases where the inertia tensor about the center of mass is zero, // in cases where the inertia tensor about the center of mass is zero,
// the determinant of the inertia tensor about the joint axis is almost // the determinant of the inertia tensor about the joint axis is almost
// zero and can have a very small negative value. // zero and can have a very small negative value.
if (!isPositiveSemiDefiniteFuzzy(I)) { if (!isPositiveSemiDefiniteFuzzy(I)) {
error_message("invalid inertia matrix for body %d, not positive definite " error_message("invalid inertia matrix for body %d, not positive definite "
"(fixed joint)\n", "(fixed joint)\n",
index); index);
error_message("matrix is:\n" error_message("matrix is:\n"
"[%.20e %.20e %.20e;\n" "[%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e]\n", "%.20e %.20e %.20e]\n",
I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1), I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
I(2, 2)); I(2, 2));
return false; return false;
} }
// check triangle inequality, must have I(i,i)+I(j,j)>=I(k,k) // check triangle inequality, must have I(i,i)+I(j,j)>=I(k,k)
if (!has_fixed_joint) { if (!has_fixed_joint) {
if (I(0, 0) + I(1, 1) < I(2, 2)) { if (I(0, 0) + I(1, 1) < I(2, 2)) {
error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
error_message("matrix is:\n" error_message("matrix is:\n"
"[%.20e %.20e %.20e;\n" "[%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e]\n", "%.20e %.20e %.20e]\n",
I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1), I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
I(2, 2)); I(2, 2));
return false; return false;
} }
if (I(0, 0) + I(1, 1) < I(2, 2)) { if (I(0, 0) + I(1, 1) < I(2, 2)) {
error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
error_message("matrix is:\n" error_message("matrix is:\n"
"[%.20e %.20e %.20e;\n" "[%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e]\n", "%.20e %.20e %.20e]\n",
I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1), I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
I(2, 2)); I(2, 2));
return false; return false;
} }
if (I(1, 1) + I(2, 2) < I(0, 0)) { if (I(1, 1) + I(2, 2) < I(0, 0)) {
error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index); error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index);
error_message("matrix is:\n" error_message("matrix is:\n"
"[%.20e %.20e %.20e;\n" "[%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e]\n", "%.20e %.20e %.20e]\n",
I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1), I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
I(2, 2)); I(2, 2));
return false; return false;
} }
} }
// check positive/zero diagonal elements // check positive/zero diagonal elements
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (I(i, i) < 0) { // accept zero if (I(i, i) < 0) { // accept zero
error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i)); error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i));
return false; return false;
} }
} }
// check symmetry // check symmetry
if (std::fabs(I(1, 0) - I(0, 1)) > kIsZero) { if (std::fabs(I(1, 0) - I(0, 1)) > kIsZero) {
error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= " error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= "
"%e\n", "%e\n",
index, I(1, 0) - I(0, 1)); index, I(1, 0) - I(0, 1));
return false; return false;
} }
if (std::fabs(I(2, 0) - I(0, 2)) > kIsZero) { if (std::fabs(I(2, 0) - I(0, 2)) > kIsZero) {
error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= " error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= "
"%e\n", "%e\n",
index, I(2, 0) - I(0, 2)); index, I(2, 0) - I(0, 2));
return false; return false;
} }
if (std::fabs(I(1, 2) - I(2, 1)) > kIsZero) { if (std::fabs(I(1, 2) - I(2, 1)) > kIsZero) {
error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index, error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index,
I(1, 2) - I(2, 1)); I(1, 2) - I(2, 1));
return false; return false;
} }
return true; return true;
} }
bool isValidTransformMatrix(const mat33 &m) { bool isValidTransformMatrix(const mat33 &m) {
#define print_mat(x) \ #define print_mat(x) \
error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \ error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \
x(1, 0), x(1, 1), x(1, 2), x(2, 0), x(2, 1), x(2, 2)) x(1, 0), x(1, 1), x(1, 2), x(2, 0), x(2, 1), x(2, 2))
// check for unit length column vectors // check for unit length column vectors
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
const idScalar length_minus_1 = const idScalar length_minus_1 =
std::fabs(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0); std::fabs(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0);
if (length_minus_1 > kAxisLengthEpsilon) { if (length_minus_1 > kAxisLengthEpsilon) {
error_message("Not a valid rotation matrix (column %d not unit length)\n" error_message("Not a valid rotation matrix (column %d not unit length)\n"
"column = [%.18e %.18e %.18e]\n" "column = [%.18e %.18e %.18e]\n"
"length-1.0= %.18e\n", "length-1.0= %.18e\n",
i, m(0, i), m(1, i), m(2, i), length_minus_1); i, m(0, i), m(1, i), m(2, i), length_minus_1);
print_mat(m); print_mat(m);
return false; return false;
} }
} }
// check for orthogonal column vectors // check for orthogonal column vectors
if (std::fabs(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon) { if (std::fabs(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon) {
error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n"); error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n");
print_mat(m); print_mat(m);
return false; return false;
} }
if (std::fabs(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon) { if (std::fabs(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon) {
error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
print_mat(m); print_mat(m);
return false; return false;
} }
if (std::fabs(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon) { if (std::fabs(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon) {
error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
print_mat(m); print_mat(m);
return false; return false;
} }
// check determinant (rotation not reflection) // check determinant (rotation not reflection)
if (determinant(m) <= 0) { if (determinant(m) <= 0) {
error_message("Not a valid rotation matrix (determinant <=0)\n"); error_message("Not a valid rotation matrix (determinant <=0)\n");
print_mat(m); print_mat(m);
return false; return false;
} }
return true; return true;
} }
bool isUnitVector(const vec3 &vector) { bool isUnitVector(const vec3 &vector) {
return std::fabs(vector(0) * vector(0) + vector(1) * vector(1) + vector(2) * vector(2) - 1.0) < return std::fabs(vector(0) * vector(0) + vector(1) * vector(1) + vector(2) * vector(2) - 1.0) <
kIsZero; kIsZero;
} }
vec3 rpyFromMatrix(const mat33 &rot) { vec3 rpyFromMatrix(const mat33 &rot) {
vec3 rpy; vec3 rpy;
rpy(2) = std::atan2(-rot(1, 0), rot(0, 0)); rpy(2) = std::atan2(-rot(1, 0), rot(0, 0));
rpy(1) = std::atan2(rot(2, 0), std::cos(rpy(2)) * rot(0, 0) - std::sin(rpy(0)) * rot(1, 0)); rpy(1) = std::atan2(rot(2, 0), std::cos(rpy(2)) * rot(0, 0) - std::sin(rpy(0)) * rot(1, 0));
rpy(0) = std::atan2(-rot(2, 0), rot(2, 2)); rpy(0) = std::atan2(-rot(2, 0), rot(2, 2));
return rpy; return rpy;
} }
} }

4
src/BulletInverseDynamics/IDMath.hpp
View File

@ -1,5 +1,5 @@
/// @file Math utility functions used in inverse dynamics library. /// @file Math utility functions used in inverse dynamics library.
/// Defined here as they may not be provided by the math library. /// Defined here as they may not be provided by the math library.
#ifndef IDMATH_HPP_ #ifndef IDMATH_HPP_
#define IDMATH_HPP_ #define IDMATH_HPP_
@ -39,7 +39,7 @@ bool isPositiveSemiDefiniteFuzzy(const mat33& m);
/// Determinant of 3x3 matrix /// Determinant of 3x3 matrix
/// NOTE: implemented here for portability, as determinant operation /// NOTE: implemented here for portability, as determinant operation
/// will be implemented differently for various matrix/vector libraries /// will be implemented differently for various matrix/vector libraries
/// @param m a 3x3 matrix /// @param m a 3x3 matrix
/// @return det(m) /// @return det(m)
idScalar determinant(const mat33& m); idScalar determinant(const mat33& m);

396
src/BulletInverseDynamics/MultiBodyTree.cpp
View File

@ -11,54 +11,54 @@
namespace btInverseDynamics { namespace btInverseDynamics {
MultiBodyTree::MultiBodyTree() MultiBodyTree::MultiBodyTree()
: m_is_finalized(false), : m_is_finalized(false),
m_mass_parameters_are_valid(true), m_mass_parameters_are_valid(true),
m_accept_invalid_mass_parameters(false), m_accept_invalid_mass_parameters(false),
m_impl(0x0), m_impl(0x0),
m_init_cache(0x0) { m_init_cache(0x0) {
m_init_cache = new InitCache(); m_init_cache = new InitCache();
} }
MultiBodyTree::~MultiBodyTree() { MultiBodyTree::~MultiBodyTree() {
delete m_impl; delete m_impl;
delete m_init_cache; delete m_init_cache;
} }
void MultiBodyTree::setAcceptInvalidMassParameters(bool flag) { void MultiBodyTree::setAcceptInvalidMassParameters(bool flag) {
m_accept_invalid_mass_parameters = flag; m_accept_invalid_mass_parameters = flag;
} }
bool MultiBodyTree::getAcceptInvalidMassProperties() const { bool MultiBodyTree::getAcceptInvalidMassProperties() const {
return m_accept_invalid_mass_parameters; return m_accept_invalid_mass_parameters;
} }
int MultiBodyTree::getBodyOrigin(const int body_index, vec3 *world_origin) const { int MultiBodyTree::getBodyOrigin(const int body_index, vec3 *world_origin) const {
return m_impl->getBodyOrigin(body_index, world_origin); return m_impl->getBodyOrigin(body_index, world_origin);
} }
int MultiBodyTree::getBodyCoM(const int body_index, vec3 *world_com) const { int MultiBodyTree::getBodyCoM(const int body_index, vec3 *world_com) const {
return m_impl->getBodyCoM(body_index, world_com); return m_impl->getBodyCoM(body_index, world_com);
} }
int MultiBodyTree::getBodyTransform(const int body_index, mat33 *world_T_body) const { int MultiBodyTree::getBodyTransform(const int body_index, mat33 *world_T_body) const {
return m_impl->getBodyTransform(body_index, world_T_body); return m_impl->getBodyTransform(body_index, world_T_body);
} }
int MultiBodyTree::getBodyAngularVelocity(const int body_index, vec3 *world_omega) const { int MultiBodyTree::getBodyAngularVelocity(const int body_index, vec3 *world_omega) const {
return m_impl->getBodyAngularVelocity(body_index, world_omega); return m_impl->getBodyAngularVelocity(body_index, world_omega);
} }
int MultiBodyTree::getBodyLinearVelocity(const int body_index, vec3 *world_velocity) const { int MultiBodyTree::getBodyLinearVelocity(const int body_index, vec3 *world_velocity) const {
return m_impl->getBodyLinearVelocity(body_index, world_velocity); return m_impl->getBodyLinearVelocity(body_index, world_velocity);
} }
int MultiBodyTree::getBodyLinearVelocityCoM(const int body_index, vec3 *world_velocity) const { int MultiBodyTree::getBodyLinearVelocityCoM(const int body_index, vec3 *world_velocity) const {
return m_impl->getBodyLinearVelocityCoM(body_index, world_velocity); return m_impl->getBodyLinearVelocityCoM(body_index, world_velocity);
} }
int MultiBodyTree::getBodyAngularAcceleration(const int body_index, vec3 *world_dot_omega) const { int MultiBodyTree::getBodyAngularAcceleration(const int body_index, vec3 *world_dot_omega) const {
return m_impl->getBodyAngularAcceleration(body_index, world_dot_omega); return m_impl->getBodyAngularAcceleration(body_index, world_dot_omega);
} }
int MultiBodyTree::getBodyLinearAcceleration(const int body_index, vec3 *world_acceleration) const { int MultiBodyTree::getBodyLinearAcceleration(const int body_index, vec3 *world_acceleration) const {
return m_impl->getBodyLinearAcceleration(body_index, world_acceleration); return m_impl->getBodyLinearAcceleration(body_index, world_acceleration);
} }
void MultiBodyTree::printTree() { m_impl->printTree(); } void MultiBodyTree::printTree() { m_impl->printTree(); }
@ -69,263 +69,263 @@ int MultiBodyTree::numBodies() const { return m_impl->m_num_bodies; }
int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; } int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; }
int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u, int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u,
vecx *joint_forces) { vecx *joint_forces) {
if (false == m_is_finalized) { if (false == m_is_finalized) {
error_message("system has not been initialized\n"); error_message("system has not been initialized\n");
return -1; return -1;
} }
if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces)) { if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces)) {
error_message("error in inverse dynamics calculation\n"); error_message("error in inverse dynamics calculation\n");
return -1; return -1;
} }
return 0; return 0;
} }
int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinematics, int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinematics,
const bool initialize_matrix, const bool initialize_matrix,
const bool set_lower_triangular_matrix, matxx *mass_matrix) { const bool set_lower_triangular_matrix, matxx *mass_matrix) {
if (false == m_is_finalized) { if (false == m_is_finalized) {
error_message("system has not been initialized\n"); error_message("system has not been initialized\n");
return -1; return -1;
} }
if (-1 == if (-1 ==
m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix, m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix,
set_lower_triangular_matrix, mass_matrix)) { set_lower_triangular_matrix, mass_matrix)) {
error_message("error in mass matrix calculation\n"); error_message("error in mass matrix calculation\n");
return -1; return -1;
} }
return 0; return 0;
} }
int MultiBodyTree::calculateMassMatrix(const vecx &q, matxx *mass_matrix) { int MultiBodyTree::calculateMassMatrix(const vecx &q, matxx *mass_matrix) {
return calculateMassMatrix(q, true, true, true, mass_matrix); return calculateMassMatrix(q, true, true, true, mass_matrix);
} }
int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_type, int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_type,
const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref, const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref,
const vec3 &body_axis_of_motion_, idScalar mass, const vec3 &body_axis_of_motion_, idScalar mass,
const vec3 &body_r_body_com, const mat33 &body_I_body, const vec3 &body_r_body_com, const mat33 &body_I_body,
const int user_int, void *user_ptr) { const int user_int, void *user_ptr) {
if (body_index < 0) { if (body_index < 0) {
error_message("body index must be positive (got %d)\n", body_index); error_message("body index must be positive (got %d)\n", body_index);
return -1; return -1;
} }
vec3 body_axis_of_motion(body_axis_of_motion_); vec3 body_axis_of_motion(body_axis_of_motion_);
switch (joint_type) { switch (joint_type) {
case REVOLUTE: case REVOLUTE:
case PRISMATIC: case PRISMATIC:
// check if axis is unit vector // check if axis is unit vector
if (!isUnitVector(body_axis_of_motion)) { if (!isUnitVector(body_axis_of_motion)) {
warning_message( warning_message(
"axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n", "axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n",
body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2)); body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2));
idScalar length = std::sqrt(std::pow(body_axis_of_motion(0), 2) + idScalar length = std::sqrt(std::pow(body_axis_of_motion(0), 2) +
std::pow(body_axis_of_motion(1), 2) + std::pow(body_axis_of_motion(1), 2) +
std::pow(body_axis_of_motion(2), 2)); std::pow(body_axis_of_motion(2), 2));
if (length < std::sqrt(std::numeric_limits<idScalar>::min())) { if (length < std::sqrt(std::numeric_limits<idScalar>::min())) {
error_message("axis of motion vector too short (%e)\n", length); error_message("axis of motion vector too short (%e)\n", length);
return -1; return -1;
} }
body_axis_of_motion = (1.0 / length) * body_axis_of_motion; body_axis_of_motion = (1.0 / length) * body_axis_of_motion;
} }
break; break;
case FIXED: case FIXED:
break; break;
case FLOATING: case FLOATING:
break; break;
default: default:
error_message("unknown joint type %d\n", joint_type); error_message("unknown joint type %d\n", joint_type);
return -1; return -1;
} }
// sanity check for mass properties. Zero mass is OK. // sanity check for mass properties. Zero mass is OK.
if (mass < 0) { if (mass < 0) {
m_mass_parameters_are_valid = false; m_mass_parameters_are_valid = false;
error_message("Body %d has invalid mass %e\n", body_index, mass); error_message("Body %d has invalid mass %e\n", body_index, mass);
if (!m_accept_invalid_mass_parameters) { if (!m_accept_invalid_mass_parameters) {
return -1; return -1;
} }
} }
if (!isValidInertiaMatrix(body_I_body, body_index, FIXED == joint_type)) { if (!isValidInertiaMatrix(body_I_body, body_index, FIXED == joint_type)) {
m_mass_parameters_are_valid = false; m_mass_parameters_are_valid = false;
// error message printed in function call // error message printed in function call
if (!m_accept_invalid_mass_parameters) { if (!m_accept_invalid_mass_parameters) {
return -1; return -1;
} }
} }
if (!isValidTransformMatrix(body_T_parent_ref)) { if (!isValidTransformMatrix(body_T_parent_ref)) {
return -1; return -1;
} }
return m_init_cache->addBody(body_index, parent_index, joint_type, parent_r_parent_body_ref, return m_init_cache->addBody(body_index, parent_index, joint_type, parent_r_parent_body_ref,
body_T_parent_ref, body_axis_of_motion, mass, body_r_body_com, body_T_parent_ref, body_axis_of_motion, mass, body_r_body_com,
body_I_body, user_int, user_ptr); body_I_body, user_int, user_ptr);
} }
int MultiBodyTree::getParentIndex(const int body_index, int *parent_index) const { int MultiBodyTree::getParentIndex(const int body_index, int *parent_index) const {
return m_impl->getParentIndex(body_index, parent_index); return m_impl->getParentIndex(body_index, parent_index);
} }
int MultiBodyTree::getUserInt(const int body_index, int *user_int) const { int MultiBodyTree::getUserInt(const int body_index, int *user_int) const {
return m_impl->getUserInt(body_index, user_int); return m_impl->getUserInt(body_index, user_int);
} }
int MultiBodyTree::getUserPtr(const int body_index, void **user_ptr) const { int MultiBodyTree::getUserPtr(const int body_index, void **user_ptr) const {
return m_impl->getUserPtr(body_index, user_ptr); return m_impl->getUserPtr(body_index, user_ptr);
} }
int MultiBodyTree::setUserInt(const int body_index, const int user_int) { int MultiBodyTree::setUserInt(const int body_index, const int user_int) {
return m_impl->setUserInt(body_index, user_int); return m_impl->setUserInt(body_index, user_int);
} }
int MultiBodyTree::setUserPtr(const int body_index, void *const user_ptr) { int MultiBodyTree::setUserPtr(const int body_index, void *const user_ptr) {
return m_impl->setUserPtr(body_index, user_ptr); return m_impl->setUserPtr(body_index, user_ptr);
} }
int MultiBodyTree::finalize() { int MultiBodyTree::finalize() {
const int &num_bodies = m_init_cache->numBodies(); const int &num_bodies = m_init_cache->numBodies();
const int &num_dofs = m_init_cache->numDoFs(); const int &num_dofs = m_init_cache->numDoFs();
// 1 allocate internal MultiBody structure // 1 allocate internal MultiBody structure
m_impl = new MultiBodyImpl(num_bodies, num_dofs); m_impl = new MultiBodyImpl(num_bodies, num_dofs);
// 2 build new index set assuring index(parent) < index(child) // 2 build new index set assuring index(parent) < index(child)
if (-1 == m_init_cache->buildIndexSets()) { if (-1 == m_init_cache->buildIndexSets()) {
return -1; return -1;
} }
m_init_cache->getParentIndexArray(&m_impl->m_parent_index); m_init_cache->getParentIndexArray(&m_impl->m_parent_index);
// 3 setup internal kinematic and dynamic data // 3 setup internal kinematic and dynamic data
for (int index = 0; index < num_bodies; index++) { for (int index = 0; index < num_bodies; index++) {
InertiaData inertia; InertiaData inertia;
JointData joint; JointData joint;
if (-1 == m_init_cache->getInertiaData(index, &inertia)) { if (-1 == m_init_cache->getInertiaData(index, &inertia)) {
return -1; return -1;
} }
if (-1 == m_init_cache->getJointData(index, &joint)) { if (-1 == m_init_cache->getJointData(index, &joint)) {
return -1; return -1;
} }
RigidBody &rigid_body = m_impl->m_body_list[index]; RigidBody &rigid_body = m_impl->m_body_list[index];
rigid_body.m_mass = inertia.m_mass; rigid_body.m_mass = inertia.m_mass;
rigid_body.m_body_mass_com = inertia.m_mass * inertia.m_body_pos_body_com; rigid_body.m_body_mass_com = inertia.m_mass * inertia.m_body_pos_body_com;
rigid_body.m_body_I_body = inertia.m_body_I_body; rigid_body.m_body_I_body = inertia.m_body_I_body;
rigid_body.m_joint_type = joint.m_type; rigid_body.m_joint_type = joint.m_type;
rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref; rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
rigid_body.m_body_T_parent_ref = joint.m_child_T_parent_ref; rigid_body.m_body_T_parent_ref = joint.m_child_T_parent_ref;
rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref; rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
rigid_body.m_joint_type = joint.m_type; rigid_body.m_joint_type = joint.m_type;
// Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized // Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized
// matrices. // matrices.
switch (rigid_body.m_joint_type) { switch (rigid_body.m_joint_type) {
case REVOLUTE: case REVOLUTE:
rigid_body.m_Jac_JR(0) = joint.m_child_axis_of_motion(0); rigid_body.m_Jac_JR(0) = joint.m_child_axis_of_motion(0);
rigid_body.m_Jac_JR(1) = joint.m_child_axis_of_motion(1); rigid_body.m_Jac_JR(1) = joint.m_child_axis_of_motion(1);
rigid_body.m_Jac_JR(2) = joint.m_child_axis_of_motion(2); rigid_body.m_Jac_JR(2) = joint.m_child_axis_of_motion(2);
rigid_body.m_Jac_JT(0) = 0.0; rigid_body.m_Jac_JT(0) = 0.0;
rigid_body.m_Jac_JT(1) = 0.0; rigid_body.m_Jac_JT(1) = 0.0;
rigid_body.m_Jac_JT(2) = 0.0; rigid_body.m_Jac_JT(2) = 0.0;
break; break;
case PRISMATIC: case PRISMATIC:
rigid_body.m_Jac_JR(0) = 0.0; rigid_body.m_Jac_JR(0) = 0.0;
rigid_body.m_Jac_JR(1) = 0.0; rigid_body.m_Jac_JR(1) = 0.0;
rigid_body.m_Jac_JR(2) = 0.0; rigid_body.m_Jac_JR(2) = 0.0;
rigid_body.m_Jac_JT(0) = joint.m_child_axis_of_motion(0); rigid_body.m_Jac_JT(0) = joint.m_child_axis_of_motion(0);
rigid_body.m_Jac_JT(1) = joint.m_child_axis_of_motion(1); rigid_body.m_Jac_JT(1) = joint.m_child_axis_of_motion(1);
rigid_body.m_Jac_JT(2) = joint.m_child_axis_of_motion(2); rigid_body.m_Jac_JT(2) = joint.m_child_axis_of_motion(2);
break; break;
case FIXED: case FIXED:
// NOTE/TODO: dimension really should be zero .. // NOTE/TODO: dimension really should be zero ..
rigid_body.m_Jac_JR(0) = 0.0; rigid_body.m_Jac_JR(0) = 0.0;
rigid_body.m_Jac_JR(1) = 0.0; rigid_body.m_Jac_JR(1) = 0.0;
rigid_body.m_Jac_JR(2) = 0.0; rigid_body.m_Jac_JR(2) = 0.0;
rigid_body.m_Jac_JT(0) = 0.0; rigid_body.m_Jac_JT(0) = 0.0;
rigid_body.m_Jac_JT(1) = 0.0; rigid_body.m_Jac_JT(1) = 0.0;
rigid_body.m_Jac_JT(2) = 0.0; rigid_body.m_Jac_JT(2) = 0.0;
break; break;
case FLOATING: case FLOATING:
// NOTE/TODO: this is not really correct. // NOTE/TODO: this is not really correct.
// the Jacobians should be 3x3 matrices here ! // the Jacobians should be 3x3 matrices here !
rigid_body.m_Jac_JR(0) = 0.0; rigid_body.m_Jac_JR(0) = 0.0;
rigid_body.m_Jac_JR(1) = 0.0; rigid_body.m_Jac_JR(1) = 0.0;
rigid_body.m_Jac_JR(2) = 0.0; rigid_body.m_Jac_JR(2) = 0.0;
rigid_body.m_Jac_JT(0) = 0.0; rigid_body.m_Jac_JT(0) = 0.0;
rigid_body.m_Jac_JT(1) = 0.0; rigid_body.m_Jac_JT(1) = 0.0;
rigid_body.m_Jac_JT(2) = 0.0; rigid_body.m_Jac_JT(2) = 0.0;
break; break;
default: default:
error_message("unsupported joint type %d\n", rigid_body.m_joint_type); error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
return -1; return -1;
} }
} }
// 4 assign degree of freedom indices & build per-joint-type index arrays // 4 assign degree of freedom indices & build per-joint-type index arrays
if (-1 == m_impl->generateIndexSets()) { if (-1 == m_impl->generateIndexSets()) {
error_message("generating index sets\n"); error_message("generating index sets\n");
return -1; return -1;
} }
// 5 do some pre-computations .. // 5 do some pre-computations ..
m_impl->calculateStaticData(); m_impl->calculateStaticData();
// 6. make sure all user forces are set to zero, as this might not happen // 6. make sure all user forces are set to zero, as this might not happen
// in the vector ctors. // in the vector ctors.
m_impl->clearAllUserForcesAndMoments(); m_impl->clearAllUserForcesAndMoments();
m_is_finalized = true; m_is_finalized = true;
return 0; return 0;
} }
int MultiBodyTree::setGravityInWorldFrame(const vec3 &gravity) { int MultiBodyTree::setGravityInWorldFrame(const vec3 &gravity) {
return m_impl->setGravityInWorldFrame(gravity); return m_impl->setGravityInWorldFrame(gravity);
} }
int MultiBodyTree::getJointType(const int body_index, JointType *joint_type) const { int MultiBodyTree::getJointType(const int body_index, JointType *joint_type) const {
return m_impl->getJointType(body_index, joint_type); return m_impl->getJointType(body_index, joint_type);
} }
int MultiBodyTree::getJointTypeStr(const int body_index, const char **joint_type) const { int MultiBodyTree::getJointTypeStr(const int body_index, const char **joint_type) const {
return m_impl->getJointTypeStr(body_index, joint_type); return m_impl->getJointTypeStr(body_index, joint_type);
} }
int MultiBodyTree::getDoFOffset(const int body_index, int *q_offset) const { int MultiBodyTree::getDoFOffset(const int body_index, int *q_offset) const {
return m_impl->getDoFOffset(body_index, q_offset); return m_impl->getDoFOffset(body_index, q_offset);
} }
int MultiBodyTree::setBodyMass(const int body_index, idScalar mass) { int MultiBodyTree::setBodyMass(const int body_index, idScalar mass) {
return m_impl->setBodyMass(body_index, mass); return m_impl->setBodyMass(body_index, mass);
} }
int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment) { int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment) {
return m_impl->setBodyFirstMassMoment(body_index, first_mass_moment); return m_impl->setBodyFirstMassMoment(body_index, first_mass_moment);
} }
int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment) { int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment) {
return m_impl->setBodySecondMassMoment(body_index, second_mass_moment); return m_impl->setBodySecondMassMoment(body_index, second_mass_moment);
} }
int MultiBodyTree::getBodyMass(const int body_index, idScalar *mass) const { int MultiBodyTree::getBodyMass(const int body_index, idScalar *mass) const {
return m_impl->getBodyMass(body_index, mass); return m_impl->getBodyMass(body_index, mass);
} }
int MultiBodyTree::getBodyFirstMassMoment(const int body_index, vec3 *first_mass_moment) const { int MultiBodyTree::getBodyFirstMassMoment(const int body_index, vec3 *first_mass_moment) const {
return m_impl->getBodyFirstMassMoment(body_index, first_mass_moment); return m_impl->getBodyFirstMassMoment(body_index, first_mass_moment);
} }
int MultiBodyTree::getBodySecondMassMoment(const int body_index, mat33 *second_mass_moment) const { int MultiBodyTree::getBodySecondMassMoment(const int body_index, mat33 *second_mass_moment) const {
return m_impl->getBodySecondMassMoment(body_index, second_mass_moment); return m_impl->getBodySecondMassMoment(body_index, second_mass_moment);
} }
void MultiBodyTree::clearAllUserForcesAndMoments() { m_impl->clearAllUserForcesAndMoments(); } void MultiBodyTree::clearAllUserForcesAndMoments() { m_impl->clearAllUserForcesAndMoments(); }
int MultiBodyTree::addUserForce(const int body_index, const vec3 &body_force) { int MultiBodyTree::addUserForce(const int body_index, const vec3 &body_force) {
return m_impl->addUserForce(body_index, body_force); return m_impl->addUserForce(body_index, body_force);
} }
int MultiBodyTree::addUserMoment(const int body_index, const vec3 &body_moment) { int MultiBodyTree::addUserMoment(const int body_index, const vec3 &body_moment) {
return m_impl->addUserMoment(body_index, body_moment); return m_impl->addUserMoment(body_index, body_moment);
} }
} }

544
src/BulletInverseDynamics/MultiBodyTree.hpp
View File

@ -1,20 +1,21 @@
#ifndef MULTIBODYTREE_HPP_ #ifndef MULTIBODYTREE_HPP_
#define MULTIBODYTREE_HPP_ #define MULTIBODYTREE_HPP_
#include "IDConfig.hpp"
#include "IDMath.hpp" #include "IDMath.hpp"
namespace btInverseDynamics { namespace btInverseDynamics {
/// Enumeration of supported joint types /// Enumeration of supported joint types
enum JointType { enum JointType {
/// no degree of freedom, moves with parent /// no degree of freedom, moves with parent
FIXED = 0, FIXED = 0,
/// one rotational degree of freedom relative to parent /// one rotational degree of freedom relative to parent
REVOLUTE, REVOLUTE,
/// one translational degree of freedom relative to parent /// one translational degree of freedom relative to parent
PRISMATIC, PRISMATIC,
/// six degrees of freedom relative to parent /// six degrees of freedom relative to parent
FLOATING FLOATING
}; };
/// Interface class for calculating inverse dynamics for tree structured /// Interface class for calculating inverse dynamics for tree structured
@ -24,285 +25,284 @@ enum JointType {
/// The q vector contains the generalized coordinate set defining the tree's configuration. /// The q vector contains the generalized coordinate set defining the tree's configuration.
/// Every joint adds elements that define the corresponding link's frame pose relative to /// Every joint adds elements that define the corresponding link's frame pose relative to
/// its parent. For the joint types that is: /// its parent. For the joint types that is:
/// - FIXED: none /// - FIXED: none
/// - REVOLUTE: angle of rotation [rad] /// - REVOLUTE: angle of rotation [rad]
/// - PRISMATIC: displacement [m] /// - PRISMATIC: displacement [m]
/// - FLOATING: Euler x-y-z angles [rad] and displacement in body-fixed frame of parent [m] /// - FLOATING: Euler x-y-z angles [rad] and displacement in body-fixed frame of parent [m]
/// (in that order) /// (in that order)
/// The u vector contains the generalized speeds, which are /// The u vector contains the generalized speeds, which are
/// - FIXED: none /// - FIXED: none
/// - REVOLUTE: time derivative of angle of rotation [rad/s] /// - REVOLUTE: time derivative of angle of rotation [rad/s]
/// - PRISMATIC: time derivative of displacement [m/s] /// - PRISMATIC: time derivative of displacement [m/s]
/// - FLOATING: angular velocity [rad/s] (*not* time derivative of rpy angles) /// - FLOATING: angular velocity [rad/s] (*not* time derivative of rpy angles)
/// and time derivative of displacement in parent frame [m/s] /// and time derivative of displacement in parent frame [m/s]
/// ///
/// The q and u vectors are obtained by stacking contributions of all bodies in one /// The q and u vectors are obtained by stacking contributions of all bodies in one
/// vector in the order of body indices. /// vector in the order of body indices.
/// ///
/// Note on generalized forces: analogous to u, i.e., /// Note on generalized forces: analogous to u, i.e.,
/// - FIXED: none /// - FIXED: none
/// - REVOLUTE: moment [Nm], about joint axis /// - REVOLUTE: moment [Nm], about joint axis
/// - PRISMATIC: force [N], along joint axis /// - PRISMATIC: force [N], along joint axis
/// - FLOATING: moment vector [Nm] and force vector [N], both in body-fixed frame /// - FLOATING: moment vector [Nm] and force vector [N], both in body-fixed frame
/// (in that order) /// (in that order)
/// ///
/// TODO - force element interface (friction, springs, dampers, etc) /// TODO - force element interface (friction, springs, dampers, etc)
/// - gears and motor inertia /// - gears and motor inertia
class MultiBodyTree { class MultiBodyTree {
public: public:
/// The contructor. /// The contructor.
/// Initialization & allocation is via addBody and buildSystem calls. /// Initialization & allocation is via addBody and buildSystem calls.
MultiBodyTree(); MultiBodyTree();
/// the destructor. This also deallocates all memory /// the destructor. This also deallocates all memory
~MultiBodyTree(); ~MultiBodyTree();
/// Add body to the system. this allocates memory and not real-time safe. /// Add body to the system. this allocates memory and not real-time safe.
/// This only adds the data to an initial cache. After all bodies have been /// This only adds the data to an initial cache. After all bodies have been
/// added, /// added,
/// the system is setup using the buildSystem call /// the system is setup using the buildSystem call
/// @param body_index index of the body to be added. Must >=0, <number of bodies, /// @param body_index index of the body to be added. Must >=0, <number of bodies,
/// and index of parent must be < index of body /// and index of parent must be < index of body
/// @param parent_index index of the parent body /// @param parent_index index of the parent body
/// The root of the tree has index 0 and its parent (the world frame) /// The root of the tree has index 0 and its parent (the world frame)
/// is assigned index -1 /// is assigned index -1
/// the rotation and translation relative to the parent are taken as /// the rotation and translation relative to the parent are taken as
/// pose of the root body relative to the world frame. Other parameters /// pose of the root body relative to the world frame. Other parameters
/// are ignored /// are ignored
/// @param JointType type of joint connecting the body to the parent /// @param JointType type of joint connecting the body to the parent
/// @param mass the mass of the body /// @param mass the mass of the body
/// @param body_r_body_com the center of mass of the body relative to and /// @param body_r_body_com the center of mass of the body relative to and
/// described in /// described in
/// the body fixed frame, which is located in the joint axis connecting /// the body fixed frame, which is located in the joint axis connecting
/// the body to its parent /// the body to its parent
/// @param body_I_body the moment of inertia of the body w.r.t the body-fixed /// @param body_I_body the moment of inertia of the body w.r.t the body-fixed
/// frame /// frame
/// (ie, the reference point is the origin of the body-fixed frame and /// (ie, the reference point is the origin of the body-fixed frame and
/// the matrix is written /// the matrix is written
/// w.r.t. those unit vectors) /// w.r.t. those unit vectors)
/// @param parent_r_parent_body_ref position of joint relative to the parent /// @param parent_r_parent_body_ref position of joint relative to the parent
/// body's reference frame /// body's reference frame
/// for q=0, written in the parent bodies reference frame /// for q=0, written in the parent bodies reference frame
/// @param body_axis_of_motion translation/rotation axis in body-fixed frame. /// @param body_axis_of_motion translation/rotation axis in body-fixed frame.
/// Ignored for joints that are not revolute or prismatic. /// Ignored for joints that are not revolute or prismatic.
/// must be a unit vector. /// must be a unit vector.
/// @param body_T_parent_ref transform matrix from parent to body reference /// @param body_T_parent_ref transform matrix from parent to body reference
/// frame for q=0. /// frame for q=0.
/// This is the matrix transforming a vector represented in the /// This is the matrix transforming a vector represented in the
/// parent's reference frame into one represented /// parent's reference frame into one represented
/// in this body's reference frame. /// in this body's reference frame.
/// ie, if parent_vec is a vector in R^3 whose components are w.r.t to /// ie, if parent_vec is a vector in R^3 whose components are w.r.t to
/// the parent's reference frame, /// the parent's reference frame,
/// then the same vector written w.r.t. this body's frame (for q=0) is /// then the same vector written w.r.t. this body's frame (for q=0) is
/// given by /// given by
/// body_vec = parent_R_body_ref * parent_vec /// body_vec = parent_R_body_ref * parent_vec
/// @param user_ptr pointer to user data /// @param user_ptr pointer to user data
/// @param user_int pointer to user integer /// @param user_int pointer to user integer
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int addBody(int body_index, int parent_index, JointType joint_type, int addBody(int body_index, int parent_index, JointType joint_type,
const vec3& parent_r_parent_body_ref, const mat33& body_T_parent_ref, const vec3& parent_r_parent_body_ref, const mat33& body_T_parent_ref,
const vec3& body_axis_of_motion, idScalar mass, const vec3& body_r_body_com, const vec3& body_axis_of_motion, idScalar mass, const vec3& body_r_body_com,
const mat33& body_I_body, const int user_int, void* user_ptr); const mat33& body_I_body, const int user_int, void* user_ptr);
/// set policy for invalid mass properties /// set policy for invalid mass properties
/// @param flag if true, invalid mass properties are accepted, /// @param flag if true, invalid mass properties are accepted,
/// the default is false /// the default is false
void setAcceptInvalidMassParameters(bool flag); void setAcceptInvalidMassParameters(bool flag);
/// @return the mass properties policy flag /// @return the mass properties policy flag
bool getAcceptInvalidMassProperties() const; bool getAcceptInvalidMassProperties() const;
/// build internal data structures /// build internal data structures
/// call this after all bodies have been added via addBody /// call this after all bodies have been added via addBody
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int finalize(); int finalize();
/// pretty print ascii description of tree to stdout /// pretty print ascii description of tree to stdout
void printTree(); void printTree();
/// print tree data to stdout /// print tree data to stdout
void printTreeData(); void printTreeData();
/// calculate joint forces for given generalized state & derivatives /// calculate joint forces for given generalized state & derivatives
/// @param q generalized coordinates /// @param q generalized coordinates
/// @param u generalized velocities. In the general case, u=T(q)*dot(q) and dim(q)>=dim(u) /// @param u generalized velocities. In the general case, u=T(q)*dot(q) and dim(q)>=dim(u)
/// @param dot_u time derivative of u /// @param dot_u time derivative of u
/// @param joint_forces this is where the resulting joint forces will be /// @param joint_forces this is where the resulting joint forces will be
/// stored. dim(joint_forces) = dim(u) /// stored. dim(joint_forces) = dim(u)
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u, int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u,
vecx* joint_forces); vecx* joint_forces);
/// Calculate joint space mass matrix /// Calculate joint space mass matrix
/// @param q generalized coordinates /// @param q generalized coordinates
/// @param initialize_matrix if true, initialize mass matrix with zero. /// @param initialize_matrix if true, initialize mass matrix with zero.
/// If mass_matrix is initialized to zero externally and only used /// If mass_matrix is initialized to zero externally and only used
/// for mass matrix computations for the same system, it is safe to /// for mass matrix computations for the same system, it is safe to
/// set this to false. /// set this to false.
/// @param set_lower_triangular_matrix if true, the lower triangular section of mass_matrix /// @param set_lower_triangular_matrix if true, the lower triangular section of mass_matrix
/// is also populated, otherwise not. /// is also populated, otherwise not.
/// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q)) /// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q))
/// @return -1 on error, 0 on success /// @return -1 on error, 0 on success
int calculateMassMatrix(const vecx& q, const bool update_kinematics, int calculateMassMatrix(const vecx& q, const bool update_kinematics,
const bool initialize_matrix, const bool set_lower_triangular_matrix, const bool initialize_matrix, const bool set_lower_triangular_matrix,
matxx* mass_matrix); matxx* mass_matrix);
/// Calculate joint space mass matrix. /// Calculate joint space mass matrix.
/// This version will update kinematics, initialize all mass_matrix elements to zero and /// This version will update kinematics, initialize all mass_matrix elements to zero and
/// populate all mass matrix entries. /// populate all mass matrix entries.
/// @param q generalized coordinates /// @param q generalized coordinates
/// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q)) /// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q))
/// @return -1 on error, 0 on success /// @return -1 on error, 0 on success
int calculateMassMatrix(const vecx& q, matxx* mass_matrix); int calculateMassMatrix(const vecx& q, matxx* mass_matrix);
/// set gravitational acceleration /// set gravitational acceleration
/// the default is [0;0;-9.8] in the world frame /// the default is [0;0;-9.8] in the world frame
/// @param gravity the gravitational acceleration in world frame /// @param gravity the gravitational acceleration in world frame
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int setGravityInWorldFrame(const vec3& gravity); int setGravityInWorldFrame(const vec3& gravity);
/// returns number of bodies in tree /// returns number of bodies in tree
int numBodies() const; int numBodies() const;
/// returns number of mechanical degrees of freedom (dimension of q-vector) /// returns number of mechanical degrees of freedom (dimension of q-vector)
int numDoFs() const; int numDoFs() const;
/// get origin of a body-fixed frame, represented in world frame /// get origin of a body-fixed frame, represented in world frame
/// @param body_index index for frame/body /// @param body_index index for frame/body
/// @param world_origin pointer for return data /// @param world_origin pointer for return data
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getBodyOrigin(const int body_index, vec3* world_origin) const; int getBodyOrigin(const int body_index, vec3* world_origin) const;
/// get center of mass of a body, represented in world frame /// get center of mass of a body, represented in world frame
/// @param body_index index for frame/body /// @param body_index index for frame/body
/// @param world_com pointer for return data /// @param world_com pointer for return data
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getBodyCoM(const int body_index, vec3* world_com) const; int getBodyCoM(const int body_index, vec3* world_com) const;
/// get transform from of a body-fixed frame to the world frame /// get transform from of a body-fixed frame to the world frame
/// @param body_index index for frame/body /// @param body_index index for frame/body
/// @param world_T_body pointer for return data /// @param world_T_body pointer for return data
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getBodyTransform(const int body_index, mat33* world_T_body) const; int getBodyTransform(const int body_index, mat33* world_T_body) const;
/// get absolute angular velocity for a body, represented in the world frame /// get absolute angular velocity for a body, represented in the world frame
/// @param body_index index for frame/body /// @param body_index index for frame/body
/// @param world_omega pointer for return data /// @param world_omega pointer for return data
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getBodyAngularVelocity(const int body_index, vec3* world_omega) const; int getBodyAngularVelocity(const int body_index, vec3* world_omega) const;
/// get linear velocity of a body, represented in world frame /// get linear velocity of a body, represented in world frame
/// @param body_index index for frame/body /// @param body_index index for frame/body
/// @param world_velocity pointer for return data /// @param world_velocity pointer for return data
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const; int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const;
/// get linear velocity of a body's CoM, represented in world frame /// get linear velocity of a body's CoM, represented in world frame
/// (not required for inverse dynamics, provided for convenience) /// (not required for inverse dynamics, provided for convenience)
/// @param body_index index for frame/body /// @param body_index index for frame/body
/// @param world_vel_com pointer for return data /// @param world_vel_com pointer for return data
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const; int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const;
/// get origin of a body-fixed frame, represented in world frame /// get origin of a body-fixed frame, represented in world frame
/// @param body_index index for frame/body /// @param body_index index for frame/body
/// @param world_origin pointer for return data /// @param world_origin pointer for return data
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const; int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const;
/// get origin of a body-fixed frame, represented in world frame /// get origin of a body-fixed frame, represented in world frame
/// NOTE: this will include the gravitational acceleration, so the actual acceleration is /// NOTE: this will include the gravitational acceleration, so the actual acceleration is
/// obtainened by setting gravitational acceleration to zero, or subtracting it. /// obtainened by setting gravitational acceleration to zero, or subtracting it.
/// @param body_index index for frame/body /// @param body_index index for frame/body
/// @param world_origin pointer for return data /// @param world_origin pointer for return data
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const; int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const;
/// returns the (internal) index of body /// returns the (internal) index of body
/// @param body_index is the index of a body (internal: TODO: fix/clarify /// @param body_index is the index of a body (internal: TODO: fix/clarify
/// indexing!) /// indexing!)
/// @param parent_index pointer to where parent index will be stored /// @param parent_index pointer to where parent index will be stored
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getParentIndex(const int body_index, int* parent_index) const; int getParentIndex(const int body_index, int* parent_index) const;
/// get joint type /// get joint type
/// @param body_index index of the body /// @param body_index index of the body
/// @param joint_type the corresponding joint type /// @param joint_type the corresponding joint type
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int getJointType(const int body_index, JointType* joint_type) const; int getJointType(const int body_index, JointType* joint_type) const;
/// get joint type as string /// get joint type as string
/// @param body_index index of the body /// @param body_index index of the body
/// @param joint_type string naming the corresponding joint type /// @param joint_type string naming the corresponding joint type
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int getJointTypeStr(const int body_index, const char** joint_type) const; int getJointTypeStr(const int body_index, const char** joint_type) const;
/// get offset for degrees of freedom of this body into the q-vector /// get offset for degrees of freedom of this body into the q-vector
/// @param body_index index of the body /// @param body_index index of the body
/// @param q_offset offset the q vector /// @param q_offset offset the q vector
/// @return -1 on error, 0 on success /// @return -1 on error, 0 on success
int getDoFOffset(const int body_index, int* q_offset) const; int getDoFOffset(const int body_index, int* q_offset) const;
/// get user integer. not used by the library. /// get user integer. not used by the library.
/// @param body_index index of the body /// @param body_index index of the body
/// @param user_int the user integer /// @param user_int the user integer
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getUserInt(const int body_index, int* user_int) const; int getUserInt(const int body_index, int* user_int) const;
/// get user pointer. not used by the library. /// get user pointer. not used by the library.
/// @param body_index index of the body /// @param body_index index of the body
/// @param user_ptr the user pointer /// @param user_ptr the user pointer
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int getUserPtr(const int body_index, void** user_ptr) const; int getUserPtr(const int body_index, void** user_ptr) const;
/// set user integer. not used by the library. /// set user integer. not used by the library.
/// @param body_index index of the body /// @param body_index index of the body
/// @param user_int the user integer /// @param user_int the user integer
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int setUserInt(const int body_index, const int user_int); int setUserInt(const int body_index, const int user_int);
/// set user pointer. not used by the library. /// set user pointer. not used by the library.
/// @param body_index index of the body /// @param body_index index of the body
/// @param user_ptr the user pointer /// @param user_ptr the user pointer
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int setUserPtr(const int body_index, void* const user_ptr); int setUserPtr(const int body_index, void* const user_ptr);
/// set mass for a body /// set mass for a body
/// @param body_index index of the body /// @param body_index index of the body
/// @param mass the mass to set /// @param mass the mass to set
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int setBodyMass(const int body_index, const idScalar mass); int setBodyMass(const int body_index, const idScalar mass);
/// set first moment of mass for a body /// set first moment of mass for a body
/// (mass * center of mass, in body fixed frame, relative to joint) /// (mass * center of mass, in body fixed frame, relative to joint)
/// @param body_index index of the body /// @param body_index index of the body
/// @param first_mass_moment the vector to set /// @param first_mass_moment the vector to set
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment); int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment);
/// set second moment of mass for a body /// set second moment of mass for a body
/// (moment of inertia, in body fixed frame, relative to joint) /// (moment of inertia, in body fixed frame, relative to joint)
/// @param body_index index of the body /// @param body_index index of the body
/// @param second_mass_moment the inertia matrix /// @param second_mass_moment the inertia matrix
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment); int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment);
/// get mass for a body /// get mass for a body
/// @param body_index index of the body /// @param body_index index of the body
/// @param mass the mass /// @param mass the mass
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int getBodyMass(const int body_index, idScalar* mass) const; int getBodyMass(const int body_index, idScalar* mass) const;
/// get first moment of mass for a body /// get first moment of mass for a body
/// (mass * center of mass, in body fixed frame, relative to joint) /// (mass * center of mass, in body fixed frame, relative to joint)
/// @param body_index index of the body /// @param body_index index of the body
/// @param first_moment the vector /// @param first_moment the vector
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const; int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const;
/// get second moment of mass for a body /// get second moment of mass for a body
/// (moment of inertia, in body fixed frame, relative to joint) /// (moment of inertia, in body fixed frame, relative to joint)
/// @param body_index index of the body /// @param body_index index of the body
/// @param second_mass_moment the inertia matrix /// @param second_mass_moment the inertia matrix
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const; int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const;
/// set all user forces and moments to zero /// set all user forces and moments to zero
void clearAllUserForcesAndMoments(); void clearAllUserForcesAndMoments();
/// Add an external force to a body, acting at the origin of the body-fixed frame. /// Add an external force to a body, acting at the origin of the body-fixed frame.
/// Calls to addUserForce are cumulative. Set the user force and moment to zero /// Calls to addUserForce are cumulative. Set the user force and moment to zero
/// via clearAllUserForcesAndMoments() /// via clearAllUserForcesAndMoments()
/// @param body_force the force represented in the body-fixed frame of reference /// @param body_force the force represented in the body-fixed frame of reference
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int addUserForce(const int body_index, const vec3& body_force); int addUserForce(const int body_index, const vec3& body_force);
/// Add an external moment to a body. /// Add an external moment to a body.
/// Calls to addUserMoment are cumulative. Set the user force and moment to zero /// Calls to addUserMoment are cumulative. Set the user force and moment to zero
/// via clearAllUserForcesAndMoments() /// via clearAllUserForcesAndMoments()
/// @param body_moment the moment represented in the body-fixed frame of reference /// @param body_moment the moment represented in the body-fixed frame of reference
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int addUserMoment(const int body_index, const vec3& body_moment); int addUserMoment(const int body_index, const vec3& body_moment);
private: private:
// flag indicating if system has been initialized // flag indicating if system has been initialized
bool m_is_finalized; bool m_is_finalized;
// flag indicating if mass properties are physically valid // flag indicating if mass properties are physically valid
bool m_mass_parameters_are_valid; bool m_mass_parameters_are_valid;
// flag defining if unphysical mass parameters are accepted // flag defining if unphysical mass parameters are accepted
bool m_accept_invalid_mass_parameters; bool m_accept_invalid_mass_parameters;
// This struct implements the inverse dynamics calculations // This struct implements the inverse dynamics calculations
class MultiBodyImpl; class MultiBodyImpl;
MultiBodyImpl* m_impl; MultiBodyImpl* m_impl;
// cache data structure for initialization // cache data structure for initialization
class InitCache; class InitCache;
InitCache* m_init_cache; InitCache* m_init_cache;
}; };
} // namespace btInverseDynamics } // namespace btInverseDynamics
#endif // MULTIBODYTREE_HPP_ #endif // MULTIBODYTREE_HPP_

122
src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
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@ -17,29 +17,29 @@ typedef btMatrixX<idScalar> matxx;
class vec3 : public btVector3 { class vec3 : public btVector3 {
public: public:
vec3() : btVector3() {} vec3() : btVector3() {}
vec3(const btVector3& btv) { *this = btv; } vec3(const btVector3& btv) { *this = btv; }
idScalar& operator()(int i) { return (*this)[i]; } idScalar& operator()(int i) { return (*this)[i]; }
const idScalar& operator()(int i) const { return (*this)[i]; } const idScalar& operator()(int i) const { return (*this)[i]; }
const int size() const { return 3; } const int size() const { return 3; }
const vec3& operator=(const btVector3& rhs) { const vec3& operator=(const btVector3& rhs) {
*static_cast<btVector3*>(this) = rhs; *static_cast<btVector3*>(this) = rhs;
return *this; return *this;
} }
}; };
class mat33 : public btMatrix3x3 { class mat33 : public btMatrix3x3 {
public: public:
mat33() : btMatrix3x3() {} mat33() : btMatrix3x3() {}
mat33(const btMatrix3x3& btm) { *this = btm; } mat33(const btMatrix3x3& btm) { *this = btm; }
idScalar& operator()(int i, int j) { return (*this)[i][j]; } idScalar& operator()(int i, int j) { return (*this)[i][j]; }
const idScalar& operator()(int i, int j) const { return (*this)[i][j]; } const idScalar& operator()(int i, int j) const { return (*this)[i][j]; }
const mat33& operator=(const btMatrix3x3& rhs) { const mat33& operator=(const btMatrix3x3& rhs) {
*static_cast<btMatrix3x3*>(this) = rhs; *static_cast<btMatrix3x3*>(this) = rhs;
return *this; return *this;
} }
friend mat33 operator*(const idScalar& s, const mat33& a); friend mat33 operator*(const idScalar& s, const mat33& a);
friend mat33 operator/(const mat33& a, const idScalar& s); friend mat33 operator/(const mat33& a, const idScalar& s);
}; };
inline mat33 operator/(const mat33& a, const idScalar& s) { return a * (1.0 / s); } inline mat33 operator/(const mat33& a, const idScalar& s) { return a * (1.0 / s); }
@ -48,64 +48,64 @@ inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
class vecx : public btVectorX<idScalar> { class vecx : public btVectorX<idScalar> {
public: public:
vecx(int size) : btVectorX(size) {} vecx(int size) : btVectorX(size) {}
const vecx& operator=(const btVectorX<idScalar>& rhs) { const vecx& operator=(const btVectorX<idScalar>& rhs) {
*static_cast<btVectorX*>(this) = rhs; *static_cast<btVectorX*>(this) = rhs;
return *this; return *this;
} }
idScalar& operator()(int i) { return (*this)[i]; } idScalar& operator()(int i) { return (*this)[i]; }
const idScalar& operator()(int i) const { return (*this)[i]; } const idScalar& operator()(int i) const { return (*this)[i]; }
friend vecx operator*(const vecx& a, const idScalar& s); friend vecx operator*(const vecx& a, const idScalar& s);
friend vecx operator*(const idScalar& s, const vecx& a); friend vecx operator*(const idScalar& s, const vecx& a);
friend vecx operator+(const vecx& a, const vecx& b); friend vecx operator+(const vecx& a, const vecx& b);
friend vecx operator-(const vecx& a, const vecx& b); friend vecx operator-(const vecx& a, const vecx& b);
friend vecx operator/(const vecx& a, const idScalar& s); friend vecx operator/(const vecx& a, const idScalar& s);
}; };
inline vecx operator*(const vecx& a, const idScalar& s) { inline vecx operator*(const vecx& a, const idScalar& s) {
vecx result(a.size()); vecx result(a.size());
for (int i = 0; i < result.size(); i++) { for (int i = 0; i < result.size(); i++) {
result(i) = a(i) * s; result(i) = a(i) * s;
} }
return result; return result;
} }
inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; } inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
inline vecx operator+(const vecx& a, const vecx& b) { inline vecx operator+(const vecx& a, const vecx& b) {
vecx result(a.size()); vecx result(a.size());
// TODO: error handling for a.size() != b.size()?? // TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) { if (a.size() != b.size()) {
error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort(); abort();
} }
for (int i = 0; i < a.size(); i++) { for (int i = 0; i < a.size(); i++) {
result(i) = a(i) + b(i); result(i) = a(i) + b(i);
} }
return result; return result;
} }
inline vecx operator-(const vecx& a, const vecx& b) { inline vecx operator-(const vecx& a, const vecx& b) {
vecx result(a.size()); vecx result(a.size());
// TODO: error handling for a.size() != b.size()?? // TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) { if (a.size() != b.size()) {
error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort(); abort();
} }
for (int i = 0; i < a.size(); i++) { for (int i = 0; i < a.size(); i++) {
result(i) = a(i) - b(i); result(i) = a(i) - b(i);
} }
return result; return result;
} }
inline vecx operator/(const vecx& a, const idScalar& s) { inline vecx operator/(const vecx& a, const idScalar& s) {
vecx result(a.size()); vecx result(a.size());
for (int i = 0; i < result.size(); i++) { for (int i = 0; i < result.size(); i++) {
result(i) = a(i) / s; result(i) = a(i) / s;
} }
return result; return result;
} }
} }

410
src/BulletInverseDynamics/details/IDMatVec.hpp
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@ -4,6 +4,8 @@
#include <cstdlib> #include <cstdlib>
#include "../IDConfig.hpp"
namespace btInverseDynamics { namespace btInverseDynamics {
class vec3; class vec3;
class vecx; class vecx;
@ -15,312 +17,312 @@ class matxx;
/// want from a "fully featured" linear math library. /// want from a "fully featured" linear math library.
class vec3 { class vec3 {
public: public:
idScalar& operator()(int i) { return m_data[i]; } idScalar& operator()(int i) { return m_data[i]; }
const idScalar& operator()(int i) const { return m_data[i]; } const idScalar& operator()(int i) const { return m_data[i]; }
const int size() const { return 3; } const int size() const { return 3; }
const vec3& operator=(const vec3& rhs); const vec3& operator=(const vec3& rhs);
const vec3& operator+=(const vec3& b); const vec3& operator+=(const vec3& b);
const vec3& operator-=(const vec3& b); const vec3& operator-=(const vec3& b);
vec3 cross(const vec3& b) const; vec3 cross(const vec3& b) const;
idScalar dot(const vec3& b) const; idScalar dot(const vec3& b) const;
friend vec3 operator*(const mat33& a, const vec3& b); friend vec3 operator*(const mat33& a, const vec3& b);
friend vec3 operator*(const vec3& a, const idScalar& s); friend vec3 operator*(const vec3& a, const idScalar& s);
friend vec3 operator*(const idScalar& s, const vec3& a); friend vec3 operator*(const idScalar& s, const vec3& a);
friend vec3 operator+(const vec3& a, const vec3& b); friend vec3 operator+(const vec3& a, const vec3& b);
friend vec3 operator-(const vec3& a, const vec3& b); friend vec3 operator-(const vec3& a, const vec3& b);
friend vec3 operator/(const vec3& a, const idScalar& s); friend vec3 operator/(const vec3& a, const idScalar& s);
private: private:
idScalar m_data[3]; idScalar m_data[3];
}; };
class mat33 { class mat33 {
public: public:
idScalar& operator()(int i, int j) { return m_data[3 * i + j]; } idScalar& operator()(int i, int j) { return m_data[3 * i + j]; }
const idScalar& operator()(int i, int j) const { return m_data[3 * i + j]; } const idScalar& operator()(int i, int j) const { return m_data[3 * i + j]; }
const mat33& operator=(const mat33& rhs); const mat33& operator=(const mat33& rhs);
mat33 transpose() const; mat33 transpose() const;
const mat33& operator+=(const mat33& b); const mat33& operator+=(const mat33& b);
const mat33& operator-=(const mat33& b); const mat33& operator-=(const mat33& b);
friend mat33 operator*(const mat33& a, const mat33& b); friend mat33 operator*(const mat33& a, const mat33& b);
friend vec3 operator*(const mat33& a, const vec3& b); friend vec3 operator*(const mat33& a, const vec3& b);
friend mat33 operator*(const mat33& a, const idScalar& s); friend mat33 operator*(const mat33& a, const idScalar& s);
friend mat33 operator*(const idScalar& s, const mat33& a); friend mat33 operator*(const idScalar& s, const mat33& a);
friend mat33 operator+(const mat33& a, const mat33& b); friend mat33 operator+(const mat33& a, const mat33& b);
friend mat33 operator-(const mat33& a, const mat33& b); friend mat33 operator-(const mat33& a, const mat33& b);
friend mat33 operator/(const mat33& a, const idScalar& s); friend mat33 operator/(const mat33& a, const idScalar& s);
private: private:
// layout is [0,1,2;3,4,5;6,7,8] // layout is [0,1,2;3,4,5;6,7,8]
idScalar m_data[9]; idScalar m_data[9];
}; };
class vecx { class vecx {
public: public:
vecx(int size) : m_size(size) { vecx(int size) : m_size(size) {
m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * size)); m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * size));
} }
~vecx() { idFree(m_data); } ~vecx() { idFree(m_data); }
const vecx& operator=(const vecx& rhs); const vecx& operator=(const vecx& rhs);
idScalar& operator()(int i) { return m_data[i]; } idScalar& operator()(int i) { return m_data[i]; }
const idScalar& operator()(int i) const { return m_data[i]; } const idScalar& operator()(int i) const { return m_data[i]; }
const int& size() const { return m_size; } const int& size() const { return m_size; }
friend vecx operator*(const vecx& a, const idScalar& s); friend vecx operator*(const vecx& a, const idScalar& s);
friend vecx operator*(const idScalar& s, const vecx& a); friend vecx operator*(const idScalar& s, const vecx& a);
friend vecx operator+(const vecx& a, const vecx& b); friend vecx operator+(const vecx& a, const vecx& b);
friend vecx operator-(const vecx& a, const vecx& b); friend vecx operator-(const vecx& a, const vecx& b);
friend vecx operator/(const vecx& a, const idScalar& s); friend vecx operator/(const vecx& a, const idScalar& s);
private: private:
int m_size; int m_size;
idScalar* m_data; idScalar* m_data;
}; };
class matxx { class matxx {
public: public:
matxx(int rows, int cols) : m_rows(rows), m_cols(cols) { matxx(int rows, int cols) : m_rows(rows), m_cols(cols) {
m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * rows * cols)); m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * rows * cols));
} }
~matxx() { idFree(m_data); } ~matxx() { idFree(m_data); }
const matxx& operator=(const matxx& rhs); const matxx& operator=(const matxx& rhs);
idScalar& operator()(int row, int col) { return m_data[row * m_rows + col]; } idScalar& operator()(int row, int col) { return m_data[row * m_rows + col]; }
const idScalar& operator()(int row, int col) const { return m_data[row * m_rows + col]; } const idScalar& operator()(int row, int col) const { return m_data[row * m_rows + col]; }
const int& rows() const { return m_rows; } const int& rows() const { return m_rows; }
const int& cols() const { return m_cols; } const int& cols() const { return m_cols; }
private: private:
int m_rows; int m_rows;
int m_cols; int m_cols;
idScalar* m_data; idScalar* m_data;
}; };
inline const vec3& vec3::operator=(const vec3& rhs) { inline const vec3& vec3::operator=(const vec3& rhs) {
if (&rhs != this) { if (&rhs != this) {
memcpy(m_data, rhs.m_data, 3 * sizeof(idScalar)); memcpy(m_data, rhs.m_data, 3 * sizeof(idScalar));
} }
return *this; return *this;
} }
inline vec3 vec3::cross(const vec3& b) const { inline vec3 vec3::cross(const vec3& b) const {
vec3 result; vec3 result;
result.m_data[0] = m_data[1] * b.m_data[2] - m_data[2] * b.m_data[1]; result.m_data[0] = m_data[1] * b.m_data[2] - m_data[2] * b.m_data[1];
result.m_data[1] = m_data[2] * b.m_data[0] - m_data[0] * b.m_data[2]; result.m_data[1] = m_data[2] * b.m_data[0] - m_data[0] * b.m_data[2];
result.m_data[2] = m_data[0] * b.m_data[1] - m_data[1] * b.m_data[0]; result.m_data[2] = m_data[0] * b.m_data[1] - m_data[1] * b.m_data[0];
return result; return result;
} }
inline idScalar vec3::dot(const vec3& b) const { inline idScalar vec3::dot(const vec3& b) const {
return m_data[0] * b.m_data[0] + m_data[1] * b.m_data[1] + m_data[2] * b.m_data[2]; return m_data[0] * b.m_data[0] + m_data[1] * b.m_data[1] + m_data[2] * b.m_data[2];
} }
inline const mat33& mat33::operator=(const mat33& rhs) { inline const mat33& mat33::operator=(const mat33& rhs) {
if (&rhs != this) { if (&rhs != this) {
memcpy(m_data, rhs.m_data, 9 * sizeof(idScalar)); memcpy(m_data, rhs.m_data, 9 * sizeof(idScalar));
} }
return *this; return *this;
} }
inline mat33 mat33::transpose() const { inline mat33 mat33::transpose() const {
mat33 result; mat33 result;
result.m_data[0] = m_data[0]; result.m_data[0] = m_data[0];
result.m_data[1] = m_data[3]; result.m_data[1] = m_data[3];
result.m_data[2] = m_data[6]; result.m_data[2] = m_data[6];
result.m_data[3] = m_data[1]; result.m_data[3] = m_data[1];
result.m_data[4] = m_data[4]; result.m_data[4] = m_data[4];
result.m_data[5] = m_data[7]; result.m_data[5] = m_data[7];
result.m_data[6] = m_data[2]; result.m_data[6] = m_data[2];
result.m_data[7] = m_data[5]; result.m_data[7] = m_data[5];
result.m_data[8] = m_data[8]; result.m_data[8] = m_data[8];
return result; return result;
} }
inline mat33 operator*(const mat33& a, const mat33& b) { inline mat33 operator*(const mat33& a, const mat33& b) {
mat33 result; mat33 result;
result.m_data[0] = result.m_data[0] =
a.m_data[0] * b.m_data[0] + a.m_data[1] * b.m_data[3] + a.m_data[2] * b.m_data[6]; a.m_data[0] * b.m_data[0] + a.m_data[1] * b.m_data[3] + a.m_data[2] * b.m_data[6];
result.m_data[1] = result.m_data[1] =
a.m_data[0] * b.m_data[1] + a.m_data[1] * b.m_data[4] + a.m_data[2] * b.m_data[7]; a.m_data[0] * b.m_data[1] + a.m_data[1] * b.m_data[4] + a.m_data[2] * b.m_data[7];
result.m_data[2] = result.m_data[2] =
a.m_data[0] * b.m_data[2] + a.m_data[1] * b.m_data[5] + a.m_data[2] * b.m_data[8]; a.m_data[0] * b.m_data[2] + a.m_data[1] * b.m_data[5] + a.m_data[2] * b.m_data[8];
result.m_data[3] = result.m_data[3] =
a.m_data[3] * b.m_data[0] + a.m_data[4] * b.m_data[3] + a.m_data[5] * b.m_data[6]; a.m_data[3] * b.m_data[0] + a.m_data[4] * b.m_data[3] + a.m_data[5] * b.m_data[6];
result.m_data[4] = result.m_data[4] =
a.m_data[3] * b.m_data[1] + a.m_data[4] * b.m_data[4] + a.m_data[5] * b.m_data[7]; a.m_data[3] * b.m_data[1] + a.m_data[4] * b.m_data[4] + a.m_data[5] * b.m_data[7];
result.m_data[5] = result.m_data[5] =
a.m_data[3] * b.m_data[2] + a.m_data[4] * b.m_data[5] + a.m_data[5] * b.m_data[8]; a.m_data[3] * b.m_data[2] + a.m_data[4] * b.m_data[5] + a.m_data[5] * b.m_data[8];
result.m_data[6] = result.m_data[6] =
a.m_data[6] * b.m_data[0] + a.m_data[7] * b.m_data[3] + a.m_data[8] * b.m_data[6]; a.m_data[6] * b.m_data[0] + a.m_data[7] * b.m_data[3] + a.m_data[8] * b.m_data[6];
result.m_data[7] = result.m_data[7] =
a.m_data[6] * b.m_data[1] + a.m_data[7] * b.m_data[4] + a.m_data[8] * b.m_data[7]; a.m_data[6] * b.m_data[1] + a.m_data[7] * b.m_data[4] + a.m_data[8] * b.m_data[7];
result.m_data[8] = result.m_data[8] =
a.m_data[6] * b.m_data[2] + a.m_data[7] * b.m_data[5] + a.m_data[8] * b.m_data[8]; a.m_data[6] * b.m_data[2] + a.m_data[7] * b.m_data[5] + a.m_data[8] * b.m_data[8];
return result; return result;
} }
inline const mat33& mat33::operator+=(const mat33& b) { inline const mat33& mat33::operator+=(const mat33& b) {
for (int i = 0; i < 9; i++) { for (int i = 0; i < 9; i++) {
m_data[i] += b.m_data[i]; m_data[i] += b.m_data[i];
} }
return *this; return *this;
} }
inline const mat33& mat33::operator-=(const mat33& b) { inline const mat33& mat33::operator-=(const mat33& b) {
for (int i = 0; i < 9; i++) { for (int i = 0; i < 9; i++) {
m_data[i] -= b.m_data[i]; m_data[i] -= b.m_data[i];
} }
return *this; return *this;
} }
inline vec3 operator*(const mat33& a, const vec3& b) { inline vec3 operator*(const mat33& a, const vec3& b) {
vec3 result; vec3 result;
result.m_data[0] = result.m_data[0] =
a.m_data[0] * b.m_data[0] + a.m_data[1] * b.m_data[1] + a.m_data[2] * b.m_data[2]; a.m_data[0] * b.m_data[0] + a.m_data[1] * b.m_data[1] + a.m_data[2] * b.m_data[2];
result.m_data[1] = result.m_data[1] =
a.m_data[3] * b.m_data[0] + a.m_data[4] * b.m_data[1] + a.m_data[5] * b.m_data[2]; a.m_data[3] * b.m_data[0] + a.m_data[4] * b.m_data[1] + a.m_data[5] * b.m_data[2];
result.m_data[2] = result.m_data[2] =
a.m_data[6] * b.m_data[0] + a.m_data[7] * b.m_data[1] + a.m_data[8] * b.m_data[2]; a.m_data[6] * b.m_data[0] + a.m_data[7] * b.m_data[1] + a.m_data[8] * b.m_data[2];
return result; return result;
} }
inline const vec3& vec3::operator+=(const vec3& b) { inline const vec3& vec3::operator+=(const vec3& b) {
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
m_data[i] += b.m_data[i]; m_data[i] += b.m_data[i];
} }
return *this; return *this;
} }
inline const vec3& vec3::operator-=(const vec3& b) { inline const vec3& vec3::operator-=(const vec3& b) {
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
m_data[i] -= b.m_data[i]; m_data[i] -= b.m_data[i];
} }
return *this; return *this;
} }
inline mat33 operator*(const mat33& a, const idScalar& s) { inline mat33 operator*(const mat33& a, const idScalar& s) {
mat33 result; mat33 result;
for (int i = 0; i < 9; i++) { for (int i = 0; i < 9; i++) {
result.m_data[i] = a.m_data[i] * s; result.m_data[i] = a.m_data[i] * s;
} }
return result; return result;
} }
inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; } inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
inline vec3 operator*(const vec3& a, const idScalar& s) { inline vec3 operator*(const vec3& a, const idScalar& s) {
vec3 result; vec3 result;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
result.m_data[i] = a.m_data[i] * s; result.m_data[i] = a.m_data[i] * s;
} }
return result; return result;
} }
inline vec3 operator*(const idScalar& s, const vec3& a) { return a * s; } inline vec3 operator*(const idScalar& s, const vec3& a) { return a * s; }
inline mat33 operator+(const mat33& a, const mat33& b) { inline mat33 operator+(const mat33& a, const mat33& b) {
mat33 result; mat33 result;
for (int i = 0; i < 9; i++) { for (int i = 0; i < 9; i++) {
result.m_data[i] = a.m_data[i] + b.m_data[i]; result.m_data[i] = a.m_data[i] + b.m_data[i];
} }
return result; return result;
} }
inline vec3 operator+(const vec3& a, const vec3& b) { inline vec3 operator+(const vec3& a, const vec3& b) {
vec3 result; vec3 result;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
result.m_data[i] = a.m_data[i] + b.m_data[i]; result.m_data[i] = a.m_data[i] + b.m_data[i];
} }
return result; return result;
} }
inline mat33 operator-(const mat33& a, const mat33& b) { inline mat33 operator-(const mat33& a, const mat33& b) {
mat33 result; mat33 result;
for (int i = 0; i < 9; i++) { for (int i = 0; i < 9; i++) {
result.m_data[i] = a.m_data[i] - b.m_data[i]; result.m_data[i] = a.m_data[i] - b.m_data[i];
} }
return result; return result;
} }
inline vec3 operator-(const vec3& a, const vec3& b) { inline vec3 operator-(const vec3& a, const vec3& b) {
vec3 result; vec3 result;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
result.m_data[i] = a.m_data[i] - b.m_data[i]; result.m_data[i] = a.m_data[i] - b.m_data[i];
} }
return result; return result;
} }
inline mat33 operator/(const mat33& a, const idScalar& s) { inline mat33 operator/(const mat33& a, const idScalar& s) {
mat33 result; mat33 result;
for (int i = 0; i < 9; i++) { for (int i = 0; i < 9; i++) {
result.m_data[i] = a.m_data[i] / s; result.m_data[i] = a.m_data[i] / s;
} }
return result; return result;
} }
inline vec3 operator/(const vec3& a, const idScalar& s) { inline vec3 operator/(const vec3& a, const idScalar& s) {
vec3 result; vec3 result;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
result.m_data[i] = a.m_data[i] / s; result.m_data[i] = a.m_data[i] / s;
} }
return result; return result;
} }
inline const vecx& vecx::operator=(const vecx& rhs) { inline const vecx& vecx::operator=(const vecx& rhs) {
if (size() != rhs.size()) { if (size() != rhs.size()) {
error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size()); error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size());
abort(); abort();
} }
if (&rhs != this) { if (&rhs != this) {
memcpy(m_data, rhs.m_data, rhs.size() * sizeof(idScalar)); memcpy(m_data, rhs.m_data, rhs.size() * sizeof(idScalar));
} }
return *this; return *this;
} }
inline vecx operator*(const vecx& a, const idScalar& s) { inline vecx operator*(const vecx& a, const idScalar& s) {
vecx result(a.size()); vecx result(a.size());
for (int i = 0; i < result.size(); i++) { for (int i = 0; i < result.size(); i++) {
result.m_data[i] = a.m_data[i] * s; result.m_data[i] = a.m_data[i] * s;
} }
return result; return result;
} }
inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; } inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
inline vecx operator+(const vecx& a, const vecx& b) { inline vecx operator+(const vecx& a, const vecx& b) {
vecx result(a.size()); vecx result(a.size());
// TODO: error handling for a.size() != b.size()?? // TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) { if (a.size() != b.size()) {
error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort(); abort();
} }
for (int i = 0; i < a.size(); i++) { for (int i = 0; i < a.size(); i++) {
result.m_data[i] = a.m_data[i] + b.m_data[i]; result.m_data[i] = a.m_data[i] + b.m_data[i];
} }
return result; return result;
} }
inline vecx operator-(const vecx& a, const vecx& b) { inline vecx operator-(const vecx& a, const vecx& b) {
vecx result(a.size()); vecx result(a.size());
// TODO: error handling for a.size() != b.size()?? // TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) { if (a.size() != b.size()) {
error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort(); abort();
} }
for (int i = 0; i < a.size(); i++) { for (int i = 0; i < a.size(); i++) {
result.m_data[i] = a.m_data[i] - b.m_data[i]; result.m_data[i] = a.m_data[i] - b.m_data[i];
} }
return result; return result;
} }
inline vecx operator/(const vecx& a, const idScalar& s) { inline vecx operator/(const vecx& a, const idScalar& s) {
vecx result(a.size()); vecx result(a.size());
for (int i = 0; i < result.size(); i++) { for (int i = 0; i < result.size(); i++) {
result.m_data[i] = a.m_data[i] / s; result.m_data[i] = a.m_data[i] / s;
} }
return result; return result;
} }
} }
#endif #endif

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src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
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src/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp
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@ -14,223 +14,223 @@ namespace btInverseDynamics {
/// all vectors and matrices are in body-fixed frame, if not indicated otherwise. /// all vectors and matrices are in body-fixed frame, if not indicated otherwise.
/// The body-fixed frame is located in the joint connecting the body to its parent. /// The body-fixed frame is located in the joint connecting the body to its parent.
struct RigidBody { struct RigidBody {
ID_DECLARE_ALIGNED_ALLOCATOR(); ID_DECLARE_ALIGNED_ALLOCATOR();
// 1 Inertial properties // 1 Inertial properties
/// Mass /// Mass
idScalar m_mass; idScalar m_mass;
/// Mass times center of gravity in body-fixed frame /// Mass times center of gravity in body-fixed frame
vec3 m_body_mass_com; vec3 m_body_mass_com;
/// Moment of inertia w.r.t. body-fixed frame /// Moment of inertia w.r.t. body-fixed frame
mat33 m_body_I_body; mat33 m_body_I_body;
// 2 dynamic properties // 2 dynamic properties
/// Left-hand side of the body equation of motion, translational part /// Left-hand side of the body equation of motion, translational part
vec3 m_eom_lhs_translational; vec3 m_eom_lhs_translational;
/// Left-hand side of the body equation of motion, rotational part /// Left-hand side of the body equation of motion, rotational part
vec3 m_eom_lhs_rotational; vec3 m_eom_lhs_rotational;
/// Force acting at the joint when the body is cut from its parent; /// Force acting at the joint when the body is cut from its parent;
/// includes impressed joint force in J_JT direction, /// includes impressed joint force in J_JT direction,
/// as well as constraint force, /// as well as constraint force,
/// in body-fixed frame /// in body-fixed frame
vec3 m_force_at_joint; vec3 m_force_at_joint;
/// Moment acting at the joint when the body is cut from its parent; /// Moment acting at the joint when the body is cut from its parent;
/// includes impressed joint moment in J_JR direction, and constraint moment /// includes impressed joint moment in J_JR direction, and constraint moment
/// in body-fixed frame /// in body-fixed frame
vec3 m_moment_at_joint; vec3 m_moment_at_joint;
/// external (user provided) force acting at the body-fixed frame's origin, written in that /// external (user provided) force acting at the body-fixed frame's origin, written in that
/// frame /// frame
vec3 m_body_force_user; vec3 m_body_force_user;
/// external (user provided) moment acting at the body-fixed frame's origin, written in that /// external (user provided) moment acting at the body-fixed frame's origin, written in that
/// frame /// frame
vec3 m_body_moment_user; vec3 m_body_moment_user;
// 3 absolute kinematic properties // 3 absolute kinematic properties
/// Position of body-fixed frame relative to world frame /// Position of body-fixed frame relative to world frame
/// this is currently only for debugging purposes /// this is currently only for debugging purposes
vec3 m_body_pos; vec3 m_body_pos;
/// Absolute velocity of body-fixed frame /// Absolute velocity of body-fixed frame
vec3 m_body_vel; vec3 m_body_vel;
/// Absolute acceleration of body-fixed frame /// Absolute acceleration of body-fixed frame
/// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational /// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational
/// acceleration! /// acceleration!
vec3 m_body_acc; vec3 m_body_acc;
/// Absolute angular velocity /// Absolute angular velocity
vec3 m_body_ang_vel; vec3 m_body_ang_vel;
/// Absolute angular acceleration /// Absolute angular acceleration
/// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational /// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational
/// acceleration! /// acceleration!
vec3 m_body_ang_acc; vec3 m_body_ang_acc;
// 4 relative kinematic properties. // 4 relative kinematic properties.
// these are in the parent body frame // these are in the parent body frame
/// Transform from world to body-fixed frame; /// Transform from world to body-fixed frame;
/// this is currently only for debugging purposes /// this is currently only for debugging purposes
mat33 m_body_T_world; mat33 m_body_T_world;
/// Transform from parent to body-fixed frame /// Transform from parent to body-fixed frame
mat33 m_body_T_parent; mat33 m_body_T_parent;
/// Vector from parent to child frame in parent frame /// Vector from parent to child frame in parent frame
vec3 m_parent_pos_parent_body; vec3 m_parent_pos_parent_body;
/// Relative angular velocity /// Relative angular velocity
vec3 m_body_ang_vel_rel; vec3 m_body_ang_vel_rel;
/// Relative linear velocity /// Relative linear velocity
vec3 m_parent_vel_rel; vec3 m_parent_vel_rel;
/// Relative angular acceleration /// Relative angular acceleration
vec3 m_body_ang_acc_rel; vec3 m_body_ang_acc_rel;
/// Relative linear acceleration /// Relative linear acceleration
vec3 m_parent_acc_rel; vec3 m_parent_acc_rel;
// 5 Data describing the joint type and geometry // 5 Data describing the joint type and geometry
/// Type of joint /// Type of joint
JointType m_joint_type; JointType m_joint_type;
/// Position of joint frame (body-fixed frame at q=0) relative to the parent frame /// Position of joint frame (body-fixed frame at q=0) relative to the parent frame
/// Components are in body-fixed frame of the parent /// Components are in body-fixed frame of the parent
vec3 m_parent_pos_parent_body_ref; vec3 m_parent_pos_parent_body_ref;
/// Orientation of joint frame (body-fixed frame at q=0) relative to the parent frame /// Orientation of joint frame (body-fixed frame at q=0) relative to the parent frame
mat33 m_body_T_parent_ref; mat33 m_body_T_parent_ref;
/// Joint rotational Jacobian, ie, the partial derivative of the body-fixed frames absolute /// Joint rotational Jacobian, ie, the partial derivative of the body-fixed frames absolute
/// angular velocity w.r.t. the generalized velocity of this body's relative degree of freedom. /// angular velocity w.r.t. the generalized velocity of this body's relative degree of freedom.
/// For revolute joints this is the joint axis, for prismatic joints it is a null matrix. /// For revolute joints this is the joint axis, for prismatic joints it is a null matrix.
/// (NOTE: dimensions will have to be dynamic for additional joint types!) /// (NOTE: dimensions will have to be dynamic for additional joint types!)
vec3 m_Jac_JR; vec3 m_Jac_JR;
/// Joint translational Jacobian, ie, the partial derivative of the body-fixed frames absolute /// Joint translational Jacobian, ie, the partial derivative of the body-fixed frames absolute
/// linear velocity w.r.t. the generalized velocity of this body's relative degree of freedom. /// linear velocity w.r.t. the generalized velocity of this body's relative degree of freedom.
/// For prismatic joints this is the joint axis, for revolute joints it is a null matrix. /// For prismatic joints this is the joint axis, for revolute joints it is a null matrix.
/// (NOTE: dimensions might have to be dynamic for additional joint types!) /// (NOTE: dimensions might have to be dynamic for additional joint types!)
vec3 m_Jac_JT; vec3 m_Jac_JT;
/// m_Jac_JT in the parent frame, it, m_body_T_parent_ref.transpose()*m_Jac_JT /// m_Jac_JT in the parent frame, it, m_body_T_parent_ref.transpose()*m_Jac_JT
vec3 m_parent_Jac_JT; vec3 m_parent_Jac_JT;
/// Start of index range for the position degree(s) of freedom describing this body's motion /// Start of index range for the position degree(s) of freedom describing this body's motion
/// relative to /// relative to
/// its parent. The indices are wrt the multibody system's q-vector of generalized coordinates. /// its parent. The indices are wrt the multibody system's q-vector of generalized coordinates.
int m_q_index; int m_q_index;
// 6 Scratch data for mass matrix computation using "composite rigid body algorithm" // 6 Scratch data for mass matrix computation using "composite rigid body algorithm"
/// mass of the subtree rooted in this body /// mass of the subtree rooted in this body
idScalar m_subtree_mass; idScalar m_subtree_mass;
/// center of mass * mass for subtree rooted in this body, in body-fixed frame /// center of mass * mass for subtree rooted in this body, in body-fixed frame
vec3 m_body_subtree_mass_com; vec3 m_body_subtree_mass_com;
/// moment of inertia of subtree rooted in this body, w.r.t. body origin, in body-fixed frame /// moment of inertia of subtree rooted in this body, w.r.t. body origin, in body-fixed frame
mat33 m_body_subtree_I_body; mat33 m_body_subtree_I_body;
}; };
/// The MBS implements a tree structured multibody system /// The MBS implements a tree structured multibody system
class MultiBodyTree::MultiBodyImpl { class MultiBodyTree::MultiBodyImpl {
friend class MultiBodyTree; friend class MultiBodyTree;
public: public:
ID_DECLARE_ALIGNED_ALLOCATOR(); ID_DECLARE_ALIGNED_ALLOCATOR();
/// constructor /// constructor
/// @param num_bodies the number of bodies in the system /// @param num_bodies the number of bodies in the system
/// @param num_dofs number of degrees of freedom in the system /// @param num_dofs number of degrees of freedom in the system
MultiBodyImpl(int num_bodies_, int num_dofs_); MultiBodyImpl(int num_bodies_, int num_dofs_);
/// \copydoc MultiBodyTree::calculateInverseDynamics /// \copydoc MultiBodyTree::calculateInverseDynamics
int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u, int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u,
vecx* joint_forces); vecx* joint_forces);
///\copydoc MultiBodyTree::calculateMassMatrix ///\copydoc MultiBodyTree::calculateMassMatrix
int calculateMassMatrix(const vecx& q, const bool update_kinematics, int calculateMassMatrix(const vecx& q, const bool update_kinematics,
const bool initialize_matrix, const bool set_lower_triangular_matrix, const bool initialize_matrix, const bool set_lower_triangular_matrix,
matxx* mass_matrix); matxx* mass_matrix);
/// generate additional index sets from the parent_index array /// generate additional index sets from the parent_index array
/// @return -1 on error, 0 on success /// @return -1 on error, 0 on success
int generateIndexSets(); int generateIndexSets();
/// set gravity acceleration in world frame /// set gravity acceleration in world frame
/// @param gravity gravity vector in the world frame /// @param gravity gravity vector in the world frame
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int setGravityInWorldFrame(const vec3& gravity); int setGravityInWorldFrame(const vec3& gravity);
/// pretty print tree /// pretty print tree
void printTree(); void printTree();
/// print tree data /// print tree data
void printTreeData(); void printTreeData();
/// initialize fixed data /// initialize fixed data
void calculateStaticData(); void calculateStaticData();
/// \copydoc MultiBodyTree::getBodyFrame /// \copydoc MultiBodyTree::getBodyFrame
int getBodyFrame(const int index, vec3* world_origin, mat33* body_T_world) const; int getBodyFrame(const int index, vec3* world_origin, mat33* body_T_world) const;
/// \copydoc MultiBodyTree::getParentIndex /// \copydoc MultiBodyTree::getParentIndex
int getParentIndex(const int body_index, int* m_parent_index); int getParentIndex(const int body_index, int* m_parent_index);
/// \copydoc MultiBodyTree::getJointType /// \copydoc MultiBodyTree::getJointType
int getJointType(const int body_index, JointType* joint_type) const; int getJointType(const int body_index, JointType* joint_type) const;
/// \copydoc MultiBodyTree::getJointTypeStr /// \copydoc MultiBodyTree::getJointTypeStr
int getJointTypeStr(const int body_index, const char** joint_type) const; int getJointTypeStr(const int body_index, const char** joint_type) const;
/// \copydoc MultiBodyTree:getDoFOffset /// \copydoc MultiBodyTree:getDoFOffset
int getDoFOffset(const int body_index, int* q_index) const; int getDoFOffset(const int body_index, int* q_index) const;
/// \copydoc MultiBodyTree::getBodyOrigin /// \copydoc MultiBodyTree::getBodyOrigin
int getBodyOrigin(const int body_index, vec3* world_origin) const; int getBodyOrigin(const int body_index, vec3* world_origin) const;
/// \copydoc MultiBodyTree::getBodyCoM /// \copydoc MultiBodyTree::getBodyCoM
int getBodyCoM(const int body_index, vec3* world_com) const; int getBodyCoM(const int body_index, vec3* world_com) const;
/// \copydoc MultiBodyTree::getBodyTransform /// \copydoc MultiBodyTree::getBodyTransform
int getBodyTransform(const int body_index, mat33* world_T_body) const; int getBodyTransform(const int body_index, mat33* world_T_body) const;
/// \copydoc MultiBodyTree::getBodyAngularVelocity /// \copydoc MultiBodyTree::getBodyAngularVelocity
int getBodyAngularVelocity(const int body_index, vec3* world_omega) const; int getBodyAngularVelocity(const int body_index, vec3* world_omega) const;
/// \copydoc MultiBodyTree::getBodyLinearVelocity /// \copydoc MultiBodyTree::getBodyLinearVelocity
int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const; int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const;
/// \copydoc MultiBodyTree::getBodyLinearVelocityCoM /// \copydoc MultiBodyTree::getBodyLinearVelocityCoM
int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const; int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const;
/// \copydoc MultiBodyTree::getBodyAngularAcceleration /// \copydoc MultiBodyTree::getBodyAngularAcceleration
int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const; int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const;
/// \copydoc MultiBodyTree::getBodyLinearAcceleration /// \copydoc MultiBodyTree::getBodyLinearAcceleration
int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const; int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const;
/// \copydoc MultiBodyTree::getUserInt /// \copydoc MultiBodyTree::getUserInt
int getUserInt(const int body_index, int* user_int) const; int getUserInt(const int body_index, int* user_int) const;
/// \copydoc MultiBodyTree::getUserPtr /// \copydoc MultiBodyTree::getUserPtr
int getUserPtr(const int body_index, void** user_ptr) const; int getUserPtr(const int body_index, void** user_ptr) const;
/// \copydoc MultiBodyTree::setUserInt /// \copydoc MultiBodyTree::setUserInt
int setUserInt(const int body_index, const int user_int); int setUserInt(const int body_index, const int user_int);
/// \copydoc MultiBodyTree::setUserPtr /// \copydoc MultiBodyTree::setUserPtr
int setUserPtr(const int body_index, void* const user_ptr); int setUserPtr(const int body_index, void* const user_ptr);
///\copydoc MultiBodytTree::setBodyMass ///\copydoc MultiBodytTree::setBodyMass
int setBodyMass(const int body_index, const idScalar mass); int setBodyMass(const int body_index, const idScalar mass);
///\copydoc MultiBodytTree::setBodyFirstMassMoment ///\copydoc MultiBodytTree::setBodyFirstMassMoment
int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment); int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment);
///\copydoc MultiBodytTree::setBodySecondMassMoment ///\copydoc MultiBodytTree::setBodySecondMassMoment
int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment); int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment);
///\copydoc MultiBodytTree::getBodyMass ///\copydoc MultiBodytTree::getBodyMass
int getBodyMass(const int body_index, idScalar* mass) const; int getBodyMass(const int body_index, idScalar* mass) const;
///\copydoc MultiBodytTree::getBodyFirstMassMoment ///\copydoc MultiBodytTree::getBodyFirstMassMoment
int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const; int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const;
///\copydoc MultiBodytTree::getBodySecondMassMoment ///\copydoc MultiBodytTree::getBodySecondMassMoment
int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const; int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const;
/// \copydoc MultiBodyTree::clearAllUserForcesAndMoments /// \copydoc MultiBodyTree::clearAllUserForcesAndMoments
void clearAllUserForcesAndMoments(); void clearAllUserForcesAndMoments();
/// \copydoc MultiBodyTree::addUserForce /// \copydoc MultiBodyTree::addUserForce
int addUserForce(const int body_index, const vec3& body_force); int addUserForce(const int body_index, const vec3& body_force);
/// \copydoc MultiBodyTree::addUserMoment /// \copydoc MultiBodyTree::addUserMoment
int addUserMoment(const int body_index, const vec3& body_moment); int addUserMoment(const int body_index, const vec3& body_moment);
private: private:
// debug function. print tree structure to stdout // debug function. print tree structure to stdout
void printTree(int index, int indentation); void printTree(int index, int indentation);
// get string representation of JointType (for debugging) // get string representation of JointType (for debugging)
const char* jointTypeToString(const JointType& type) const; const char* jointTypeToString(const JointType& type) const;
// get number of degrees of freedom from joint type // get number of degrees of freedom from joint type
int bodyNumDoFs(const JointType& type) const; int bodyNumDoFs(const JointType& type) const;
// number of bodies in the system // number of bodies in the system
int m_num_bodies; int m_num_bodies;
// number of degrees of freedom // number of degrees of freedom
int m_num_dofs; int m_num_dofs;
// Gravitational acceleration (in world frame) // Gravitational acceleration (in world frame)
vec3 m_world_gravity; vec3 m_world_gravity;
// vector of bodies in the system // vector of bodies in the system
// body 0 is used as an environment body and is allways fixed. // body 0 is used as an environment body and is allways fixed.
// The bodies are ordered such that a parent body always has an index // The bodies are ordered such that a parent body always has an index
// smaller than its child. // smaller than its child.
idArray<RigidBody>::type m_body_list; idArray<RigidBody>::type m_body_list;
// Parent_index[i] is the index for i's parent body in body_list. // Parent_index[i] is the index for i's parent body in body_list.
// This fully describes the tree. // This fully describes the tree.
idArray<int>::type m_parent_index; idArray<int>::type m_parent_index;
// child_indices[i] contains a vector of indices of // child_indices[i] contains a vector of indices of
// all children of the i-th body // all children of the i-th body
idArray<idArray<int>::type>::type m_child_indices; idArray<idArray<int>::type>::type m_child_indices;
// Indices of rotary joints // Indices of rotary joints
idArray<int>::type m_body_revolute_list; idArray<int>::type m_body_revolute_list;
// Indices of prismatic joints // Indices of prismatic joints
idArray<int>::type m_body_prismatic_list; idArray<int>::type m_body_prismatic_list;
// Indices of floating joints // Indices of floating joints
idArray<int>::type m_body_floating_list; idArray<int>::type m_body_floating_list;
// a user-provided integer // a user-provided integer
idArray<int>::type m_user_int; idArray<int>::type m_user_int;
// a user-provided pointer // a user-provided pointer
idArray<void*>::type m_user_ptr; idArray<void*>::type m_user_ptr;
}; };
} }
#endif #endif

164
src/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
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@ -3,111 +3,111 @@
namespace btInverseDynamics { namespace btInverseDynamics {
MultiBodyTree::InitCache::InitCache() { MultiBodyTree::InitCache::InitCache() {
m_inertias.resize(0); m_inertias.resize(0);
m_joints.resize(0); m_joints.resize(0);
m_num_dofs = 0; m_num_dofs = 0;
m_root_index=-1; m_root_index=-1;
} }
int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_index, int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_index,
const JointType joint_type, const JointType joint_type,
const vec3& parent_r_parent_body_ref, const vec3& parent_r_parent_body_ref,
const mat33& body_T_parent_ref, const mat33& body_T_parent_ref,
const vec3& body_axis_of_motion, const idScalar mass, const vec3& body_axis_of_motion, const idScalar mass,
const vec3& body_r_body_com, const mat33& body_I_body, const vec3& body_r_body_com, const mat33& body_I_body,
const int user_int, void* user_ptr) { const int user_int, void* user_ptr) {
switch (joint_type) { switch (joint_type) {
case REVOLUTE: case REVOLUTE:
case PRISMATIC: case PRISMATIC:
m_num_dofs += 1; m_num_dofs += 1;
break; break;
case FIXED: case FIXED:
// does not add a degree of freedom // does not add a degree of freedom
// m_num_dofs+=0; // m_num_dofs+=0;
break; break;
case FLOATING: case FLOATING:
m_num_dofs += 6; m_num_dofs += 6;
break; break;
default: default:
error_message("unknown joint type %d\n", joint_type); error_message("unknown joint type %d\n", joint_type);
return -1; return -1;
} }
if(-1 == parent_index) { if(-1 == parent_index) {
if(m_root_index>=0) { if(m_root_index>=0) {
error_message("trying to add body %d as root, but already added %d as root body\n", error_message("trying to add body %d as root, but already added %d as root body\n",
body_index, m_root_index); body_index, m_root_index);
return -1; return -1;
} }
m_root_index=body_index; m_root_index=body_index;
} }
JointData joint; JointData joint;
joint.m_child = body_index; joint.m_child = body_index;
joint.m_parent = parent_index; joint.m_parent = parent_index;
joint.m_type = joint_type; joint.m_type = joint_type;
joint.m_parent_pos_parent_child_ref = parent_r_parent_body_ref; joint.m_parent_pos_parent_child_ref = parent_r_parent_body_ref;
joint.m_child_T_parent_ref = body_T_parent_ref; joint.m_child_T_parent_ref = body_T_parent_ref;
joint.m_child_axis_of_motion = body_axis_of_motion; joint.m_child_axis_of_motion = body_axis_of_motion;
InertiaData body; InertiaData body;
body.m_mass = mass; body.m_mass = mass;
body.m_body_pos_body_com = body_r_body_com; body.m_body_pos_body_com = body_r_body_com;
body.m_body_I_body = body_I_body; body.m_body_I_body = body_I_body;
m_inertias.push_back(body); m_inertias.push_back(body);
m_joints.push_back(joint); m_joints.push_back(joint);
m_user_int.push_back(user_int); m_user_int.push_back(user_int);
m_user_ptr.push_back(user_ptr); m_user_ptr.push_back(user_ptr);
return 0; return 0;
} }
int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const { int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const {
if (index < 0 || index > static_cast<int>(m_inertias.size())) { if (index < 0 || index > static_cast<int>(m_inertias.size())) {
error_message("index out of range\n"); error_message("index out of range\n");
return -1; return -1;
} }
*inertia = m_inertias[index]; *inertia = m_inertias[index];
return 0; return 0;
} }
int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const { int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const {
if (index < 0 || index > static_cast<int>(m_user_int.size())) { if (index < 0 || index > static_cast<int>(m_user_int.size())) {
error_message("index out of range\n"); error_message("index out of range\n");
return -1; return -1;
} }
*user_int = m_user_int[index]; *user_int = m_user_int[index];
return 0; return 0;
} }
int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const { int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const {
if (index < 0 || index > static_cast<int>(m_user_ptr.size())) { if (index < 0 || index > static_cast<int>(m_user_ptr.size())) {
error_message("index out of range\n"); error_message("index out of range\n");
return -1; return -1;
} }
*user_ptr = m_user_ptr[index]; *user_ptr = m_user_ptr[index];
return 0; return 0;
} }
int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const { int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const {
if (index < 0 || index > static_cast<int>(m_joints.size())) { if (index < 0 || index > static_cast<int>(m_joints.size())) {
error_message("index out of range\n"); error_message("index out of range\n");
return -1; return -1;
} }
*joint = m_joints[index]; *joint = m_joints[index];
return 0; return 0;
} }
int MultiBodyTree::InitCache::buildIndexSets() { int MultiBodyTree::InitCache::buildIndexSets() {
// NOTE: This function assumes that proper indices were provided // NOTE: This function assumes that proper indices were provided
// User2InternalIndex from utils can be used to facilitate this. // User2InternalIndex from utils can be used to facilitate this.
m_parent_index.resize(numBodies()); m_parent_index.resize(numBodies());
for (idArrayIdx j = 0; j < m_joints.size(); j++) { for (idArrayIdx j = 0; j < m_joints.size(); j++) {
const JointData& joint = m_joints[j]; const JointData& joint = m_joints[j];
m_parent_index[joint.m_child] = joint.m_parent; m_parent_index[joint.m_child] = joint.m_parent;
} }
return 0; return 0;
} }
} }

164
src/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp
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@ -8,102 +8,102 @@
namespace btInverseDynamics { namespace btInverseDynamics {
/// Mass properties of a rigid body /// Mass properties of a rigid body
struct InertiaData { struct InertiaData {
ID_DECLARE_ALIGNED_ALLOCATOR(); ID_DECLARE_ALIGNED_ALLOCATOR();
/// mass /// mass
idScalar m_mass; idScalar m_mass;
/// vector from body-fixed frame to center of mass, /// vector from body-fixed frame to center of mass,
/// in body-fixed frame, multiplied by the mass /// in body-fixed frame, multiplied by the mass
vec3 m_body_pos_body_com; vec3 m_body_pos_body_com;
/// moment of inertia w.r.t. the origin of the body-fixed /// moment of inertia w.r.t. the origin of the body-fixed
/// frame, represented in that frame /// frame, represented in that frame
mat33 m_body_I_body; mat33 m_body_I_body;
}; };
/// Joint properties /// Joint properties
struct JointData { struct JointData {
ID_DECLARE_ALIGNED_ALLOCATOR(); ID_DECLARE_ALIGNED_ALLOCATOR();
/// type of joint /// type of joint
JointType m_type; JointType m_type;
/// index of parent body /// index of parent body
int m_parent; int m_parent;
/// index of child body /// index of child body
int m_child; int m_child;
/// vector from parent's body-fixed frame to child's body-fixed /// vector from parent's body-fixed frame to child's body-fixed
/// frame for q=0, written in the parent's body fixed frame /// frame for q=0, written in the parent's body fixed frame
vec3 m_parent_pos_parent_child_ref; vec3 m_parent_pos_parent_child_ref;
/// Transform matrix converting vectors written in the parent's frame /// Transform matrix converting vectors written in the parent's frame
/// into vectors written in the child's frame for q=0 /// into vectors written in the child's frame for q=0
/// ie, child_vector = child_T_parent_ref * parent_vector; /// ie, child_vector = child_T_parent_ref * parent_vector;
mat33 m_child_T_parent_ref; mat33 m_child_T_parent_ref;
/// Axis of motion for 1 degree-of-freedom joints, /// Axis of motion for 1 degree-of-freedom joints,
/// written in the child's frame /// written in the child's frame
/// For revolute joints, the q-value is positive for a positive /// For revolute joints, the q-value is positive for a positive
/// rotation about this axis. /// rotation about this axis.
/// For prismatic joints, the q-value is positive for a positive /// For prismatic joints, the q-value is positive for a positive
/// translation is this direction. /// translation is this direction.
vec3 m_child_axis_of_motion; vec3 m_child_axis_of_motion;
}; };
/// Data structure to store data passed by the user. /// Data structure to store data passed by the user.
/// This is used in MultiBodyTree::finalize to build internal data structures. /// This is used in MultiBodyTree::finalize to build internal data structures.
class MultiBodyTree::InitCache { class MultiBodyTree::InitCache {
public: public:
ID_DECLARE_ALIGNED_ALLOCATOR(); ID_DECLARE_ALIGNED_ALLOCATOR();
/// constructor /// constructor
InitCache(); InitCache();
///\copydoc MultiBodyTree::addBody ///\copydoc MultiBodyTree::addBody
int addBody(const int body_index, const int parent_index, const JointType joint_type, int addBody(const int body_index, const int parent_index, const JointType joint_type,
const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref, const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref,
const vec3 &body_axis_of_motion, idScalar mass, const vec3 &body_r_body_com, const vec3 &body_axis_of_motion, idScalar mass, const vec3 &body_r_body_com,
const mat33 &body_I_body, const int user_int, void *user_ptr); const mat33 &body_I_body, const int user_int, void *user_ptr);
/// build index arrays /// build index arrays
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int buildIndexSets(); int buildIndexSets();
/// @return number of degrees of freedom /// @return number of degrees of freedom
int numDoFs() const { return m_num_dofs; } int numDoFs() const { return m_num_dofs; }
/// @return number of bodies /// @return number of bodies
int numBodies() const { return m_inertias.size(); } int numBodies() const { return m_inertias.size(); }
/// get inertia data for index /// get inertia data for index
/// @param index of the body /// @param index of the body
/// @param inertia pointer for return data /// @param inertia pointer for return data
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int getInertiaData(const int index, InertiaData *inertia) const; int getInertiaData(const int index, InertiaData *inertia) const;
/// get joint data for index /// get joint data for index
/// @param index of the body /// @param index of the body
/// @param joint pointer for return data /// @param joint pointer for return data
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int getJointData(const int index, JointData *joint) const; int getJointData(const int index, JointData *joint) const;
/// get parent index array (paren_index[i] is the index of the parent of i) /// get parent index array (paren_index[i] is the index of the parent of i)
/// @param parent_index pointer for return data /// @param parent_index pointer for return data
void getParentIndexArray(idArray<int>::type *parent_index) { *parent_index = m_parent_index; } void getParentIndexArray(idArray<int>::type *parent_index) { *parent_index = m_parent_index; }
/// get user integer /// get user integer
/// @param index body index /// @param index body index
/// @param user_int user integer /// @param user_int user integer
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int getUserInt(const int index, int *user_int) const; int getUserInt(const int index, int *user_int) const;
/// get user pointer /// get user pointer
/// @param index body index /// @param index body index
/// @param user_int user pointer /// @param user_int user pointer
/// @return 0 on success, -1 on failure /// @return 0 on success, -1 on failure
int getUserPtr(const int index, void **user_ptr) const; int getUserPtr(const int index, void **user_ptr) const;
private: private:
// vector of bodies // vector of bodies
idArray<InertiaData>::type m_inertias; idArray<InertiaData>::type m_inertias;
// vector of joints // vector of joints
idArray<JointData>::type m_joints; idArray<JointData>::type m_joints;
// number of mechanical degrees of freedom // number of mechanical degrees of freedom
int m_num_dofs; int m_num_dofs;
// parent index array // parent index array
idArray<int>::type m_parent_index; idArray<int>::type m_parent_index;
// user integers // user integers
idArray<int>::type m_user_int; idArray<int>::type m_user_int;
// user pointers // user pointers
idArray<void *>::type m_user_ptr; idArray<void *>::type m_user_ptr;
// index of root body (or -1 if not set) // index of root body (or -1 if not set)
int m_root_index; int m_root_index;
}; };
} }
#endif // MULTIBODYTREEINITCACHE_HPP_ #endif // MULTIBODYTREEINITCACHE_HPP_

4
test/InverseDynamics/test_invdyn_kinematics.cpp
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@ -248,7 +248,11 @@ int calculateDifferentiationError(const MultiBodyTreeCreator& creator, idScalar
// first test: absolute difference between numerical and numerial // first test: absolute difference between numerical and numerial
// differentiation should be small // differentiation should be small
TEST(InvDynKinematicsDifferentiation, errorAbsolute) { TEST(InvDynKinematicsDifferentiation, errorAbsolute) {
#ifdef BT_ID_USE_DOUBLE_PRECISION
const idScalar kDeltaT = 1e-7; const idScalar kDeltaT = 1e-7;
#else
const idScalar kDeltaT = 1e-2;
#endif
const idScalar kDuration = 1e-2; const idScalar kDuration = 1e-2;
const idScalar kAcceptableError = 1e-4; const idScalar kAcceptableError = 1e-4;