mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 22:20:12 +00:00
405 lines
13 KiB
C++
405 lines
13 KiB
C++
#include "MultiBodyConstraintFeedback.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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static btScalar radius(0.2);
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struct MultiBodyConstraintFeedbackSetup : public CommonMultiBodyBase
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{
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btMultiBody* m_multiBody;
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btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
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btMultiBodyJointMotor* m_motor;
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bool m_once;
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public:
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MultiBodyConstraintFeedbackSetup(struct GUIHelperInterface* helper);
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virtual ~MultiBodyConstraintFeedbackSetup();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 5;
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float pitch = -21;
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float yaw = 270;
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float targetPos[3] = {-1.34, 3.4, -0.44};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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};
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MultiBodyConstraintFeedbackSetup::MultiBodyConstraintFeedbackSetup(struct GUIHelperInterface* helper)
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: CommonMultiBodyBase(helper),
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m_motor(0),
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m_once(true)
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{
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}
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MultiBodyConstraintFeedbackSetup::~MultiBodyConstraintFeedbackSetup()
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{
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}
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void MultiBodyConstraintFeedbackSetup::initPhysics()
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{
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int upAxis = 2;
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m_guiHelper->setUpAxis(upAxis);
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btVector4 colors[4] =
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{
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btVector4(1, 0, 0, 1),
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btVector4(0, 1, 0, 1),
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btVector4(0, 1, 1, 1),
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btVector4(1, 1, 0, 1),
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};
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int curColor = 0;
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this->createEmptyDynamicsWorld();
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(
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//btIDebugDraw::DBG_DrawConstraints
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+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
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m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
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m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
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//create a static ground object
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if (1)
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{
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btVector3 groundHalfExtents(10, 10, 0.2);
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btBoxShape* box = new btBoxShape(groundHalfExtents);
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box->initializePolyhedralFeatures();
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m_guiHelper->createCollisionShapeGraphicsObject(box);
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btTransform start;
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start.setIdentity();
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btVector3 groundOrigin(-0.4f, 3.f, 0.f);
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//btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
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groundOrigin[upAxis] -= .5;
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groundOrigin[2] -= 0.6;
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start.setOrigin(groundOrigin);
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btQuaternion groundOrn(btVector3(0, 1, 0), 0.25 * SIMD_PI);
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// start.setRotation(groundOrn);
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btRigidBody* body = createRigidBody(0, start, box);
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body->setFriction(0);
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btVector4 color = colors[curColor];
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curColor++;
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curColor &= 3;
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m_guiHelper->createRigidBodyGraphicsObject(body, color);
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}
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{
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bool floating = false;
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bool damping = false;
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bool gyro = false;
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int numLinks = 2;
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bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool canSleep = false;
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bool selfCollide = false;
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btVector3 linkHalfExtents(0.05, 0.5, 0.1);
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btVector3 baseHalfExtents(0.05, 0.5, 0.1);
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btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
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//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
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//init the base
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btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
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float baseMass = 0.01f;
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if (baseMass)
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{
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//btCollisionShape *shape = new btSphereShape(baseHalfExtents[0]);// btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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btCollisionShape* shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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shape->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete shape;
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}
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btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
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m_multiBody = pMultiBody;
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btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
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// baseOriQuat.setEulerZYX(-.25*SIMD_PI,0,-1.75*SIMD_PI);
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pMultiBody->setBasePos(basePosition);
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pMultiBody->setWorldToBaseRot(baseOriQuat);
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btVector3 vel(0, 0, 0);
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// pMultiBody->setBaseVel(vel);
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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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//y-axis assumed up
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btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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//////
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btScalar q0 = 0.f * SIMD_PI / 180.f;
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btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
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quat0.normalize();
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/////
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for (int i = 0; i < numLinks; ++i)
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{
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float linkMass = i == 0 ? 0.0001 : 1.f;
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//if (i==3 || i==2)
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// linkMass= 1000;
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape* shape = 0;
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if (i == 0)
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{
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shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); //
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}
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else
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{
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shape = new btSphereShape(radius);
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}
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shape->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete shape;
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if (!spherical)
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{
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//pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
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if (i == 0)
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{
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pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
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btQuaternion(0.f, 0.f, 0.f, 1.f),
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hingeJointAxis,
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parentComToCurrentPivot,
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currentPivotToCurrentCom, false);
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}
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else
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{
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btVector3 parentComToCurrentCom(0, -linkHalfExtents[1], 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, 0, 0); //cur body's COM to cur body's PIV offset
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//btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
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btQuaternion(0.f, 0.f, 0.f, 1.f),
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parentComToCurrentPivot,
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currentPivotToCurrentCom);
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}
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//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
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}
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else
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{
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//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
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pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
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}
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}
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pMultiBody->finalizeMultiDof();
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//for (int i=pMultiBody->getNumLinks()-1;i>=0;i--)//
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for (int i = 0; i < pMultiBody->getNumLinks(); i++)
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{
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btMultiBodyJointFeedback* fb = new btMultiBodyJointFeedback();
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pMultiBody->getLink(i).m_jointFeedback = fb;
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m_jointFeedbacks.push_back(fb);
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//break;
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}
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btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
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///
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world->addMultiBody(pMultiBody);
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btMultiBody* mbC = pMultiBody;
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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//
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if (!damping)
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{
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mbC->setLinearDamping(0.f);
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mbC->setAngularDamping(0.f);
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}
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else
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{
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mbC->setLinearDamping(0.1f);
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mbC->setAngularDamping(0.9f);
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}
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//
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m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
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//////////////////////////////////////////////
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if (0) //numLinks > 0)
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{
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btScalar q0 = 45.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC->setJointPosMultiDof(0, &q0);
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}
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else
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC->setJointPosMultiDof(0, quat0);
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}
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}
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///
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btAlignedObjectArray<btQuaternion> world_to_local;
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world_to_local.resize(pMultiBody->getNumLinks() + 1);
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btAlignedObjectArray<btVector3> local_origin;
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local_origin.resize(pMultiBody->getNumLinks() + 1);
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world_to_local[0] = pMultiBody->getWorldToBaseRot();
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local_origin[0] = pMultiBody->getBasePos();
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// double friction = 1;
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{
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// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
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// float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
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if (1)
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{
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btCollisionShape* shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); //new btSphereShape(baseHalfExtents[0]);
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m_guiHelper->createCollisionShapeGraphicsObject(shape);
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
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col->setCollisionShape(shape);
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btTransform tr;
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tr.setIdentity();
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//if we don't set the initial pose of the btCollisionObject, the simulator will do this
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//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
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tr.setOrigin(local_origin[0]);
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btQuaternion orn(btVector3(0, 0, 1), 0.25 * 3.1415926538);
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tr.setRotation(orn);
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col->setWorldTransform(tr);
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bool isDynamic = (baseMass > 0 && floating);
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int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //, 2,1+2);
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btVector3 color(0.0, 0.0, 0.5);
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m_guiHelper->createCollisionObjectGraphicsObject(col, color);
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// col->setFriction(friction);
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pMultiBody->setBaseCollider(col);
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}
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}
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for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
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{
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const int parent = pMultiBody->getParent(i);
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world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
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local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
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}
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for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
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{
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btVector3 posr = local_origin[i + 1];
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// float pos[4]={posr.x(),posr.y(),posr.z(),1};
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const btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
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btCollisionShape* shape = 0;
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if (i == 0)
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{
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shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); //btSphereShape(linkHalfExtents[0]);
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}
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else
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{
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shape = new btSphereShape(radius);
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}
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m_guiHelper->createCollisionShapeGraphicsObject(shape);
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
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col->setCollisionShape(shape);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(posr);
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tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
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col->setWorldTransform(tr);
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// col->setFriction(friction);
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bool isDynamic = 1; //(linkMass > 0);
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int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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//if (i==0||i>numLinks-2)
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{
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world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //,2,1+2);
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btVector4 color = colors[curColor];
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curColor++;
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curColor &= 3;
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m_guiHelper->createCollisionObjectGraphicsObject(col, color);
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pMultiBody->getLink(i).m_collider = col;
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}
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}
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int link = 0;
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int targetVelocity = 0.f;
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btScalar maxForce = 100000;
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m_motor = new btMultiBodyJointMotor(pMultiBody, link, targetVelocity, maxForce);
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m_dynamicsWorld->addMultiBodyConstraint(m_motor);
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}
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}
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void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
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{
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//m_multiBody->addLinkForce(0,btVector3(100,100,100));
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if (0) //m_once)
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{
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m_once = false;
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m_multiBody->addJointTorque(0, 10.0);
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btScalar torque = m_multiBody->getJointTorque(0);
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b3Printf("t = %f,%f,%f\n", torque, torque, torque); //[0],torque[1],torque[2]);
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}
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btScalar timeStep = 1. / 240.f;
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m_dynamicsWorld->stepSimulation(timeStep, 0);
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static int count = 0;
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if ((count & 0x0f) == 0)
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{
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if (m_motor)
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{
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float force = m_motor->getAppliedImpulse(0) / timeStep;
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b3Printf("motor applied force = %f\n", force);
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}
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for (int i = 0; i < m_jointFeedbacks.size(); i++)
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{
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b3Printf("F_reaction[%i] linear:%f,%f,%f, angular:%f,%f,%f",
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i,
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m_jointFeedbacks[i]->m_reactionForces.m_topVec[0],
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m_jointFeedbacks[i]->m_reactionForces.m_topVec[1],
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m_jointFeedbacks[i]->m_reactionForces.m_topVec[2],
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m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[0],
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m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[1],
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m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[2]
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);
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}
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}
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count++;
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/*
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b3Printf("base angvel = %f,%f,%f",m_multiBody->getBaseOmega()[0],
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m_multiBody->getBaseOmega()[1],
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m_multiBody->getBaseOmega()[2]
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);
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*/
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// btScalar jointVel =m_multiBody->getJointVel(0);
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// b3Printf("child angvel = %f",jointVel);
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}
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class CommonExampleInterface* MultiBodyConstraintFeedbackCreateFunc(struct CommonExampleOptions& options)
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{
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return new MultiBodyConstraintFeedbackSetup(options.m_guiHelper);
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}
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