diff options
Diffstat (limited to 'src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp')
-rw-r--r-- | src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp | 575 |
1 files changed, 293 insertions, 282 deletions
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 1131e5378..718106e77 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -421,288 +421,7 @@ void btMultiBodyDynamicsWorld::forwardKinematics() } void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { - forwardKinematics(); - - BT_PROFILE("solveConstraints"); - - clearMultiBodyConstraintForces(); - - m_sortedConstraints.resize(m_constraints.size()); - int i; - for (i = 0; i < getNumConstraints(); i++) - { - m_sortedConstraints[i] = m_constraints[i]; - } - m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); - btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; - - m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); - for (i = 0; i < m_multiBodyConstraints.size(); i++) - { - m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; - } - m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); - - btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; - - m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); - m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); - -#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - { - BT_PROFILE("btMultiBody addForce"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - - bod->addBaseForce(m_gravity * bod->getBaseMass()); - - for (int j = 0; j < bod->getNumLinks(); ++j) - { - bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); - } - } //if (!isSleeping) - } - } -#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - bool doNotUpdatePos = false; - bool isConstraintPass = false; - { - if (!bod->isUsingRK4Integration()) - { - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, - m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - else - { - // - int numDofs = bod->getNumDofs() + 6; - int numPosVars = bod->getNumPosVars() + 7; - btAlignedObjectArray<btScalar> scratch_r2; - scratch_r2.resize(2 * numPosVars + 8 * numDofs); - //convenience - btScalar* pMem = &scratch_r2[0]; - btScalar* scratch_q0 = pMem; - pMem += numPosVars; - btScalar* scratch_qx = pMem; - pMem += numPosVars; - btScalar* scratch_qd0 = pMem; - pMem += numDofs; - btScalar* scratch_qd1 = pMem; - pMem += numDofs; - btScalar* scratch_qd2 = pMem; - pMem += numDofs; - btScalar* scratch_qd3 = pMem; - pMem += numDofs; - btScalar* scratch_qdd0 = pMem; - pMem += numDofs; - btScalar* scratch_qdd1 = pMem; - pMem += numDofs; - btScalar* scratch_qdd2 = pMem; - pMem += numDofs; - btScalar* scratch_qdd3 = pMem; - pMem += numDofs; - btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); - - ///// - //copy q0 to scratch_q0 and qd0 to scratch_qd0 - scratch_q0[0] = bod->getWorldToBaseRot().x(); - scratch_q0[1] = bod->getWorldToBaseRot().y(); - scratch_q0[2] = bod->getWorldToBaseRot().z(); - scratch_q0[3] = bod->getWorldToBaseRot().w(); - scratch_q0[4] = bod->getBasePos().x(); - scratch_q0[5] = bod->getBasePos().y(); - scratch_q0[6] = bod->getBasePos().z(); - // - for (int link = 0; link < bod->getNumLinks(); ++link) - { - for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) - scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; - } - // - for (int dof = 0; dof < numDofs; ++dof) - scratch_qd0[dof] = bod->getVelocityVector()[dof]; - //// - struct - { - btMultiBody* bod; - btScalar *scratch_qx, *scratch_q0; - - void operator()() - { - for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) - scratch_qx[dof] = scratch_q0[dof]; - } - } pResetQx = {bod, scratch_qx, scratch_q0}; - // - struct - { - void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) - { - for (int i = 0; i < size; ++i) - pVal[i] = pCurVal[i] + dt * pDer[i]; - } - - } pEulerIntegrate; - // - struct - { - void operator()(btMultiBody* pBody, const btScalar* pData) - { - btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector()); - - for (int i = 0; i < pBody->getNumDofs() + 6; ++i) - pVel[i] = pData[i]; - } - } pCopyToVelocityVector; - // - struct - { - void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) - { - for (int i = 0; i < size; ++i) - pDst[i] = pSrc[start + i]; - } - } pCopy; - // - - btScalar h = solverInfo.m_timeStep; -#define output &m_scratch_r[bod->getNumDofs()] - //calc qdd0 from: q0 & qd0 - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd0, 0, numDofs); - //calc q1 = q0 + h/2 * qd0 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); - //calc qd1 = qd0 + h/2 * qdd0 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); - // - //calc qdd1 from: q1 & qd1 - pCopyToVelocityVector(bod, scratch_qd1); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd1, 0, numDofs); - //calc q2 = q0 + h/2 * qd1 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); - //calc qd2 = qd0 + h/2 * qdd1 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); - // - //calc qdd2 from: q2 & qd2 - pCopyToVelocityVector(bod, scratch_qd2); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd2, 0, numDofs); - //calc q3 = q0 + h * qd2 - pResetQx(); - bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); - //calc qd3 = qd0 + h * qdd2 - pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); - // - //calc qdd3 from: q3 & qd3 - pCopyToVelocityVector(bod, scratch_qd3); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd3, 0, numDofs); - - // - //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) - //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) - btAlignedObjectArray<btScalar> delta_q; - delta_q.resize(numDofs); - btAlignedObjectArray<btScalar> delta_qd; - delta_qd.resize(numDofs); - for (int i = 0; i < numDofs; ++i) - { - delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); - delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); - //delta_q[i] = h*scratch_qd0[i]; - //delta_qd[i] = h*scratch_qdd0[i]; - } - // - pCopyToVelocityVector(bod, scratch_qd0); - bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); - // - if (!doNotUpdatePos) - { - btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); - - for (int i = 0; i < numDofs; ++i) - pRealBuf[i] = delta_q[i]; - - //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); - bod->setPosUpdated(true); - } - - //ugly hack which resets the cached data to t0 (needed for constraint solver) - { - for (int link = 0; link < bod->getNumLinks(); ++link) - bod->getLink(link).updateCacheMultiDof(); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - } - } - -#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - bod->clearForcesAndTorques(); -#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - } //if (!isSleeping) - } - } + solveExternalForces(solverInfo); /// solve all the constraints for this island m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); @@ -760,6 +479,298 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) } } +void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo) +{ + forwardKinematics(); + + BT_PROFILE("solveConstraints"); + + clearMultiBodyConstraintForces(); + + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) + { + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + + m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + +#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + { + BT_PROFILE("btMultiBody addForce"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + bod->addBaseForce(m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); + } + } //if (!isSleeping) + } + } +#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool doNotUpdatePos = false; + bool isConstraintPass = false; + { + if (!bod->isUsingRK4Integration()) + { + const btScalar linearDamp = bod->getLinearDamping(); +// const btScalar angularDamp = bod->getAngularDamping(); + bod->setLinearDamping(0); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + bod->setLinearDamping(linearDamp); +// bod->setAngularDamping(angularDamp); + } + else + { + // + int numDofs = bod->getNumDofs() + 6; + int numPosVars = bod->getNumPosVars() + 7; + btAlignedObjectArray<btScalar> scratch_r2; + scratch_r2.resize(2 * numPosVars + 8 * numDofs); + //convenience + btScalar* pMem = &scratch_r2[0]; + btScalar* scratch_q0 = pMem; + pMem += numPosVars; + btScalar* scratch_qx = pMem; + pMem += numPosVars; + btScalar* scratch_qd0 = pMem; + pMem += numDofs; + btScalar* scratch_qd1 = pMem; + pMem += numDofs; + btScalar* scratch_qd2 = pMem; + pMem += numDofs; + btScalar* scratch_qd3 = pMem; + pMem += numDofs; + btScalar* scratch_qdd0 = pMem; + pMem += numDofs; + btScalar* scratch_qdd1 = pMem; + pMem += numDofs; + btScalar* scratch_qdd2 = pMem; + pMem += numDofs; + btScalar* scratch_qdd3 = pMem; + pMem += numDofs; + btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); + + ///// + //copy q0 to scratch_q0 and qd0 to scratch_qd0 + scratch_q0[0] = bod->getWorldToBaseRot().x(); + scratch_q0[1] = bod->getWorldToBaseRot().y(); + scratch_q0[2] = bod->getWorldToBaseRot().z(); + scratch_q0[3] = bod->getWorldToBaseRot().w(); + scratch_q0[4] = bod->getBasePos().x(); + scratch_q0[5] = bod->getBasePos().y(); + scratch_q0[6] = bod->getBasePos().z(); + // + for (int link = 0; link < bod->getNumLinks(); ++link) + { + for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) + scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; + } + // + for (int dof = 0; dof < numDofs; ++dof) + scratch_qd0[dof] = bod->getVelocityVector()[dof]; + //// + struct + { + btMultiBody* bod; + btScalar *scratch_qx, *scratch_q0; + + void operator()() + { + for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) + scratch_qx[dof] = scratch_q0[dof]; + } + } pResetQx = {bod, scratch_qx, scratch_q0}; + // + struct + { + void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) + { + for (int i = 0; i < size; ++i) + pVal[i] = pCurVal[i] + dt * pDer[i]; + } + + } pEulerIntegrate; + // + struct + { + void operator()(btMultiBody* pBody, const btScalar* pData) + { + btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector()); + + for (int i = 0; i < pBody->getNumDofs() + 6; ++i) + pVel[i] = pData[i]; + } + } pCopyToVelocityVector; + // + struct + { + void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) + { + for (int i = 0; i < size; ++i) + pDst[i] = pSrc[start + i]; + } + } pCopy; + // + + btScalar h = solverInfo.m_timeStep; +#define output &m_scratch_r[bod->getNumDofs()] + //calc qdd0 from: q0 & qd0 + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd0, 0, numDofs); + //calc q1 = q0 + h/2 * qd0 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); + //calc qd1 = qd0 + h/2 * qdd0 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); + // + //calc qdd1 from: q1 & qd1 + pCopyToVelocityVector(bod, scratch_qd1); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd1, 0, numDofs); + //calc q2 = q0 + h/2 * qd1 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); + //calc qd2 = qd0 + h/2 * qdd1 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); + // + //calc qdd2 from: q2 & qd2 + pCopyToVelocityVector(bod, scratch_qd2); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd2, 0, numDofs); + //calc q3 = q0 + h * qd2 + pResetQx(); + bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); + //calc qd3 = qd0 + h * qdd2 + pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); + // + //calc qdd3 from: q3 & qd3 + pCopyToVelocityVector(bod, scratch_qd3); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd3, 0, numDofs); + + // + //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) + //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) + btAlignedObjectArray<btScalar> delta_q; + delta_q.resize(numDofs); + btAlignedObjectArray<btScalar> delta_qd; + delta_qd.resize(numDofs); + for (int i = 0; i < numDofs; ++i) + { + delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); + delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); + //delta_q[i] = h*scratch_qd0[i]; + //delta_qd[i] = h*scratch_qdd0[i]; + } + // + pCopyToVelocityVector(bod, scratch_qd0); + bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); + // + if (!doNotUpdatePos) + { + btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + + for (int i = 0; i < numDofs; ++i) + pRealBuf[i] = delta_q[i]; + + //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); + bod->setPosUpdated(true); + } + + //ugly hack which resets the cached data to t0 (needed for constraint solver) + { + for (int link = 0; link < bod->getNumLinks(); ++link) + bod->getLink(link).updateCacheMultiDof(); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + +#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + bod->clearForcesAndTorques(); +#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + } //if (!isSleeping) + } + } +} + + void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { btDiscreteDynamicsWorld::integrateTransforms(timeStep); |