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Disable velocity calculation in kinematic multibody mode by default

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We haven't implemented this for the multi body joints. To be consistent, let's disable it for the base as well, and let user to set the velocities.
This commit is contained in:
WenlongLu
2020-12-14 17:19:27 -08:00
parent c377260d71
commit 62eb2f7788
3 changed files with 8 additions and 2 deletions
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2
examples/MultiBody/KinematicMultiBodyExample.cpp
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@@ -37,6 +37,8 @@ void kinematicPreTickCallback(btDynamicsWorld* world, btScalar deltaTime)
btVector3 angularVelocity(0, 0.1, 0);
btTransformUtil::integrateTransform(groundBody->getBaseWorldTransform(), linearVelocity, angularVelocity, deltaTime, predictedTrans);
groundBody->setBaseWorldTransform(predictedTrans);
groundBody->setBaseVel(linearVelocity);
groundBody->setBaseOmega(angularVelocity);
static float time = 0.0;
time += deltaTime;

5
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -125,7 +125,8 @@ btMultiBody::btMultiBody(int n_links,
m_posVarCnt(0),
m_useRK4(false),
m_useGlobalVelocities(false),
m_internalNeedsJointFeedback(false)
m_internalNeedsJointFeedback(false),
m_kinematic_calculate_velocity(false)
{
m_cachedInertiaTopLeft.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
m_cachedInertiaTopRight.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
@@ -2381,7 +2382,7 @@ const char *btMultiBody::serialize(void *dataBuffer, class btSerializer *seriali
void btMultiBody::saveKinematicState(btScalar timeStep)
{
//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
if (timeStep != btScalar(0.))
if (m_kinematic_calculate_velocity && timeStep != btScalar(0.))
{
btVector3 linearVelocity, angularVelocity;
btTransformUtil::calculateVelocity(getInterpolateBaseWorldTransform(), getBaseWorldTransform(), timeStep, linearVelocity, angularVelocity);

3
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -823,6 +823,9 @@ private:
///the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only
bool m_internalNeedsJointFeedback;
//If enabled, calculate the velocity based on kinematic transform changes. Currently only implemented for the base.
bool m_kinematic_calculate_velocity;
};
struct btMultiBodyLinkDoubleData