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https://github.com/TorqueGameEngines/Torque3D.git
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Revert "Updated SDL, Bullet and OpenAL soft libs"
This reverts commit 370161cfb1.
This commit is contained in:
AzaezelX
parent
63be684474
commit
bc77ff0833
1102 changed files with 62741 additions and 204988 deletions
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@ -4,11 +4,10 @@
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#include "IDConfig.hpp"
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#include "IDMath.hpp"
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namespace btInverseDynamics
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{
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namespace btInverseDynamics {
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/// Enumeration of supported joint types
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enum JointType
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{
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enum JointType {
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/// no degree of freedom, moves with parent
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FIXED = 0,
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/// one rotational degree of freedom relative to parent
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@ -16,9 +15,7 @@ enum JointType
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/// one translational degree of freedom relative to parent
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PRISMATIC,
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/// six degrees of freedom relative to parent
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FLOATING,
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/// three degrees of freedom, relative to parent
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SPHERICAL
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FLOATING
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};
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/// Interface class for calculating inverse dynamics for tree structured
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@ -33,14 +30,12 @@ enum JointType
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/// - PRISMATIC: displacement [m]
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/// - FLOATING: Euler x-y-z angles [rad] and displacement in body-fixed frame of parent [m]
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/// (in that order)
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/// - SPHERICAL: Euler x-y-z angles [rad]
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/// The u vector contains the generalized speeds, which are
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/// - FIXED: none
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/// - REVOLUTE: time derivative of angle of rotation [rad/s]
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/// - PRISMATIC: time derivative of displacement [m/s]
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/// - FLOATING: angular velocity [rad/s] (*not* time derivative of rpy angles)
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/// and time derivative of displacement in parent frame [m/s]
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// - SPHERICAL: angular velocity [rad/s]
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///
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/// The q and u vectors are obtained by stacking contributions of all bodies in one
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/// vector in the order of body indices.
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@ -51,13 +46,12 @@ enum JointType
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/// - PRISMATIC: force [N], along joint axis
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/// - FLOATING: moment vector [Nm] and force vector [N], both in body-fixed frame
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/// (in that order)
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/// - SPHERICAL: moment vector [Nm]
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///
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/// TODO - force element interface (friction, springs, dampers, etc)
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/// - gears and motor inertia
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class MultiBodyTree
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{
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class MultiBodyTree {
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public:
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ID_DECLARE_ALIGNED_ALLOCATOR();
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ID_DECLARE_ALIGNED_ALLOCATOR();
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/// The contructor.
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/// Initialization & allocation is via addBody and buildSystem calls.
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MultiBodyTree();
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@ -125,9 +119,9 @@ public:
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/// print tree data to stdout
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void printTreeData();
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/// Calculate joint forces for given generalized state & derivatives.
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/// This also updates kinematic terms computed in calculateKinematics.
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/// If gravity is not set to zero, acceleration terms will contain
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/// gravitational acceleration.
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/// This also updates kinematic terms computed in calculateKinematics.
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/// If gravity is not set to zero, acceleration terms will contain
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/// gravitational acceleration.
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/// @param q generalized coordinates
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/// @param u generalized velocities. In the general case, u=T(q)*dot(q) and dim(q)>=dim(u)
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/// @param dot_u time derivative of u
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@ -158,28 +152,30 @@ public:
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/// @return -1 on error, 0 on success
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int calculateMassMatrix(const vecx& q, matxx* mass_matrix);
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/// Calculates kinematics also calculated in calculateInverseDynamics,
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/// but not dynamics.
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/// This function ensures that correct accelerations are computed that do not
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/// contain gravitational acceleration terms.
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/// Does not calculate Jacobians, but only vector quantities (positions, velocities & accelerations)
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int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u);
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/// Calculate position kinematics
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int calculatePositionKinematics(const vecx& q);
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/// Calculate position and velocity kinematics
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int calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u);
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/// Calculates kinematics also calculated in calculateInverseDynamics,
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/// but not dynamics.
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/// This function ensures that correct accelerations are computed that do not
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/// contain gravitational acceleration terms.
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/// Does not calculate Jacobians, but only vector quantities (positions, velocities & accelerations)
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int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u);
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/// Calculate position kinematics
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int calculatePositionKinematics(const vecx& q);
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/// Calculate position and velocity kinematics
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int calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u);
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#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
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/// Calculate Jacobians (dvel/du), as well as velocity-dependent accelearation components
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/// d(Jacobian)/dt*u
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/// This function assumes that calculateInverseDynamics was called, or calculateKinematics,
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/// or calculatePositionAndVelocityKinematics
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int calculateJacobians(const vecx& q, const vecx& u);
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/// Calculate Jacobians (dvel/du)
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/// This function assumes that calculateInverseDynamics was called, or
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/// one of the calculateKineamtics functions
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int calculateJacobians(const vecx& q);
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#endif // BT_ID_HAVE_MAT3X
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/// Calculate Jacobians (dvel/du), as well as velocity-dependent accelearation components
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/// d(Jacobian)/dt*u
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/// This function assumes that calculateInverseDynamics was called, or calculateKinematics,
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/// or calculatePositionAndVelocityKinematics
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int calculateJacobians(const vecx& q, const vecx& u);
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/// Calculate Jacobians (dvel/du)
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/// This function assumes that calculateInverseDynamics was called, or
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/// one of the calculateKineamtics functions
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int calculateJacobians(const vecx& q);
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#endif // BT_ID_HAVE_MAT3X
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/// set gravitational acceleration
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/// the default is [0;0;-9.8] in the world frame
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@ -235,15 +231,15 @@ public:
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int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const;
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#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
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// get translational jacobian, in world frame (dworld_velocity/du)
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int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
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// get rotational jacobian, in world frame (dworld_omega/du)
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int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
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// get product of translational jacobian derivative * generatlized velocities
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int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
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// get product of rotational jacobian derivative * generatlized velocities
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int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
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#endif // BT_ID_HAVE_MAT3X
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// get translational jacobian, in world frame (dworld_velocity/du)
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int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
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// get rotational jacobian, in world frame (dworld_omega/du)
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int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
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// get product of translational jacobian derivative * generatlized velocities
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int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
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// get product of rotational jacobian derivative * generatlized velocities
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int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
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#endif // BT_ID_HAVE_MAT3X
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/// returns the (internal) index of body
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/// @param body_index is the index of a body
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@ -260,21 +256,21 @@ public:
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/// @param joint_type string naming the corresponding joint type
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/// @return 0 on success, -1 on failure
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int getJointTypeStr(const int body_index, const char** joint_type) const;
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/// get offset translation to parent body (see addBody)
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/// get offset translation to parent body (see addBody)
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/// @param body_index index of the body
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/// @param r the offset translation (see above)
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/// @return 0 on success, -1 on failure
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int getParentRParentBodyRef(const int body_index, vec3* r) const;
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int getParentRParentBodyRef(const int body_index, vec3* r) const;
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/// get offset rotation to parent body (see addBody)
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/// @param body_index index of the body
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/// @param T the transform (see above)
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/// @return 0 on success, -1 on failure
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int getBodyTParentRef(const int body_index, mat33* T) const;
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int getBodyTParentRef(const int body_index, mat33* T) const;
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/// get axis of motion (see addBody)
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/// @param body_index index of the body
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/// @param axis the axis (see above)
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/// @return 0 on success, -1 on failure
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int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
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int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
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/// get offset for degrees of freedom of this body into the q-vector
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/// @param body_index index of the body
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/// @param q_offset offset the q vector
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