forked from bartvdbraak/blender
6f3e593105
remove constraint fixed, Bullet timestep now subdivides Blender game engine timestep, so it runs 60 hertz, SphereShape reverted to old style, so no support for non-uniform scaled spheres for now,
116 lines
3.8 KiB
C++
116 lines
3.8 KiB
C++
/*
|
|
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
*
|
|
* Permission to use, copy, modify, distribute and sell this software
|
|
* and its documentation for any purpose is hereby granted without fee,
|
|
* provided that the above copyright notice appear in all copies.
|
|
* Erwin Coumans makes no representations about the suitability
|
|
* of this software for any purpose.
|
|
* It is provided "as is" without express or implied warranty.
|
|
*/
|
|
#include "Point2PointConstraint.h"
|
|
#include "Dynamics/RigidBody.h"
|
|
#include "Dynamics/MassProps.h"
|
|
|
|
|
|
static RigidBody s_fixed(MassProps(0,SimdVector3(0.f,0.f,0.f)),0.f,0.f,1.f,1.f);
|
|
static int gConstraintId = 1;
|
|
|
|
Point2PointConstraint::Point2PointConstraint():
|
|
m_rbA(s_fixed),m_rbB(s_fixed)
|
|
{
|
|
m_constraintId = gConstraintId++;//just create some unique ID for now
|
|
|
|
s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
|
|
}
|
|
|
|
Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB)
|
|
:m_rbA(rbA),m_rbB(rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
|
|
{
|
|
m_constraintId = gConstraintId++;//just create some unique ID for now
|
|
}
|
|
|
|
|
|
Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA)
|
|
:m_rbA(rbA),m_rbB(s_fixed),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
|
|
{
|
|
s_fixed.setMassProps(0.f,SimdVector3(1e10f,1e10f,1e10f));
|
|
m_constraintId = gConstraintId++;//just create some unique ID for now
|
|
}
|
|
|
|
void Point2PointConstraint::BuildJacobian()
|
|
{
|
|
SimdVector3 normal(0,0,0);
|
|
|
|
for (int i=0;i<3;i++)
|
|
{
|
|
normal[i] = 1;
|
|
new (&m_jac[i]) JacobianEntry(
|
|
m_rbA.getCenterOfMassTransform().getBasis().transpose(),
|
|
m_rbB.getCenterOfMassTransform().getBasis().transpose(),
|
|
m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
|
|
m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
|
|
normal,
|
|
m_rbA.getInvInertiaDiagLocal(),
|
|
m_rbA.getInvMass(),
|
|
m_rbB.getInvInertiaDiagLocal(),
|
|
m_rbB.getInvMass());
|
|
normal[i] = 0;
|
|
}
|
|
|
|
}
|
|
|
|
void Point2PointConstraint::SolveConstraint(SimdScalar timeStep)
|
|
{
|
|
SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
|
|
SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
|
|
|
|
|
|
SimdVector3 normal(0,0,0);
|
|
SimdScalar tau = 0.3f;
|
|
SimdScalar damping = 1.f;
|
|
|
|
// SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
|
|
// SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
|
|
|
|
for (int i=0;i<3;i++)
|
|
{
|
|
normal[i] = 1;
|
|
SimdScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
|
|
|
|
SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
|
|
SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
|
|
//this jacobian entry could be re-used for all iterations
|
|
|
|
SimdVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
|
|
SimdVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
|
|
SimdVector3 vel = vel1 - vel2;
|
|
|
|
SimdScalar rel_vel;
|
|
rel_vel = normal.dot(vel);
|
|
|
|
/*
|
|
//velocity error (first order error)
|
|
SimdScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
|
|
m_rbB.getLinearVelocity(),angvelB);
|
|
*/
|
|
|
|
//positional error (zeroth order error)
|
|
SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
|
|
|
|
SimdScalar impulse = depth*tau/timeStep * jacDiagABInv - damping * rel_vel * jacDiagABInv * damping;
|
|
|
|
SimdVector3 impulse_vector = normal * impulse;
|
|
m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
|
|
m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
|
|
|
|
normal[i] = 0;
|
|
}
|
|
}
|
|
|
|
void Point2PointConstraint::UpdateRHS(SimdScalar timeStep)
|
|
{
|
|
|
|
}
|
|
|