forked from bartvdbraak/blender
39fcd3586f
Added newlines at end of a bunch of files that didn't have them. removed a couple of unused variables and an extra ';' (Also removed config.h crap from these files) Kent
236 lines
6.8 KiB
C++
236 lines
6.8 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 "Solve2LinearConstraint.h"
|
|
|
|
#include "Dynamics/RigidBody.h"
|
|
#include "SimdVector3.h"
|
|
#include "JacobianEntry.h"
|
|
|
|
|
|
void Solve2LinearConstraint::resolveUnilateralPairConstraint(
|
|
RigidBody* body1,
|
|
RigidBody* body2,
|
|
|
|
const SimdMatrix3x3& world2A,
|
|
const SimdMatrix3x3& world2B,
|
|
|
|
const SimdVector3& invInertiaADiag,
|
|
const SimdScalar invMassA,
|
|
const SimdVector3& linvelA,const SimdVector3& angvelA,
|
|
const SimdVector3& rel_posA1,
|
|
const SimdVector3& invInertiaBDiag,
|
|
const SimdScalar invMassB,
|
|
const SimdVector3& linvelB,const SimdVector3& angvelB,
|
|
const SimdVector3& rel_posA2,
|
|
|
|
SimdScalar depthA, const SimdVector3& normalA,
|
|
const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
|
|
SimdScalar depthB, const SimdVector3& normalB,
|
|
SimdScalar& imp0,SimdScalar& imp1)
|
|
{
|
|
|
|
imp0 = 0.f;
|
|
imp1 = 0.f;
|
|
|
|
SimdScalar len = fabs(normalA.length())-1.f;
|
|
if (fabs(len) >= SIMD_EPSILON)
|
|
return;
|
|
|
|
ASSERT(len < SIMD_EPSILON);
|
|
|
|
|
|
//this jacobian entry could be re-used for all iterations
|
|
JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
|
|
invInertiaBDiag,invMassB);
|
|
JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
|
|
invInertiaBDiag,invMassB);
|
|
|
|
//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
|
|
//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
|
|
|
|
const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
|
|
const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
|
|
|
|
// SimdScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
|
|
SimdScalar massTerm = 1.f / (invMassA + invMassB);
|
|
|
|
|
|
// calculate rhs (or error) terms
|
|
const SimdScalar dv0 = depthA * m_tau * massTerm - vel0 * m_damping;
|
|
const SimdScalar dv1 = depthB * m_tau * massTerm - vel1 * m_damping;
|
|
|
|
|
|
// dC/dv * dv = -C
|
|
|
|
// jacobian * impulse = -error
|
|
//
|
|
|
|
//impulse = jacobianInverse * -error
|
|
|
|
// inverting 2x2 symmetric system (offdiagonal are equal!)
|
|
//
|
|
|
|
|
|
SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
|
|
SimdScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
|
|
|
|
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
|
|
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
|
|
|
|
imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
|
|
imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
|
|
|
|
//[a b] [d -c]
|
|
//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
|
|
|
|
//[jA nD] * [imp0] = [dv0]
|
|
//[nD jB] [imp1] [dv1]
|
|
|
|
}
|
|
|
|
|
|
|
|
void Solve2LinearConstraint::resolveBilateralPairConstraint(
|
|
RigidBody* body1,
|
|
RigidBody* body2,
|
|
const SimdMatrix3x3& world2A,
|
|
const SimdMatrix3x3& world2B,
|
|
|
|
const SimdVector3& invInertiaADiag,
|
|
const SimdScalar invMassA,
|
|
const SimdVector3& linvelA,const SimdVector3& angvelA,
|
|
const SimdVector3& rel_posA1,
|
|
const SimdVector3& invInertiaBDiag,
|
|
const SimdScalar invMassB,
|
|
const SimdVector3& linvelB,const SimdVector3& angvelB,
|
|
const SimdVector3& rel_posA2,
|
|
|
|
SimdScalar depthA, const SimdVector3& normalA,
|
|
const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
|
|
SimdScalar depthB, const SimdVector3& normalB,
|
|
SimdScalar& imp0,SimdScalar& imp1)
|
|
{
|
|
|
|
imp0 = 0.f;
|
|
imp1 = 0.f;
|
|
|
|
SimdScalar len = fabs(normalA.length())-1.f;
|
|
if (fabs(len) >= SIMD_EPSILON)
|
|
return;
|
|
|
|
ASSERT(len < SIMD_EPSILON);
|
|
|
|
|
|
//this jacobian entry could be re-used for all iterations
|
|
JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
|
|
invInertiaBDiag,invMassB);
|
|
JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
|
|
invInertiaBDiag,invMassB);
|
|
|
|
//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
|
|
//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
|
|
|
|
const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
|
|
const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
|
|
|
|
// calculate rhs (or error) terms
|
|
const SimdScalar dv0 = depthA * m_tau - vel0 * m_damping;
|
|
const SimdScalar dv1 = depthB * m_tau - vel1 * m_damping;
|
|
|
|
// dC/dv * dv = -C
|
|
|
|
// jacobian * impulse = -error
|
|
//
|
|
|
|
//impulse = jacobianInverse * -error
|
|
|
|
// inverting 2x2 symmetric system (offdiagonal are equal!)
|
|
//
|
|
|
|
|
|
SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
|
|
SimdScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
|
|
|
|
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
|
|
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
|
|
|
|
imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
|
|
imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
|
|
|
|
//[a b] [d -c]
|
|
//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
|
|
|
|
//[jA nD] * [imp0] = [dv0]
|
|
//[nD jB] [imp1] [dv1]
|
|
|
|
if ( imp0 > 0.0f)
|
|
{
|
|
if ( imp1 > 0.0f )
|
|
{
|
|
//both positive
|
|
}
|
|
else
|
|
{
|
|
imp1 = 0.f;
|
|
|
|
// now imp0>0 imp1<0
|
|
imp0 = dv0 / jacA.getDiagonal();
|
|
if ( imp0 > 0.0f )
|
|
{
|
|
} else
|
|
{
|
|
imp0 = 0.f;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
imp0 = 0.f;
|
|
|
|
imp1 = dv1 / jacB.getDiagonal();
|
|
if ( imp1 <= 0.0f )
|
|
{
|
|
imp1 = 0.f;
|
|
// now imp0>0 imp1<0
|
|
imp0 = dv0 / jacA.getDiagonal();
|
|
if ( imp0 > 0.0f )
|
|
{
|
|
} else
|
|
{
|
|
imp0 = 0.f;
|
|
}
|
|
} else
|
|
{
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void Solve2LinearConstraint::resolveAngularConstraint( const SimdMatrix3x3& invInertiaAWS,
|
|
const SimdScalar invMassA,
|
|
const SimdVector3& linvelA,const SimdVector3& angvelA,
|
|
const SimdVector3& rel_posA1,
|
|
const SimdMatrix3x3& invInertiaBWS,
|
|
const SimdScalar invMassB,
|
|
const SimdVector3& linvelB,const SimdVector3& angvelB,
|
|
const SimdVector3& rel_posA2,
|
|
|
|
SimdScalar depthA, const SimdVector3& normalA,
|
|
const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
|
|
SimdScalar depthB, const SimdVector3& normalB,
|
|
SimdScalar& imp0,SimdScalar& imp1)
|
|
{
|
|
|
|
}
|
|
|