forked from bartvdbraak/blender
dad6ef9045
didn't check every single file, so might have broken some gameengine stuff, will fix it this weekend!
112 lines
3.5 KiB
C++
112 lines
3.5 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "Point2PointConstraint.h"
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#include "Dynamics/RigidBody.h"
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#include "Dynamics/MassProps.h"
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static RigidBody s_fixed(MassProps(0,SimdVector3(0.f,0.f,0.f)),0.f,0.f,1.f,1.f);
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Point2PointConstraint::Point2PointConstraint():
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m_rbA(s_fixed),m_rbB(s_fixed)
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{
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s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
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}
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Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB)
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:m_rbA(rbA),m_rbB(rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
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{
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}
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Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA)
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:m_rbA(rbA),m_rbB(s_fixed),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
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{
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s_fixed.setMassProps(0.f,SimdVector3(1e10f,1e10f,1e10f));
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}
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void Point2PointConstraint::BuildJacobian()
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{
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SimdVector3 normal(0,0,0);
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for (int i=0;i<3;i++)
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{
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normal[i] = 1;
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new (&m_jac[i]) JacobianEntry(
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m_rbA.getCenterOfMassTransform().getBasis().transpose(),
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m_rbB.getCenterOfMassTransform().getBasis().transpose(),
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m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
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m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
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normal,
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m_rbA.getInvInertiaDiagLocal(),
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m_rbA.getInvMass(),
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m_rbB.getInvInertiaDiagLocal(),
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m_rbB.getInvMass());
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normal[i] = 0;
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}
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}
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void Point2PointConstraint::SolveConstraint(SimdScalar timeStep)
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{
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SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
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SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
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SimdVector3 normal(0,0,0);
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SimdScalar tau = 0.3f;
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SimdScalar damping = 1.f;
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// SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
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// SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
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for (int i=0;i<3;i++)
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{
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normal[i] = 1;
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SimdScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
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SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
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SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
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//this jacobian entry could be re-used for all iterations
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SimdVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
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SimdVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
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SimdVector3 vel = vel1 - vel2;
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SimdScalar rel_vel;
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rel_vel = normal.dot(vel);
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/*
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//velocity error (first order error)
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SimdScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
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m_rbB.getLinearVelocity(),angvelB);
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*/
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//positional error (zeroth order error)
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SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
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SimdScalar impulse = depth*tau/timeStep * jacDiagABInv - damping * rel_vel * jacDiagABInv * damping;
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SimdVector3 impulse_vector = normal * impulse;
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m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
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m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
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normal[i] = 0;
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}
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}
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void Point2PointConstraint::UpdateRHS(SimdScalar timeStep)
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{
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}
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