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