pbox2d 0.6.0-java → 0.8.0-java

data/src/org/jbox2d/dynamics/joints/FrictionJoint.java

@@ -0,0 +1,294 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+/**
+ * Created at 7:27:32 AM Jan 20, 2011
+ */
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.common.Mat22;
+import org.jbox2d.common.MathUtils;
+import org.jbox2d.common.Rot;
+import org.jbox2d.common.Vec2;
+import org.jbox2d.dynamics.SolverData;
+import org.jbox2d.pooling.IWorldPool;
+
+/**
+ * @author Daniel Murphy
+ */
+public class FrictionJoint extends Joint {
+
+  private final Vec2 m_localAnchorA;
+  private final Vec2 m_localAnchorB;
+
+  // Solver shared
+  private final Vec2 m_linearImpulse;
+  private float m_angularImpulse;
+  private float m_maxForce;
+  private float m_maxTorque;
+
+  // Solver temp
+  private int m_indexA;
+  private int m_indexB;
+  private final Vec2 m_rA = new Vec2();
+  private final Vec2 m_rB = new Vec2();
+  private final Vec2 m_localCenterA = new Vec2();
+  private final Vec2 m_localCenterB = new Vec2();
+  private float m_invMassA;
+  private float m_invMassB;
+  private float m_invIA;
+  private float m_invIB;
+  private final Mat22 m_linearMass = new Mat22();
+  private float m_angularMass;
+
+  protected FrictionJoint(IWorldPool argWorldPool, FrictionJointDef def) {
+    super(argWorldPool, def);
+    m_localAnchorA = new Vec2(def.localAnchorA);
+    m_localAnchorB = new Vec2(def.localAnchorB);
+
+    m_linearImpulse = new Vec2();
+    m_angularImpulse = 0.0f;
+
+    m_maxForce = def.maxForce;
+    m_maxTorque = def.maxTorque;
+  }
+
+  public Vec2 getLocalAnchorA() {
+    return m_localAnchorA;
+  }
+
+  public Vec2 getLocalAnchorB() {
+    return m_localAnchorB;
+  }
+
+  @Override
+  public void getAnchorA(Vec2 argOut) {
+    m_bodyA.getWorldPointToOut(m_localAnchorA, argOut);
+  }
+
+  @Override
+  public void getAnchorB(Vec2 argOut) {
+    m_bodyB.getWorldPointToOut(m_localAnchorB, argOut);
+  }
+
+  @Override
+  public void getReactionForce(float inv_dt, Vec2 argOut) {
+    argOut.set(m_linearImpulse).mulLocal(inv_dt);
+  }
+
+  @Override
+  public float getReactionTorque(float inv_dt) {
+    return inv_dt * m_angularImpulse;
+  }
+
+  public void setMaxForce(float force) {
+    assert (force >= 0.0f);
+    m_maxForce = force;
+  }
+
+  public float getMaxForce() {
+    return m_maxForce;
+  }
+
+  public void setMaxTorque(float torque) {
+    assert (torque >= 0.0f);
+    m_maxTorque = torque;
+  }
+
+  public float getMaxTorque() {
+    return m_maxTorque;
+  }
+
+  /**
+   * @see org.jbox2d.dynamics.joints.Joint#initVelocityConstraints(org.jbox2d.dynamics.TimeStep)
+   */
+  @Override
+  public void initVelocityConstraints(final SolverData data) {
+    m_indexA = m_bodyA.m_islandIndex;
+    m_indexB = m_bodyB.m_islandIndex;
+    m_localCenterA.set(m_bodyA.m_sweep.localCenter);
+    m_localCenterB.set(m_bodyB.m_sweep.localCenter);
+    m_invMassA = m_bodyA.m_invMass;
+    m_invMassB = m_bodyB.m_invMass;
+    m_invIA = m_bodyA.m_invI;
+    m_invIB = m_bodyB.m_invI;
+
+    float aA = data.positions[m_indexA].a;
+    Vec2 vA = data.velocities[m_indexA].v;
+    float wA = data.velocities[m_indexA].w;
+
+    float aB = data.positions[m_indexB].a;
+    Vec2 vB = data.velocities[m_indexB].v;
+    float wB = data.velocities[m_indexB].w;
+
+
+    final Vec2 temp = pool.popVec2();
+    final Rot qA = pool.popRot();
+    final Rot qB = pool.popRot();
+
+    qA.set(aA);
+    qB.set(aB);
+
+    // Compute the effective mass matrix.
+    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
+    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
+
+    // J = [-I -r1_skew I r2_skew]
+    // [ 0 -1 0 1]
+    // r_skew = [-ry; rx]
+
+    // Matlab
+    // K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
+    // [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
+    // [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
+
+    float mA = m_invMassA, mB = m_invMassB;
+    float iA = m_invIA, iB = m_invIB;
+
+    final Mat22 K = pool.popMat22();
+    K.ex.x = mA + mB + iA * m_rA.y * m_rA.y + iB * m_rB.y * m_rB.y;
+    K.ex.y = -iA * m_rA.x * m_rA.y - iB * m_rB.x * m_rB.y;
+    K.ey.x = K.ex.y;
+    K.ey.y = mA + mB + iA * m_rA.x * m_rA.x + iB * m_rB.x * m_rB.x;
+
+    K.invertToOut(m_linearMass);
+
+    m_angularMass = iA + iB;
+    if (m_angularMass > 0.0f) {
+      m_angularMass = 1.0f / m_angularMass;
+    }
+
+    if (data.step.warmStarting) {
+      // Scale impulses to support a variable time step.
+      m_linearImpulse.mulLocal(data.step.dtRatio);
+      m_angularImpulse *= data.step.dtRatio;
+
+      final Vec2 P = pool.popVec2();
+      P.set(m_linearImpulse);
+
+      temp.set(P).mulLocal(mA);
+      vA.subLocal(temp);
+      wA -= iA * (Vec2.cross(m_rA, P) + m_angularImpulse);
+
+      temp.set(P).mulLocal(mB);
+      vB.addLocal(temp);
+      wB += iB * (Vec2.cross(m_rB, P) + m_angularImpulse);
+
+      pool.pushVec2(1);
+    } else {
+      m_linearImpulse.setZero();
+      m_angularImpulse = 0.0f;
+    }
+//    data.velocities[m_indexA].v.set(vA);
+    if( data.velocities[m_indexA].w != wA) {
+      assert(data.velocities[m_indexA].w != wA);
+    }
+    data.velocities[m_indexA].w = wA;
+//    data.velocities[m_indexB].v.set(vB);
+    data.velocities[m_indexB].w = wB;
+
+    pool.pushRot(2);
+    pool.pushVec2(1);
+    pool.pushMat22(1);
+  }
+
+  @Override
+  public void solveVelocityConstraints(final SolverData data) {
+    Vec2 vA = data.velocities[m_indexA].v;
+    float wA = data.velocities[m_indexA].w;
+    Vec2 vB = data.velocities[m_indexB].v;
+    float wB = data.velocities[m_indexB].w;
+
+    float mA = m_invMassA, mB = m_invMassB;
+    float iA = m_invIA, iB = m_invIB;
+
+    float h = data.step.dt;
+
+    // Solve angular friction
+    {
+      float Cdot = wB - wA;
+      float impulse = -m_angularMass * Cdot;
+
+      float oldImpulse = m_angularImpulse;
+      float maxImpulse = h * m_maxTorque;
+      m_angularImpulse = MathUtils.clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse);
+      impulse = m_angularImpulse - oldImpulse;
+
+      wA -= iA * impulse;
+      wB += iB * impulse;
+    }
+
+    // Solve linear friction
+    {
+      final Vec2 Cdot = pool.popVec2();
+      final Vec2 temp = pool.popVec2();
+
+      Vec2.crossToOutUnsafe(wA, m_rA, temp);
+      Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
+      Cdot.addLocal(vB).subLocal(vA).subLocal(temp);
+
+      final Vec2 impulse = pool.popVec2();
+      Mat22.mulToOutUnsafe(m_linearMass, Cdot, impulse);
+      impulse.negateLocal();
+
+
+      final Vec2 oldImpulse = pool.popVec2();
+      oldImpulse.set(m_linearImpulse);
+      m_linearImpulse.addLocal(impulse);
+
+      float maxImpulse = h * m_maxForce;
+
+      if (m_linearImpulse.lengthSquared() > maxImpulse * maxImpulse) {
+        m_linearImpulse.normalize();
+        m_linearImpulse.mulLocal(maxImpulse);
+      }
+
+      impulse.set(m_linearImpulse).subLocal(oldImpulse);
+
+      temp.set(impulse).mulLocal(mA);
+      vA.subLocal(temp);
+      wA -= iA * Vec2.cross(m_rA, impulse);
+
+      temp.set(impulse).mulLocal(mB);
+      vB.addLocal(temp);
+      wB += iB * Vec2.cross(m_rB, impulse);
+      
+    }
+
+//    data.velocities[m_indexA].v.set(vA);
+    if( data.velocities[m_indexA].w != wA) {
+      assert(data.velocities[m_indexA].w != wA);
+    }
+    data.velocities[m_indexA].w = wA;
+   
+//    data.velocities[m_indexB].v.set(vB);
+    data.velocities[m_indexB].w = wB;
+
+    pool.pushVec2(4);
+  }
+
+  @Override
+  public boolean solvePositionConstraints(final SolverData data) {
+    return true;
+  }
+}

data/src/org/jbox2d/dynamics/joints/FrictionJointDef.java

@@ -0,0 +1,78 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+/**
+ * Created at 7:23:39 AM Jan 20, 2011
+ */
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.common.Vec2;
+import org.jbox2d.dynamics.Body;
+
+/**
+ * Friction joint definition.
+ * 
+ * @author Daniel Murphy
+ */
+public class FrictionJointDef extends JointDef {
+
+
+  /**
+   * The local anchor point relative to bodyA's origin.
+   */
+  public final Vec2 localAnchorA;
+
+  /**
+   * The local anchor point relative to bodyB's origin.
+   */
+  public final Vec2 localAnchorB;
+
+  /**
+   * The maximum friction force in N.
+   */
+  public float maxForce;
+
+  /**
+   * The maximum friction torque in N-m.
+   */
+  public float maxTorque;
+
+  public FrictionJointDef() {
+    super(JointType.FRICTION);
+    localAnchorA = new Vec2();
+    localAnchorB = new Vec2();
+    maxForce = 0f;
+    maxTorque = 0f;
+  }
+
+  /**
+   * Initialize the bodies, anchors, axis, and reference angle using the world anchor and world
+   * axis.
+   */
+  public void initialize(Body bA, Body bB, Vec2 anchor) {
+    bodyA = bA;
+    bodyB = bB;
+    bA.getLocalPointToOut(anchor, localAnchorA);
+    bB.getLocalPointToOut(anchor, localAnchorB);
+  }
+}