pbox2d 0.6.0-java → 0.8.0-java

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

@@ -0,0 +1,424 @@
+/*******************************************************************************
+ * 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 3:38:38 AM Jan 15, 2011
+ */
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.common.Mat33;
+import org.jbox2d.common.MathUtils;
+import org.jbox2d.common.Rot;
+import org.jbox2d.common.Settings;
+import org.jbox2d.common.Vec2;
+import org.jbox2d.common.Vec3;
+import org.jbox2d.dynamics.SolverData;
+import org.jbox2d.pooling.IWorldPool;
+
+//Point-to-point constraint
+//C = p2 - p1
+//Cdot = v2 - v1
+//   = v2 + cross(w2, r2) - v1 - cross(w1, r1)
+//J = [-I -r1_skew I r2_skew ]
+//Identity used:
+//w k % (rx i + ry j) = w * (-ry i + rx j)
+
+//Angle constraint
+//C = angle2 - angle1 - referenceAngle
+//Cdot = w2 - w1
+//J = [0 0 -1 0 0 1]
+//K = invI1 + invI2
+
+/**
+ * A weld joint essentially glues two bodies together. A weld joint may distort somewhat because the
+ * island constraint solver is approximate.
+ * 
+ * @author Daniel Murphy
+ */
+public class WeldJoint extends Joint {
+
+  private float m_frequencyHz;
+  private float m_dampingRatio;
+  private float m_bias;
+
+  // Solver shared
+  private final Vec2 m_localAnchorA;
+  private final Vec2 m_localAnchorB;
+  private float m_referenceAngle;
+  private float m_gamma;
+  private final Vec3 m_impulse;
+
+
+  // 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 Mat33 m_mass = new Mat33();
+
+  protected WeldJoint(IWorldPool argWorld, WeldJointDef def) {
+    super(argWorld, def);
+    m_localAnchorA = new Vec2(def.localAnchorA);
+    m_localAnchorB = new Vec2(def.localAnchorB);
+    m_referenceAngle = def.referenceAngle;
+    m_frequencyHz = def.frequencyHz;
+    m_dampingRatio = def.dampingRatio;
+
+    m_impulse = new Vec3();
+    m_impulse.setZero();
+  }
+  
+  public float getReferenceAngle() {
+    return m_referenceAngle;
+  }
+
+  public Vec2 getLocalAnchorA() {
+    return m_localAnchorA;
+  }
+
+  public Vec2 getLocalAnchorB() {
+    return m_localAnchorB;
+  }
+
+  public float getFrequency() {
+    return m_frequencyHz;
+  }
+
+  public void setFrequency(float frequencyHz) {
+    this.m_frequencyHz = frequencyHz;
+  }
+
+  public float getDampingRatio() {
+    return m_dampingRatio;
+  }
+
+  public void setDampingRatio(float dampingRatio) {
+    this.m_dampingRatio = dampingRatio;
+  }
+
+  @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_impulse.x, m_impulse.y);
+    argOut.mulLocal(inv_dt);
+  }
+
+  @Override
+  public float getReactionTorque(float inv_dt) {
+    return inv_dt * m_impulse.z;
+  }
+
+  @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;
+
+    // Vec2 cA = data.positions[m_indexA].c;
+    float aA = data.positions[m_indexA].a;
+    Vec2 vA = data.velocities[m_indexA].v;
+    float wA = data.velocities[m_indexA].w;
+
+    // Vec2 cB = data.positions[m_indexB].c;
+    float aB = data.positions[m_indexB].a;
+    Vec2 vB = data.velocities[m_indexB].v;
+    float wB = data.velocities[m_indexB].w;
+
+    final Rot qA = pool.popRot();
+    final Rot qB = pool.popRot();
+    final Vec2 temp = pool.popVec2();
+
+    qA.set(aA);
+    qB.set(aB);
+
+    // Compute the effective masses.
+    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 Mat33 K = pool.popMat33();
+
+    K.ex.x = mA + mB + m_rA.y * m_rA.y * iA + m_rB.y * m_rB.y * iB;
+    K.ey.x = -m_rA.y * m_rA.x * iA - m_rB.y * m_rB.x * iB;
+    K.ez.x = -m_rA.y * iA - m_rB.y * iB;
+    K.ex.y = K.ey.x;
+    K.ey.y = mA + mB + m_rA.x * m_rA.x * iA + m_rB.x * m_rB.x * iB;
+    K.ez.y = m_rA.x * iA + m_rB.x * iB;
+    K.ex.z = K.ez.x;
+    K.ey.z = K.ez.y;
+    K.ez.z = iA + iB;
+
+    if (m_frequencyHz > 0.0f) {
+      K.getInverse22(m_mass);
+
+      float invM = iA + iB;
+      float m = invM > 0.0f ? 1.0f / invM : 0.0f;
+
+      float C = aB - aA - m_referenceAngle;
+
+      // Frequency
+      float omega = 2.0f * MathUtils.PI * m_frequencyHz;
+
+      // Damping coefficient
+      float d = 2.0f * m * m_dampingRatio * omega;
+
+      // Spring stiffness
+      float k = m * omega * omega;
+
+      // magic formulas
+      float h = data.step.dt;
+      m_gamma = h * (d + h * k);
+      m_gamma = m_gamma != 0.0f ? 1.0f / m_gamma : 0.0f;
+      m_bias = C * h * k * m_gamma;
+
+      invM += m_gamma;
+      m_mass.ez.z = invM != 0.0f ? 1.0f / invM : 0.0f;
+    } else {
+      K.getSymInverse33(m_mass);
+      m_gamma = 0.0f;
+      m_bias = 0.0f;
+    }
+
+    if (data.step.warmStarting) {
+      final Vec2 P = pool.popVec2();
+      // Scale impulses to support a variable time step.
+      m_impulse.mulLocal(data.step.dtRatio);
+
+      P.set(m_impulse.x, m_impulse.y);
+
+      vA.x -= mA * P.x;
+      vA.y -= mA * P.y;
+      wA -= iA * (Vec2.cross(m_rA, P) + m_impulse.z);
+
+      vB.x += mB * P.x;
+      vB.y += mB * P.y;
+      wB += iB * (Vec2.cross(m_rB, P) + m_impulse.z);
+      pool.pushVec2(1);
+    } else {
+      m_impulse.setZero();
+    }
+
+//    data.velocities[m_indexA].v.set(vA);
+    data.velocities[m_indexA].w = wA;
+//    data.velocities[m_indexB].v.set(vB);
+    data.velocities[m_indexB].w = wB;
+
+    pool.pushVec2(1);
+    pool.pushRot(2);
+    pool.pushMat33(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;
+
+    final Vec2 Cdot1 = pool.popVec2();
+    final Vec2 P = pool.popVec2();
+    final Vec2 temp = pool.popVec2();
+    if (m_frequencyHz > 0.0f) {
+      float Cdot2 = wB - wA;
+
+      float impulse2 = -m_mass.ez.z * (Cdot2 + m_bias + m_gamma * m_impulse.z);
+      m_impulse.z += impulse2;
+
+      wA -= iA * impulse2;
+      wB += iB * impulse2;
+
+      Vec2.crossToOutUnsafe(wB, m_rB, Cdot1);
+      Vec2.crossToOutUnsafe(wA, m_rA, temp);
+      Cdot1.addLocal(vB).subLocal(vA).subLocal(temp);
+
+      final Vec2 impulse1 = P;
+      Mat33.mul22ToOutUnsafe(m_mass, Cdot1, impulse1);
+      impulse1.negateLocal();
+
+      m_impulse.x += impulse1.x;
+      m_impulse.y += impulse1.y;
+
+      vA.x -= mA * P.x;
+      vA.y -= mA * P.y;
+      wA -= iA * Vec2.cross(m_rA, P);
+
+      vB.x += mB * P.x;
+      vB.y += mB * P.y;
+      wB += iB * Vec2.cross(m_rB, P);
+    } else {
+      Vec2.crossToOutUnsafe(wA, m_rA, temp);
+      Vec2.crossToOutUnsafe(wB, m_rB, Cdot1);
+      Cdot1.addLocal(vB).subLocal(vA).subLocal(temp);
+      float Cdot2 = wB - wA;
+
+      final Vec3 Cdot = pool.popVec3();
+      Cdot.set(Cdot1.x, Cdot1.y, Cdot2);
+
+      final Vec3 impulse = pool.popVec3();
+      Mat33.mulToOutUnsafe(m_mass, Cdot, impulse);
+      impulse.negateLocal();
+      m_impulse.addLocal(impulse);
+
+      P.set(impulse.x, impulse.y);
+
+      vA.x -= mA * P.x;
+      vA.y -= mA * P.y;
+      wA -= iA * (Vec2.cross(m_rA, P) + impulse.z);
+
+      vB.x += mB * P.x;
+      vB.y += mB * P.y;
+      wB += iB * (Vec2.cross(m_rB, P) + impulse.z);
+
+      pool.pushVec3(2);
+    }
+
+//    data.velocities[m_indexA].v.set(vA);
+    data.velocities[m_indexA].w = wA;
+//    data.velocities[m_indexB].v.set(vB);
+    data.velocities[m_indexB].w = wB;
+
+    pool.pushVec2(3);
+  }
+
+  @Override
+  public boolean solvePositionConstraints(final SolverData data) {
+    Vec2 cA = data.positions[m_indexA].c;
+    float aA = data.positions[m_indexA].a;
+    Vec2 cB = data.positions[m_indexB].c;
+    float aB = data.positions[m_indexB].a;
+    final Rot qA = pool.popRot();
+    final Rot qB = pool.popRot();
+    final Vec2 temp = pool.popVec2();
+    final Vec2 rA = pool.popVec2();
+    final Vec2 rB = pool.popVec2();
+
+    qA.set(aA);
+    qB.set(aB);
+
+    float mA = m_invMassA, mB = m_invMassB;
+    float iA = m_invIA, iB = m_invIB;
+
+    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
+    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
+    float positionError, angularError;
+
+    final Mat33 K = pool.popMat33();
+    final Vec2 C1 = pool.popVec2();
+    final Vec2 P = pool.popVec2();
+
+    K.ex.x = mA + mB + rA.y * rA.y * iA + rB.y * rB.y * iB;
+    K.ey.x = -rA.y * rA.x * iA - rB.y * rB.x * iB;
+    K.ez.x = -rA.y * iA - rB.y * iB;
+    K.ex.y = K.ey.x;
+    K.ey.y = mA + mB + rA.x * rA.x * iA + rB.x * rB.x * iB;
+    K.ez.y = rA.x * iA + rB.x * iB;
+    K.ex.z = K.ez.x;
+    K.ey.z = K.ez.y;
+    K.ez.z = iA + iB;
+    if (m_frequencyHz > 0.0f) {
+      C1.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
+
+      positionError = C1.length();
+      angularError = 0.0f;
+
+      K.solve22ToOut(C1, P);
+      P.negateLocal();
+
+      cA.x -= mA * P.x;
+      cA.y -= mA * P.y;
+      aA -= iA * Vec2.cross(rA, P);
+
+      cB.x += mB * P.x;
+      cB.y += mB * P.y;
+      aB += iB * Vec2.cross(rB, P);
+    } else {
+      C1.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
+      float C2 = aB - aA - m_referenceAngle;
+
+      positionError = C1.length();
+      angularError = MathUtils.abs(C2);
+
+      final Vec3 C = pool.popVec3();
+      final Vec3 impulse = pool.popVec3();
+      C.set(C1.x, C1.y, C2);
+
+      K.solve33ToOut(C, impulse);
+      impulse.negateLocal();
+      P.set(impulse.x, impulse.y);
+
+      cA.x -= mA * P.x;
+      cA.y -= mA * P.y;
+      aA -= iA * (Vec2.cross(rA, P) + impulse.z);
+
+      cB.x += mB * P.x;
+      cB.y += mB * P.y;
+      aB += iB * (Vec2.cross(rB, P) + impulse.z);
+      pool.pushVec3(2);
+    }
+
+//    data.positions[m_indexA].c.set(cA);
+    data.positions[m_indexA].a = aA;
+//    data.positions[m_indexB].c.set(cB);
+    data.positions[m_indexB].a = aB;
+
+    pool.pushVec2(5);
+    pool.pushRot(2);
+    pool.pushMat33(1);
+
+    return positionError <= Settings.linearSlop && angularError <= Settings.angularSlop;
+  }
+}

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

@@ -0,0 +1,85 @@
+/*******************************************************************************
+ * 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.
+ ******************************************************************************/
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.common.Vec2;
+import org.jbox2d.dynamics.Body;
+import org.jbox2d.dynamics.joints.JointDef;
+import org.jbox2d.dynamics.joints.JointType;
+
+/**
+ * Created at 3:38:52 AM Jan 15, 2011
+ */
+
+/**
+ * @author Daniel Murphy
+ */
+public class WeldJointDef extends JointDef {
+  /**
+   * The local anchor point relative to body1's origin.
+   */
+  public final Vec2 localAnchorA;
+
+  /**
+   * The local anchor point relative to body2's origin.
+   */
+  public final Vec2 localAnchorB;
+
+  /**
+   * The body2 angle minus body1 angle in the reference state (radians).
+   */
+  public float referenceAngle;
+
+  /**
+   * The mass-spring-damper frequency in Hertz. Rotation only. Disable softness with a value of 0.
+   */
+  public float frequencyHz;
+
+  /**
+   * The damping ratio. 0 = no damping, 1 = critical damping.
+   */
+  public float dampingRatio;
+
+  public WeldJointDef() {
+    super(JointType.WELD);
+    localAnchorA = new Vec2();
+    localAnchorB = new Vec2();
+    referenceAngle = 0.0f;
+  }
+
+  /**
+   * Initialize the bodies, anchors, and reference angle using a world anchor point.
+   * 
+   * @param bA
+   * @param bB
+   * @param anchor
+   */
+  public void initialize(Body bA, Body bB, Vec2 anchor) {
+    bodyA = bA;
+    bodyB = bB;
+    bodyA.getLocalPointToOut(anchor, localAnchorA);
+    bodyB.getLocalPointToOut(anchor, localAnchorB);
+    referenceAngle = bodyB.getAngle() - bodyA.getAngle();
+  }
+}