ruby-bullet 0.0.2-x86-mingw32
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- data/INSTALL.md +22 -0
- data/LICENSE +23 -0
- data/README.md +41 -0
- data/Rakefile +131 -0
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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Added by Roman Ponomarev (rponom@gmail.com)
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April 04, 2008
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TODO:
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- add clamping od accumulated impulse to improve stability
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- add conversion for ODE constraint solver
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*/
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#ifndef BT_SLIDER_CONSTRAINT_H
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#define BT_SLIDER_CONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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class btRigidBody;
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+
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+
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+
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#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
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#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
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#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
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#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
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+
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+
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enum btSliderFlags
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{
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BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
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BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
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BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
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BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
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BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
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BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
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BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
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BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
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BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
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BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
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BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
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BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
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};
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class btSliderConstraint : public btTypedConstraint
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{
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protected:
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///for backwards compatibility during the transition to 'getInfo/getInfo2'
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bool m_useSolveConstraintObsolete;
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bool m_useOffsetForConstraintFrame;
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btTransform m_frameInA;
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btTransform m_frameInB;
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// use frameA fo define limits, if true
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bool m_useLinearReferenceFrameA;
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// linear limits
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btScalar m_lowerLinLimit;
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btScalar m_upperLinLimit;
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// angular limits
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btScalar m_lowerAngLimit;
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btScalar m_upperAngLimit;
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// softness, restitution and damping for different cases
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// DirLin - moving inside linear limits
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// LimLin - hitting linear limit
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// DirAng - moving inside angular limits
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// LimAng - hitting angular limit
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// OrthoLin, OrthoAng - against constraint axis
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btScalar m_softnessDirLin;
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btScalar m_restitutionDirLin;
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btScalar m_dampingDirLin;
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btScalar m_cfmDirLin;
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+
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btScalar m_softnessDirAng;
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btScalar m_restitutionDirAng;
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btScalar m_dampingDirAng;
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btScalar m_cfmDirAng;
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+
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btScalar m_softnessLimLin;
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btScalar m_restitutionLimLin;
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btScalar m_dampingLimLin;
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btScalar m_cfmLimLin;
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+
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btScalar m_softnessLimAng;
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btScalar m_restitutionLimAng;
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btScalar m_dampingLimAng;
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btScalar m_cfmLimAng;
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+
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btScalar m_softnessOrthoLin;
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btScalar m_restitutionOrthoLin;
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btScalar m_dampingOrthoLin;
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btScalar m_cfmOrthoLin;
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+
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btScalar m_softnessOrthoAng;
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btScalar m_restitutionOrthoAng;
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btScalar m_dampingOrthoAng;
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btScalar m_cfmOrthoAng;
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+
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// for interlal use
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bool m_solveLinLim;
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bool m_solveAngLim;
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+
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int m_flags;
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+
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btJacobianEntry m_jacLin[3];
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btScalar m_jacLinDiagABInv[3];
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+
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btJacobianEntry m_jacAng[3];
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+
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btScalar m_timeStep;
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btTransform m_calculatedTransformA;
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btTransform m_calculatedTransformB;
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+
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btVector3 m_sliderAxis;
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btVector3 m_realPivotAInW;
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btVector3 m_realPivotBInW;
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btVector3 m_projPivotInW;
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btVector3 m_delta;
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btVector3 m_depth;
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btVector3 m_relPosA;
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btVector3 m_relPosB;
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+
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btScalar m_linPos;
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btScalar m_angPos;
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+
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btScalar m_angDepth;
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btScalar m_kAngle;
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+
|
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bool m_poweredLinMotor;
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btScalar m_targetLinMotorVelocity;
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btScalar m_maxLinMotorForce;
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+
btScalar m_accumulatedLinMotorImpulse;
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+
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bool m_poweredAngMotor;
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btScalar m_targetAngMotorVelocity;
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btScalar m_maxAngMotorForce;
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+
btScalar m_accumulatedAngMotorImpulse;
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154
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+
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+
//------------------------
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void initParams();
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public:
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// constructors
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btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
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+
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// overrides
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+
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virtual void getInfo1 (btConstraintInfo1* info);
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+
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void getInfo1NonVirtual(btConstraintInfo1* info);
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+
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virtual void getInfo2 (btConstraintInfo2* info);
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+
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void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
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+
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+
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// access
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const btRigidBody& getRigidBodyA() const { return m_rbA; }
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const btRigidBody& getRigidBodyB() const { return m_rbB; }
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const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
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const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
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const btTransform & getFrameOffsetA() const { return m_frameInA; }
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const btTransform & getFrameOffsetB() const { return m_frameInB; }
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btTransform & getFrameOffsetA() { return m_frameInA; }
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btTransform & getFrameOffsetB() { return m_frameInB; }
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+
btScalar getLowerLinLimit() { return m_lowerLinLimit; }
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+
void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
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+
btScalar getUpperLinLimit() { return m_upperLinLimit; }
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185
|
+
void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
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186
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+
btScalar getLowerAngLimit() { return m_lowerAngLimit; }
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+
void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
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188
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+
btScalar getUpperAngLimit() { return m_upperAngLimit; }
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189
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+
void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
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190
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+
bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
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+
btScalar getSoftnessDirLin() { return m_softnessDirLin; }
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+
btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
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+
btScalar getDampingDirLin() { return m_dampingDirLin ; }
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+
btScalar getSoftnessDirAng() { return m_softnessDirAng; }
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+
btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
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196
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+
btScalar getDampingDirAng() { return m_dampingDirAng; }
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+
btScalar getSoftnessLimLin() { return m_softnessLimLin; }
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198
|
+
btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
|
199
|
+
btScalar getDampingLimLin() { return m_dampingLimLin; }
|
200
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+
btScalar getSoftnessLimAng() { return m_softnessLimAng; }
|
201
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+
btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
|
202
|
+
btScalar getDampingLimAng() { return m_dampingLimAng; }
|
203
|
+
btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
|
204
|
+
btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
|
205
|
+
btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
|
206
|
+
btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
|
207
|
+
btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
|
208
|
+
btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
|
209
|
+
void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
|
210
|
+
void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
|
211
|
+
void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
|
212
|
+
void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
|
213
|
+
void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
|
214
|
+
void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
|
215
|
+
void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
|
216
|
+
void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
|
217
|
+
void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
|
218
|
+
void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
|
219
|
+
void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
|
220
|
+
void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
|
221
|
+
void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
|
222
|
+
void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
|
223
|
+
void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
|
224
|
+
void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
|
225
|
+
void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
|
226
|
+
void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
|
227
|
+
void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
|
228
|
+
bool getPoweredLinMotor() { return m_poweredLinMotor; }
|
229
|
+
void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
|
230
|
+
btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
|
231
|
+
void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
|
232
|
+
btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
|
233
|
+
void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
|
234
|
+
bool getPoweredAngMotor() { return m_poweredAngMotor; }
|
235
|
+
void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
|
236
|
+
btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
|
237
|
+
void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
|
238
|
+
btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
|
239
|
+
|
240
|
+
btScalar getLinearPos() const { return m_linPos; }
|
241
|
+
btScalar getAngularPos() const { return m_angPos; }
|
242
|
+
|
243
|
+
|
244
|
+
|
245
|
+
// access for ODE solver
|
246
|
+
bool getSolveLinLimit() { return m_solveLinLim; }
|
247
|
+
btScalar getLinDepth() { return m_depth[0]; }
|
248
|
+
bool getSolveAngLimit() { return m_solveAngLim; }
|
249
|
+
btScalar getAngDepth() { return m_angDepth; }
|
250
|
+
// shared code used by ODE solver
|
251
|
+
void calculateTransforms(const btTransform& transA,const btTransform& transB);
|
252
|
+
void testLinLimits();
|
253
|
+
void testAngLimits();
|
254
|
+
// access for PE Solver
|
255
|
+
btVector3 getAncorInA();
|
256
|
+
btVector3 getAncorInB();
|
257
|
+
// access for UseFrameOffset
|
258
|
+
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
|
259
|
+
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
|
260
|
+
|
261
|
+
void setFrames(const btTransform& frameA, const btTransform& frameB)
|
262
|
+
{
|
263
|
+
m_frameInA=frameA;
|
264
|
+
m_frameInB=frameB;
|
265
|
+
calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
|
266
|
+
buildJacobian();
|
267
|
+
}
|
268
|
+
|
269
|
+
|
270
|
+
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
|
271
|
+
///If no axis is provided, it uses the default axis for this constraint.
|
272
|
+
virtual void setParam(int num, btScalar value, int axis = -1);
|
273
|
+
///return the local value of parameter
|
274
|
+
virtual btScalar getParam(int num, int axis = -1) const;
|
275
|
+
|
276
|
+
virtual int calculateSerializeBufferSize() const;
|
277
|
+
|
278
|
+
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
279
|
+
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
|
280
|
+
|
281
|
+
|
282
|
+
};
|
283
|
+
|
284
|
+
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
285
|
+
struct btSliderConstraintData
|
286
|
+
{
|
287
|
+
btTypedConstraintData m_typeConstraintData;
|
288
|
+
btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
|
289
|
+
btTransformFloatData m_rbBFrame;
|
290
|
+
|
291
|
+
float m_linearUpperLimit;
|
292
|
+
float m_linearLowerLimit;
|
293
|
+
|
294
|
+
float m_angularUpperLimit;
|
295
|
+
float m_angularLowerLimit;
|
296
|
+
|
297
|
+
int m_useLinearReferenceFrameA;
|
298
|
+
int m_useOffsetForConstraintFrame;
|
299
|
+
|
300
|
+
};
|
301
|
+
|
302
|
+
|
303
|
+
SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
|
304
|
+
{
|
305
|
+
return sizeof(btSliderConstraintData);
|
306
|
+
}
|
307
|
+
|
308
|
+
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
309
|
+
SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
|
310
|
+
{
|
311
|
+
|
312
|
+
btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer;
|
313
|
+
btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
|
314
|
+
|
315
|
+
m_frameInA.serializeFloat(sliderData->m_rbAFrame);
|
316
|
+
m_frameInB.serializeFloat(sliderData->m_rbBFrame);
|
317
|
+
|
318
|
+
sliderData->m_linearUpperLimit = float(m_upperLinLimit);
|
319
|
+
sliderData->m_linearLowerLimit = float(m_lowerLinLimit);
|
320
|
+
|
321
|
+
sliderData->m_angularUpperLimit = float(m_upperAngLimit);
|
322
|
+
sliderData->m_angularLowerLimit = float(m_lowerAngLimit);
|
323
|
+
|
324
|
+
sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
|
325
|
+
sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
|
326
|
+
|
327
|
+
return "btSliderConstraintData";
|
328
|
+
}
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#endif //BT_SLIDER_CONSTRAINT_H
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
|
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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+
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btSolve2LinearConstraint.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
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btRigidBody* body1,
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btRigidBody* body2,
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const btMatrix3x3& world2A,
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const btMatrix3x3& world2B,
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const btVector3& invInertiaADiag,
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const btScalar invMassA,
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const btVector3& linvelA,const btVector3& angvelA,
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const btVector3& rel_posA1,
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const btVector3& invInertiaBDiag,
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const btScalar invMassB,
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const btVector3& linvelB,const btVector3& angvelB,
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const btVector3& rel_posA2,
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btScalar depthA, const btVector3& normalA,
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const btVector3& rel_posB1,const btVector3& rel_posB2,
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btScalar depthB, const btVector3& normalB,
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btScalar& imp0,btScalar& imp1)
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{
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(void)linvelA;
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(void)linvelB;
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(void)angvelB;
|
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(void)angvelA;
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+
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imp0 = btScalar(0.);
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imp1 = btScalar(0.);
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+
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btScalar len = btFabs(normalA.length()) - btScalar(1.);
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if (btFabs(len) >= SIMD_EPSILON)
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return;
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btAssert(len < SIMD_EPSILON);
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+
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//this jacobian entry could be re-used for all iterations
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btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
|
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invInertiaBDiag,invMassB);
|
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btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
|
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invInertiaBDiag,invMassB);
|
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+
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//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
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|
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//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
|
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+
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const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
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const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
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+
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// btScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
|
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btScalar massTerm = btScalar(1.) / (invMassA + invMassB);
|
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+
|
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+
|
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// calculate rhs (or error) terms
|
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const btScalar dv0 = depthA * m_tau * massTerm - vel0 * m_damping;
|
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+
const btScalar dv1 = depthB * m_tau * massTerm - vel1 * m_damping;
|
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+
|
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+
|
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// dC/dv * dv = -C
|
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+
|
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// jacobian * impulse = -error
|
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//
|
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+
|
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//impulse = jacobianInverse * -error
|
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+
|
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// inverting 2x2 symmetric system (offdiagonal are equal!)
|
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//
|
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+
|
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+
|
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|
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btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
|
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|
+
btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
|
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|
+
|
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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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+
|
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|
+
imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
|
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|
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imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
|
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+
|
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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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|
+
|
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|
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//[jA nD] * [imp0] = [dv0]
|
108
|
+
//[nD jB] [imp1] [dv1]
|
109
|
+
|
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|
+
}
|
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|
+
|
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|
+
|
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|
+
|
114
|
+
void btSolve2LinearConstraint::resolveBilateralPairConstraint(
|
115
|
+
btRigidBody* body1,
|
116
|
+
btRigidBody* body2,
|
117
|
+
const btMatrix3x3& world2A,
|
118
|
+
const btMatrix3x3& world2B,
|
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|
+
|
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|
+
const btVector3& invInertiaADiag,
|
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|
+
const btScalar invMassA,
|
122
|
+
const btVector3& linvelA,const btVector3& angvelA,
|
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|
+
const btVector3& rel_posA1,
|
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|
+
const btVector3& invInertiaBDiag,
|
125
|
+
const btScalar invMassB,
|
126
|
+
const btVector3& linvelB,const btVector3& angvelB,
|
127
|
+
const btVector3& rel_posA2,
|
128
|
+
|
129
|
+
btScalar depthA, const btVector3& normalA,
|
130
|
+
const btVector3& rel_posB1,const btVector3& rel_posB2,
|
131
|
+
btScalar depthB, const btVector3& normalB,
|
132
|
+
btScalar& imp0,btScalar& imp1)
|
133
|
+
{
|
134
|
+
|
135
|
+
(void)linvelA;
|
136
|
+
(void)linvelB;
|
137
|
+
(void)angvelA;
|
138
|
+
(void)angvelB;
|
139
|
+
|
140
|
+
|
141
|
+
|
142
|
+
imp0 = btScalar(0.);
|
143
|
+
imp1 = btScalar(0.);
|
144
|
+
|
145
|
+
btScalar len = btFabs(normalA.length()) - btScalar(1.);
|
146
|
+
if (btFabs(len) >= SIMD_EPSILON)
|
147
|
+
return;
|
148
|
+
|
149
|
+
btAssert(len < SIMD_EPSILON);
|
150
|
+
|
151
|
+
|
152
|
+
//this jacobian entry could be re-used for all iterations
|
153
|
+
btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
|
154
|
+
invInertiaBDiag,invMassB);
|
155
|
+
btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
|
156
|
+
invInertiaBDiag,invMassB);
|
157
|
+
|
158
|
+
//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
|
159
|
+
//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
|
160
|
+
|
161
|
+
const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
|
162
|
+
const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
|
163
|
+
|
164
|
+
// calculate rhs (or error) terms
|
165
|
+
const btScalar dv0 = depthA * m_tau - vel0 * m_damping;
|
166
|
+
const btScalar dv1 = depthB * m_tau - vel1 * m_damping;
|
167
|
+
|
168
|
+
// dC/dv * dv = -C
|
169
|
+
|
170
|
+
// jacobian * impulse = -error
|
171
|
+
//
|
172
|
+
|
173
|
+
//impulse = jacobianInverse * -error
|
174
|
+
|
175
|
+
// inverting 2x2 symmetric system (offdiagonal are equal!)
|
176
|
+
//
|
177
|
+
|
178
|
+
|
179
|
+
btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
|
180
|
+
btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
|
181
|
+
|
182
|
+
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
|
183
|
+
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
|
184
|
+
|
185
|
+
imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
|
186
|
+
imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
|
187
|
+
|
188
|
+
//[a b] [d -c]
|
189
|
+
//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
|
190
|
+
|
191
|
+
//[jA nD] * [imp0] = [dv0]
|
192
|
+
//[nD jB] [imp1] [dv1]
|
193
|
+
|
194
|
+
if ( imp0 > btScalar(0.0))
|
195
|
+
{
|
196
|
+
if ( imp1 > btScalar(0.0) )
|
197
|
+
{
|
198
|
+
//both positive
|
199
|
+
}
|
200
|
+
else
|
201
|
+
{
|
202
|
+
imp1 = btScalar(0.);
|
203
|
+
|
204
|
+
// now imp0>0 imp1<0
|
205
|
+
imp0 = dv0 / jacA.getDiagonal();
|
206
|
+
if ( imp0 > btScalar(0.0) )
|
207
|
+
{
|
208
|
+
} else
|
209
|
+
{
|
210
|
+
imp0 = btScalar(0.);
|
211
|
+
}
|
212
|
+
}
|
213
|
+
}
|
214
|
+
else
|
215
|
+
{
|
216
|
+
imp0 = btScalar(0.);
|
217
|
+
|
218
|
+
imp1 = dv1 / jacB.getDiagonal();
|
219
|
+
if ( imp1 <= btScalar(0.0) )
|
220
|
+
{
|
221
|
+
imp1 = btScalar(0.);
|
222
|
+
// now imp0>0 imp1<0
|
223
|
+
imp0 = dv0 / jacA.getDiagonal();
|
224
|
+
if ( imp0 > btScalar(0.0) )
|
225
|
+
{
|
226
|
+
} else
|
227
|
+
{
|
228
|
+
imp0 = btScalar(0.);
|
229
|
+
}
|
230
|
+
} else
|
231
|
+
{
|
232
|
+
}
|
233
|
+
}
|
234
|
+
}
|
235
|
+
|
236
|
+
|
237
|
+
/*
|
238
|
+
void btSolve2LinearConstraint::resolveAngularConstraint( const btMatrix3x3& invInertiaAWS,
|
239
|
+
const btScalar invMassA,
|
240
|
+
const btVector3& linvelA,const btVector3& angvelA,
|
241
|
+
const btVector3& rel_posA1,
|
242
|
+
const btMatrix3x3& invInertiaBWS,
|
243
|
+
const btScalar invMassB,
|
244
|
+
const btVector3& linvelB,const btVector3& angvelB,
|
245
|
+
const btVector3& rel_posA2,
|
246
|
+
|
247
|
+
btScalar depthA, const btVector3& normalA,
|
248
|
+
const btVector3& rel_posB1,const btVector3& rel_posB2,
|
249
|
+
btScalar depthB, const btVector3& normalB,
|
250
|
+
btScalar& imp0,btScalar& imp1)
|
251
|
+
{
|
252
|
+
|
253
|
+
}
|
254
|
+
*/
|
255
|
+
|
@@ -0,0 +1,107 @@
|
|
1
|
+
/*
|
2
|
+
Bullet Continuous Collision Detection and Physics Library
|
3
|
+
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
4
|
+
|
5
|
+
This software is provided 'as-is', without any express or implied warranty.
|
6
|
+
In no event will the authors be held liable for any damages arising from the use of this software.
|
7
|
+
Permission is granted to anyone to use this software for any purpose,
|
8
|
+
including commercial applications, and to alter it and redistribute it freely,
|
9
|
+
subject to the following restrictions:
|
10
|
+
|
11
|
+
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
12
|
+
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
13
|
+
3. This notice may not be removed or altered from any source distribution.
|
14
|
+
*/
|
15
|
+
|
16
|
+
#ifndef BT_SOLVE_2LINEAR_CONSTRAINT_H
|
17
|
+
#define BT_SOLVE_2LINEAR_CONSTRAINT_H
|
18
|
+
|
19
|
+
#include "LinearMath/btMatrix3x3.h"
|
20
|
+
#include "LinearMath/btVector3.h"
|
21
|
+
|
22
|
+
|
23
|
+
class btRigidBody;
|
24
|
+
|
25
|
+
|
26
|
+
|
27
|
+
/// constraint class used for lateral tyre friction.
|
28
|
+
class btSolve2LinearConstraint
|
29
|
+
{
|
30
|
+
btScalar m_tau;
|
31
|
+
btScalar m_damping;
|
32
|
+
|
33
|
+
public:
|
34
|
+
|
35
|
+
btSolve2LinearConstraint(btScalar tau,btScalar damping)
|
36
|
+
{
|
37
|
+
m_tau = tau;
|
38
|
+
m_damping = damping;
|
39
|
+
}
|
40
|
+
//
|
41
|
+
// solve unilateral constraint (equality, direct method)
|
42
|
+
//
|
43
|
+
void resolveUnilateralPairConstraint(
|
44
|
+
btRigidBody* body0,
|
45
|
+
btRigidBody* body1,
|
46
|
+
|
47
|
+
const btMatrix3x3& world2A,
|
48
|
+
const btMatrix3x3& world2B,
|
49
|
+
|
50
|
+
const btVector3& invInertiaADiag,
|
51
|
+
const btScalar invMassA,
|
52
|
+
const btVector3& linvelA,const btVector3& angvelA,
|
53
|
+
const btVector3& rel_posA1,
|
54
|
+
const btVector3& invInertiaBDiag,
|
55
|
+
const btScalar invMassB,
|
56
|
+
const btVector3& linvelB,const btVector3& angvelB,
|
57
|
+
const btVector3& rel_posA2,
|
58
|
+
|
59
|
+
btScalar depthA, const btVector3& normalA,
|
60
|
+
const btVector3& rel_posB1,const btVector3& rel_posB2,
|
61
|
+
btScalar depthB, const btVector3& normalB,
|
62
|
+
btScalar& imp0,btScalar& imp1);
|
63
|
+
|
64
|
+
|
65
|
+
//
|
66
|
+
// solving 2x2 lcp problem (inequality, direct solution )
|
67
|
+
//
|
68
|
+
void resolveBilateralPairConstraint(
|
69
|
+
btRigidBody* body0,
|
70
|
+
btRigidBody* body1,
|
71
|
+
const btMatrix3x3& world2A,
|
72
|
+
const btMatrix3x3& world2B,
|
73
|
+
|
74
|
+
const btVector3& invInertiaADiag,
|
75
|
+
const btScalar invMassA,
|
76
|
+
const btVector3& linvelA,const btVector3& angvelA,
|
77
|
+
const btVector3& rel_posA1,
|
78
|
+
const btVector3& invInertiaBDiag,
|
79
|
+
const btScalar invMassB,
|
80
|
+
const btVector3& linvelB,const btVector3& angvelB,
|
81
|
+
const btVector3& rel_posA2,
|
82
|
+
|
83
|
+
btScalar depthA, const btVector3& normalA,
|
84
|
+
const btVector3& rel_posB1,const btVector3& rel_posB2,
|
85
|
+
btScalar depthB, const btVector3& normalB,
|
86
|
+
btScalar& imp0,btScalar& imp1);
|
87
|
+
|
88
|
+
/*
|
89
|
+
void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS,
|
90
|
+
const btScalar invMassA,
|
91
|
+
const btVector3& linvelA,const btVector3& angvelA,
|
92
|
+
const btVector3& rel_posA1,
|
93
|
+
const btMatrix3x3& invInertiaBWS,
|
94
|
+
const btScalar invMassB,
|
95
|
+
const btVector3& linvelB,const btVector3& angvelB,
|
96
|
+
const btVector3& rel_posA2,
|
97
|
+
|
98
|
+
btScalar depthA, const btVector3& normalA,
|
99
|
+
const btVector3& rel_posB1,const btVector3& rel_posB2,
|
100
|
+
btScalar depthB, const btVector3& normalB,
|
101
|
+
btScalar& imp0,btScalar& imp1);
|
102
|
+
|
103
|
+
*/
|
104
|
+
|
105
|
+
};
|
106
|
+
|
107
|
+
#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H
|