Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -13,7 +13,6 @@ subject to the following restrictions:
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
#include "btContactConstraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
@@ -22,44 +21,33 @@ subject to the following restrictions:
|
||||
#include "LinearMath/btMinMax.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
|
||||
|
||||
|
||||
|
||||
btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
|
||||
:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
|
||||
m_contactManifold(*contactManifold)
|
||||
btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold, btRigidBody& rbA, btRigidBody& rbB)
|
||||
: btTypedConstraint(CONTACT_CONSTRAINT_TYPE, rbA, rbB),
|
||||
m_contactManifold(*contactManifold)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
btContactConstraint::~btContactConstraint()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
|
||||
void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
|
||||
{
|
||||
m_contactManifold = *contactManifold;
|
||||
}
|
||||
|
||||
void btContactConstraint::getInfo1 (btConstraintInfo1* info)
|
||||
void btContactConstraint::getInfo1(btConstraintInfo1* info)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btContactConstraint::getInfo2 (btConstraintInfo2* info)
|
||||
void btContactConstraint::getInfo2(btConstraintInfo2* info)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btContactConstraint::buildJacobian()
|
||||
void btContactConstraint::buildJacobian()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#include "btContactConstraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
@@ -68,64 +56,59 @@ void btContactConstraint::buildJacobian()
|
||||
#include "LinearMath/btMinMax.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
|
||||
|
||||
|
||||
|
||||
//response between two dynamic objects without friction and no restitution, assuming 0 penetration depth
|
||||
btScalar resolveSingleCollision(
|
||||
btRigidBody* body1,
|
||||
btCollisionObject* colObj2,
|
||||
const btVector3& contactPositionWorld,
|
||||
const btVector3& contactNormalOnB,
|
||||
const btContactSolverInfo& solverInfo,
|
||||
btScalar distance)
|
||||
btRigidBody* body1,
|
||||
btCollisionObject* colObj2,
|
||||
const btVector3& contactPositionWorld,
|
||||
const btVector3& contactNormalOnB,
|
||||
const btContactSolverInfo& solverInfo,
|
||||
btScalar distance)
|
||||
{
|
||||
btRigidBody* body2 = btRigidBody::upcast(colObj2);
|
||||
|
||||
|
||||
const btVector3& normal = contactNormalOnB;
|
||||
|
||||
btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin();
|
||||
btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
|
||||
|
||||
btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
|
||||
btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
|
||||
btVector3 vel = vel1 - vel2;
|
||||
btScalar rel_vel;
|
||||
rel_vel = normal.dot(vel);
|
||||
|
||||
btScalar combinedRestitution = 0.f;
|
||||
btScalar restitution = combinedRestitution* -rel_vel;
|
||||
const btVector3& normal = contactNormalOnB;
|
||||
|
||||
btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
|
||||
btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
|
||||
btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal);
|
||||
btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f;
|
||||
btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin();
|
||||
btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
|
||||
|
||||
btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
|
||||
btVector3 vel2 = body2 ? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0, 0, 0);
|
||||
btVector3 vel = vel1 - vel2;
|
||||
btScalar rel_vel;
|
||||
rel_vel = normal.dot(vel);
|
||||
|
||||
btScalar combinedRestitution = 0.f;
|
||||
btScalar restitution = combinedRestitution * -rel_vel;
|
||||
|
||||
btScalar positionalError = solverInfo.m_erp * -distance / solverInfo.m_timeStep;
|
||||
btScalar velocityError = -(1.0f + restitution) * rel_vel; // * damping;
|
||||
btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld, normal);
|
||||
btScalar denom1 = body2 ? body2->computeImpulseDenominator(contactPositionWorld, normal) : 0.f;
|
||||
btScalar relaxation = 1.f;
|
||||
btScalar jacDiagABInv = relaxation/(denom0+denom1);
|
||||
btScalar jacDiagABInv = relaxation / (denom0 + denom1);
|
||||
|
||||
btScalar penetrationImpulse = positionalError * jacDiagABInv;
|
||||
btScalar velocityImpulse = velocityError * jacDiagABInv;
|
||||
btScalar penetrationImpulse = positionalError * jacDiagABInv;
|
||||
btScalar velocityImpulse = velocityError * jacDiagABInv;
|
||||
|
||||
btScalar normalImpulse = penetrationImpulse+velocityImpulse;
|
||||
normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse;
|
||||
btScalar normalImpulse = penetrationImpulse + velocityImpulse;
|
||||
normalImpulse = 0.f > normalImpulse ? 0.f : normalImpulse;
|
||||
|
||||
body1->applyImpulse(normal*(normalImpulse), rel_pos1);
|
||||
if (body2)
|
||||
body2->applyImpulse(-normal*(normalImpulse), rel_pos2);
|
||||
|
||||
return normalImpulse;
|
||||
body1->applyImpulse(normal * (normalImpulse), rel_pos1);
|
||||
if (body2)
|
||||
body2->applyImpulse(-normal * (normalImpulse), rel_pos2);
|
||||
|
||||
return normalImpulse;
|
||||
}
|
||||
|
||||
|
||||
//bilateral constraint between two dynamic objects
|
||||
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
|
||||
btRigidBody& body2, const btVector3& pos2,
|
||||
btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
|
||||
btRigidBody& body2, const btVector3& pos2,
|
||||
btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep)
|
||||
{
|
||||
(void)timeStep;
|
||||
(void)distance;
|
||||
|
||||
|
||||
btScalar normalLenSqr = normal.length2();
|
||||
btAssert(btFabs(normalLenSqr) < btScalar(1.1));
|
||||
if (normalLenSqr > btScalar(1.1))
|
||||
@@ -133,45 +116,38 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
|
||||
impulse = btScalar(0.);
|
||||
return;
|
||||
}
|
||||
btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
|
||||
btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
|
||||
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
|
||||
//this jacobian entry could be re-used for all iterations
|
||||
|
||||
|
||||
btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
|
||||
btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
|
||||
btVector3 vel = vel1 - vel2;
|
||||
|
||||
|
||||
btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
|
||||
body2.getCenterOfMassTransform().getBasis().transpose(),
|
||||
rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
|
||||
body2.getInvInertiaDiagLocal(),body2.getInvMass());
|
||||
btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
|
||||
body2.getCenterOfMassTransform().getBasis().transpose(),
|
||||
rel_pos1, rel_pos2, normal, body1.getInvInertiaDiagLocal(), body1.getInvMass(),
|
||||
body2.getInvInertiaDiagLocal(), body2.getInvMass());
|
||||
|
||||
btScalar jacDiagAB = jac.getDiagonal();
|
||||
btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
|
||||
|
||||
btScalar rel_vel = jac.getRelativeVelocity(
|
||||
|
||||
btScalar rel_vel = jac.getRelativeVelocity(
|
||||
body1.getLinearVelocity(),
|
||||
body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
|
||||
body2.getLinearVelocity(),
|
||||
body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
|
||||
|
||||
|
||||
body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
|
||||
|
||||
rel_vel = normal.dot(vel);
|
||||
|
||||
|
||||
//todo: move this into proper structure
|
||||
btScalar contactDamping = btScalar(0.2);
|
||||
|
||||
#ifdef ONLY_USE_LINEAR_MASS
|
||||
btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
|
||||
impulse = - contactDamping * rel_vel * massTerm;
|
||||
#else
|
||||
impulse = -contactDamping * rel_vel * massTerm;
|
||||
#else
|
||||
btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
|
||||
impulse = velocityImpulse;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user