added GPU joint solver for non-contact constraints. Only point 2 point version for now, will add some other constraints soon (changes are very local)
This commit is contained in:
erwin coumans
@@ -1,19 +1,84 @@
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/*
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Copyright (c) 2013 Advanced Micro Devices, Inc.
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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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//Originally written by Erwin Coumans
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#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3
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#define B3_INFINITY 1e30f
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#define mymake_float4 (float4)
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__inline float dot3F4(float4 a, float4 b)
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{
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float4 a1 = mymake_float4(a.xyz,0.f);
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float4 b1 = mymake_float4(b.xyz,0.f);
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return dot(a1, b1);
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}
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typedef float4 Quaternion;
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typedef struct
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{
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float4 m_row[3];
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}Matrix3x3;
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__inline
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float4 mtMul1(Matrix3x3 a, float4 b);
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__inline
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float4 mtMul3(float4 a, Matrix3x3 b);
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__inline
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float4 mtMul1(Matrix3x3 a, float4 b)
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{
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float4 ans;
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ans.x = dot3F4( a.m_row[0], b );
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ans.y = dot3F4( a.m_row[1], b );
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ans.z = dot3F4( a.m_row[2], b );
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ans.w = 0.f;
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return ans;
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}
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__inline
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float4 mtMul3(float4 a, Matrix3x3 b)
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{
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float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
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float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
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float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
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float4 ans;
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ans.x = dot3F4( a, colx );
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ans.y = dot3F4( a, coly );
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ans.z = dot3F4( a, colz );
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return ans;
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}
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typedef struct
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{
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Matrix3x3 m_invInertia;
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Matrix3x3 m_invInertiaWorld;
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Matrix3x3 m_initInvInertia;
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} Shape;
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} BodyInertia;
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typedef struct
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{
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@@ -23,7 +88,7 @@ typedef struct
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typedef struct
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{
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b3Transform m_worldTransform;
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// b3Transform m_worldTransformUnused;
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float4 m_deltaLinearVelocity;
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float4 m_deltaAngularVelocity;
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float4 m_angularFactor;
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@@ -41,9 +106,20 @@ typedef struct
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};
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int padding[3];
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} b3SolverBody;
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} b3GpuSolverBody;
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typedef struct
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{
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float4 m_pos;
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Quaternion m_quat;
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float4 m_linVel;
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float4 m_angVel;
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unsigned int m_shapeIdx;
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float m_invMass;
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float m_restituitionCoeff;
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float m_frictionCoeff;
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} b3RigidBodyCL;
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typedef struct
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{
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@@ -92,24 +168,109 @@ typedef struct
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} b3BatchConstraint;
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#define mymake_float4 (float4)
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__inline float dot3F4(float4 a, float4 b)
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typedef struct
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{
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float4 a1 = mymake_float4(a.xyz,0.f);
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float4 b1 = mymake_float4(b.xyz,0.f);
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return dot(a1, b1);
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int m_constraintType;
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int m_rbA;
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int m_rbB;
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float m_breakingImpulseThreshold;
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float4 m_pivotInA;
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float4 m_pivotInB;
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Quaternion m_relTargetAB;
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int m_flags;
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int m_padding[3];
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} b3GpuGenericConstraint;
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/*b3Transform getWorldTransform(b3RigidBodyCL* rb)
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{
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b3Transform newTrans;
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newTrans.setOrigin(rb->m_pos);
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newTrans.setRotation(rb->m_quat);
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return newTrans;
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}*/
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__inline
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float4 cross3(float4 a, float4 b)
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{
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return cross(a,b);
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}
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__inline void internalApplyImpulse(__global b3SolverBody* body, float4 linearComponent, float4 angularComponent,float impulseMagnitude)
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__inline
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float4 fastNormalize4(float4 v)
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{
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v = mymake_float4(v.xyz,0.f);
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return fast_normalize(v);
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}
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b);
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__inline
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Quaternion qtNormalize(Quaternion in);
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__inline
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float4 qtRotate(Quaternion q, float4 vec);
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__inline
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Quaternion qtInvert(Quaternion q);
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b)
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{
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Quaternion ans;
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ans = cross3( a, b );
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ans += a.w*b+b.w*a;
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// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
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ans.w = a.w*b.w - dot3F4(a, b);
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return ans;
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}
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__inline
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Quaternion qtNormalize(Quaternion in)
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{
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return fastNormalize4(in);
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// in /= length( in );
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// return in;
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}
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__inline
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float4 qtRotate(Quaternion q, float4 vec)
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{
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Quaternion qInv = qtInvert( q );
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float4 vcpy = vec;
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vcpy.w = 0.f;
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float4 out = qtMul(qtMul(q,vcpy),qInv);
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return out;
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}
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__inline
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Quaternion qtInvert(Quaternion q)
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{
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return (Quaternion)(-q.xyz, q.w);
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}
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__inline void internalApplyImpulse(__global b3GpuSolverBody* body, float4 linearComponent, float4 angularComponent,float impulseMagnitude)
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{
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body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;
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body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);
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}
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void resolveSingleConstraintRowGeneric(__global b3SolverBody* body1, __global b3SolverBody* body2, __global b3SolverConstraint* c)
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void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)
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{
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float deltaImpulse = c->m_rhs-c->m_appliedImpulse.x*c->m_cfm;
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float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);
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@@ -140,7 +301,7 @@ void resolveSingleConstraintRowGeneric(__global b3SolverBody* body1, __global b3
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}
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__kernel
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void solveJointConstraintRows(__global b3SolverBody* solverBodies,
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void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,
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__global b3BatchConstraint* batchConstraints,
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__global b3SolverConstraint* rows,
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int batchOffset,
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@@ -158,4 +319,415 @@ void solveJointConstraintRows(__global b3SolverBody* solverBodies,
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__global b3SolverConstraint* constraint = &rows[c->m_constraintRowOffset+jj];
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resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);
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}
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};
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};
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__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)
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{
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int i = get_global_id(0);
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if (i>=numBodies)
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return;
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__global b3GpuSolverBody* solverBody = &solverBodies[i];
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__global b3RigidBodyCL* bodyCL = &bodiesCL[i];
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solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);
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solverBody->m_deltaAngularVelocity = (float4)(0.f,0.f,0.f,0.f);
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solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);
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solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);
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solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);
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solverBody->m_originalBodyIndex = i;
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solverBody->m_angularFactor = (float4)(1,1,1,0);
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solverBody->m_linearFactor = (float4) (1,1,1,0);
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solverBody->m_linearVelocity = bodyCL->m_linVel;
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solverBody->m_angularVelocity = bodyCL->m_angVel;
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}
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__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, __global b3BatchConstraint* batchConstraints, int numConstraints)
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{
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int i = get_global_id(0);
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if (i>=numConstraints)
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return;
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__global b3GpuGenericConstraint* constraint = &constraints[i];
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switch (constraint->m_constraintType)
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{
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case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
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{
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infos[i] = 3;
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batchConstraints[i].m_numConstraintRows = 3;
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break;
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}
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default:
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{
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}
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}
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}
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__kernel void initBatchConstraintsKernel(__global unsigned int* rowOffsets, __global b3BatchConstraint* batchConstraints, int numConstraints)
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{
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int i = get_global_id(0);
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if (i>=numConstraints)
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return;
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batchConstraints[i].m_constraintRowOffset = rowOffsets[i];
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}
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typedef struct
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{
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// integrator parameters: frames per second (1/stepsize), default error
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// reduction parameter (0..1).
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float fps,erp;
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// for the first and second body, pointers to two (linear and angular)
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// n*3 jacobian sub matrices, stored by rows. these matrices will have
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// been initialized to 0 on entry. if the second body is zero then the
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// J2xx pointers may be 0.
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union
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{
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__global float4* m_J1linearAxisFloat4;
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__global float* m_J1linearAxis;
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};
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union
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{
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__global float4* m_J1angularAxisFloat4;
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__global float* m_J1angularAxis;
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};
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union
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{
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__global float4* m_J2linearAxisFloat4;
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__global float* m_J2linearAxis;
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};
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union
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{
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__global float4* m_J2angularAxisFloat4;
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__global float* m_J2angularAxis;
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};
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// elements to jump from one row to the next in J's
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int rowskip;
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// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
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// "constraint force mixing" vector. c is set to zero on entry, cfm is
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// set to a constant value (typically very small or zero) value on entry.
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__global float* m_constraintError;
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__global float* cfm;
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// lo and hi limits for variables (set to -/+ infinity on entry).
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__global float* m_lowerLimit;
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__global float* m_upperLimit;
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// findex vector for variables. see the LCP solver interface for a
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// description of what this does. this is set to -1 on entry.
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// note that the returned indexes are relative to the first index of
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// the constraint.
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__global int *findex;
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// number of solver iterations
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int m_numIterations;
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//damping of the velocity
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float m_damping;
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} b3GpuConstraintInfo2;
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void getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)
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{
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*v0 = (float4)(0. ,-vecIn.z ,vecIn.y,0.f);
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*v1 = (float4)(vecIn.z ,0. ,-vecIn.x,0.f);
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*v2 = (float4)(-vecIn.y ,vecIn.x ,0.f,0.f);
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}
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void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)
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{
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float4 posA = bodies[constraint->m_rbA].m_pos;
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Quaternion rotA = bodies[constraint->m_rbA].m_quat;
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float4 posB = bodies[constraint->m_rbB].m_pos;
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Quaternion rotB = bodies[constraint->m_rbB].m_quat;
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// anchor points in global coordinates with respect to body PORs.
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// set jacobian
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info->m_J1linearAxis[0] = 1;
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info->m_J1linearAxis[info->rowskip+1] = 1;
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info->m_J1linearAxis[2*info->rowskip+2] = 1;
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float4 a1 = qtRotate(rotA,constraint->m_pivotInA);
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{
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__global float4* angular0 = (__global float4*)(info->m_J1angularAxis);
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__global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);
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__global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);
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float4 a1neg = -a1;
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getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);
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}
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if (info->m_J2linearAxis)
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{
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info->m_J2linearAxis[0] = -1;
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info->m_J2linearAxis[info->rowskip+1] = -1;
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info->m_J2linearAxis[2*info->rowskip+2] = -1;
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}
|
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float4 a2 = qtRotate(rotB,constraint->m_pivotInB);
|
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{
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// float4 a2n = -a2;
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__global float4* angular0 = (__global float4*)(info->m_J2angularAxis);
|
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__global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);
|
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__global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);
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getSkewSymmetricMatrix(a2,angular0,angular1,angular2);
|
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}
|
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|
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// set right hand side
|
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// float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
|
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float currERP = info->erp;
|
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|
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float k = info->fps * currERP;
|
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int j;
|
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float4 result = a2 + posB - a1 - posA;
|
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float* resultPtr = &result;
|
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|
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for (j=0; j<3; j++)
|
||||
{
|
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info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)
|
||||
{
|
||||
int i = get_global_id(0);
|
||||
if (i>=numBodies)
|
||||
return;
|
||||
|
||||
if (bodies[i].m_invMass)
|
||||
{
|
||||
// solverBodies[i].m_linearVelocity += solverBodies[i].m_deltaLinearVelocity;
|
||||
// solverBodies[i].m_angularVelocity += solverBodies[i].m_deltaAngularVelocity;
|
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bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;
|
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bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows,
|
||||
__global unsigned int* infos,
|
||||
__global b3GpuGenericConstraint* constraints,
|
||||
__global b3BatchConstraint* batchConstraints,
|
||||
__global b3RigidBodyCL* bodies,
|
||||
__global BodyInertia* inertias,
|
||||
__global b3GpuSolverBody* solverBodies,
|
||||
float timeStep,
|
||||
float globalErp,
|
||||
float globalCfm,
|
||||
float globalDamping,
|
||||
int globalNumIterations,
|
||||
int numConstraints)
|
||||
{
|
||||
|
||||
int i = get_global_id(0);
|
||||
if (i>=numConstraints)
|
||||
return;
|
||||
|
||||
int info1 = infos[i];
|
||||
|
||||
if (info1)
|
||||
{
|
||||
__global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[batchConstraints[i].m_constraintRowOffset];
|
||||
__global b3GpuGenericConstraint* constraint = &constraints[i];
|
||||
|
||||
__global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];
|
||||
__global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];
|
||||
|
||||
int solverBodyIdA = constraint->m_rbA;
|
||||
int solverBodyIdB = constraint->m_rbB;
|
||||
|
||||
__global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];
|
||||
__global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];
|
||||
|
||||
if (rbA->m_invMass)
|
||||
{
|
||||
batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;
|
||||
} else
|
||||
{
|
||||
// if (!solverBodyIdA)
|
||||
// m_staticIdx = 0;
|
||||
batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;
|
||||
}
|
||||
|
||||
if (rbB->m_invMass)
|
||||
{
|
||||
batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;
|
||||
} else
|
||||
{
|
||||
// if (!solverBodyIdB)
|
||||
// m_staticIdx = 0;
|
||||
batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;
|
||||
}
|
||||
|
||||
int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
|
||||
// if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
|
||||
// m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
|
||||
|
||||
|
||||
int j;
|
||||
for ( j=0;j<info1;j++)
|
||||
{
|
||||
// memset(¤tConstraintRow[j],0,sizeof(b3SolverConstraint));
|
||||
currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_appliedImpulse = 0.f;
|
||||
currentConstraintRow[j].m_appliedPushImpulse = 0.f;
|
||||
currentConstraintRow[j].m_cfm = 0.f;
|
||||
currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_friction = 0.f;
|
||||
currentConstraintRow[j].m_frictionIndex = 0;
|
||||
currentConstraintRow[j].m_jacDiagABInv = 0.f;
|
||||
currentConstraintRow[j].m_lowerLimit = 0.f;
|
||||
currentConstraintRow[j].m_upperLimit = 0.f;
|
||||
|
||||
currentConstraintRow[j].m_originalContactPoint = 0;
|
||||
currentConstraintRow[j].m_overrideNumSolverIterations = 0;
|
||||
currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_rhs = 0.f;
|
||||
currentConstraintRow[j].m_rhsPenetration = 0.f;
|
||||
currentConstraintRow[j].m_solverBodyIdA = 0;
|
||||
currentConstraintRow[j].m_solverBodyIdB = 0;
|
||||
|
||||
currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;
|
||||
currentConstraintRow[j].m_upperLimit = B3_INFINITY;
|
||||
currentConstraintRow[j].m_appliedImpulse = 0.f;
|
||||
currentConstraintRow[j].m_appliedPushImpulse = 0.f;
|
||||
currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
|
||||
currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
|
||||
currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
|
||||
}
|
||||
|
||||
bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);
|
||||
bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);
|
||||
bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);
|
||||
bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);
|
||||
bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);
|
||||
bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);
|
||||
bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);
|
||||
bodyBPtr->m_turnVelocity = (float4)(0,0,0,0);
|
||||
|
||||
int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this
|
||||
|
||||
|
||||
|
||||
|
||||
b3GpuConstraintInfo2 info2;
|
||||
info2.fps = 1.f/timeStep;
|
||||
info2.erp = globalErp;
|
||||
info2.m_J1linearAxisFloat4 = ¤tConstraintRow->m_contactNormal;
|
||||
info2.m_J1angularAxisFloat4 = ¤tConstraintRow->m_relpos1CrossNormal;
|
||||
info2.m_J2linearAxisFloat4 = 0;
|
||||
info2.m_J2angularAxisFloat4 = ¤tConstraintRow->m_relpos2CrossNormal;
|
||||
info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this
|
||||
|
||||
///the size of b3SolverConstraint needs be a multiple of float
|
||||
// b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));
|
||||
info2.m_constraintError = ¤tConstraintRow->m_rhs;
|
||||
currentConstraintRow->m_cfm = globalCfm;
|
||||
info2.m_damping = globalDamping;
|
||||
info2.cfm = ¤tConstraintRow->m_cfm;
|
||||
info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit;
|
||||
info2.m_upperLimit = ¤tConstraintRow->m_upperLimit;
|
||||
info2.m_numIterations = globalNumIterations;
|
||||
|
||||
switch (constraint->m_constraintType)
|
||||
{
|
||||
case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
|
||||
{
|
||||
getInfo2Point2Point(constraint,&info2,bodies);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
///finalize the constraint setup
|
||||
for ( j=0;j<info1;j++)
|
||||
{
|
||||
__global b3SolverConstraint* solverConstraint = ¤tConstraintRow[j];
|
||||
|
||||
if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)
|
||||
{
|
||||
solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;
|
||||
}
|
||||
|
||||
if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)
|
||||
{
|
||||
solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;
|
||||
}
|
||||
|
||||
// solverConstraint->m_originalContactPoint = constraint;
|
||||
|
||||
Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;
|
||||
{
|
||||
|
||||
//float4 angularFactorA(1,1,1);
|
||||
float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;
|
||||
solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;
|
||||
}
|
||||
|
||||
Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;
|
||||
{
|
||||
|
||||
float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;
|
||||
solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();
|
||||
}
|
||||
|
||||
{
|
||||
//it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal
|
||||
//because it gets multiplied iMJlB
|
||||
float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;
|
||||
float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);
|
||||
float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?
|
||||
float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);
|
||||
|
||||
float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);
|
||||
sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);
|
||||
sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);
|
||||
sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);
|
||||
float fsum = fabs(sum);
|
||||
if (fsum>FLT_EPSILON)
|
||||
{
|
||||
solverConstraint->m_jacDiagABInv = 1.f/sum;
|
||||
} else
|
||||
{
|
||||
solverConstraint->m_jacDiagABInv = 0.f;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
///fix rhs
|
||||
///todo: add force/torque accelerators
|
||||
{
|
||||
float rel_vel;
|
||||
float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);
|
||||
float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);
|
||||
|
||||
rel_vel = vel1Dotn+vel2Dotn;
|
||||
|
||||
float restitution = 0.f;
|
||||
float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2
|
||||
float velocityError = restitution - rel_vel * info2.m_damping;
|
||||
float penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;
|
||||
float velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;
|
||||
solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;
|
||||
solverConstraint->m_appliedImpulse = 0.f;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user