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ejcoumans
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BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp
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241
BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp
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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 "Solve2LinearConstraint.h"
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#include "Dynamics/RigidBody.h"
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#include "SimdVector3.h"
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#include "JacobianEntry.h"
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void Solve2LinearConstraint::resolveUnilateralPairConstraint(
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RigidBody* body1,
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RigidBody* body2,
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const SimdMatrix3x3& world2A,
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const SimdMatrix3x3& world2B,
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const SimdVector3& invInertiaADiag,
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const SimdScalar invMassA,
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const SimdVector3& linvelA,const SimdVector3& angvelA,
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const SimdVector3& rel_posA1,
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const SimdVector3& invInertiaBDiag,
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const SimdScalar invMassB,
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const SimdVector3& linvelB,const SimdVector3& angvelB,
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const SimdVector3& rel_posA2,
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SimdScalar depthA, const SimdVector3& normalA,
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const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
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SimdScalar depthB, const SimdVector3& normalB,
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SimdScalar& imp0,SimdScalar& imp1)
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{
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imp0 = 0.f;
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imp1 = 0.f;
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SimdScalar len = fabs(normalA.length())-1.f;
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if (fabs(len) >= SIMD_EPSILON)
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return;
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ASSERT(len < SIMD_EPSILON);
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//this jacobian entry could be re-used for all iterations
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JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
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invInertiaBDiag,invMassB);
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JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
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invInertiaBDiag,invMassB);
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//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
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//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
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const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
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const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
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// SimdScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
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SimdScalar massTerm = 1.f / (invMassA + invMassB);
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// calculate rhs (or error) terms
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const SimdScalar dv0 = depthA * m_tau * massTerm - vel0 * m_damping;
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const SimdScalar dv1 = depthB * m_tau * massTerm - vel1 * m_damping;
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// dC/dv * dv = -C
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// jacobian * impulse = -error
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//
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//impulse = jacobianInverse * -error
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// inverting 2x2 symmetric system (offdiagonal are equal!)
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//
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SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
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SimdScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
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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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imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
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imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
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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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//[jA nD] * [imp0] = [dv0]
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//[nD jB] [imp1] [dv1]
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}
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void Solve2LinearConstraint::resolveBilateralPairConstraint(
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RigidBody* body1,
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RigidBody* body2,
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const SimdMatrix3x3& world2A,
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const SimdMatrix3x3& world2B,
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const SimdVector3& invInertiaADiag,
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const SimdScalar invMassA,
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const SimdVector3& linvelA,const SimdVector3& angvelA,
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const SimdVector3& rel_posA1,
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const SimdVector3& invInertiaBDiag,
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const SimdScalar invMassB,
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const SimdVector3& linvelB,const SimdVector3& angvelB,
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const SimdVector3& rel_posA2,
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SimdScalar depthA, const SimdVector3& normalA,
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const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
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SimdScalar depthB, const SimdVector3& normalB,
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SimdScalar& imp0,SimdScalar& imp1)
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{
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imp0 = 0.f;
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imp1 = 0.f;
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SimdScalar len = fabs(normalA.length())-1.f;
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if (fabs(len) >= SIMD_EPSILON)
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return;
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ASSERT(len < SIMD_EPSILON);
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//this jacobian entry could be re-used for all iterations
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JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
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invInertiaBDiag,invMassB);
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JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
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invInertiaBDiag,invMassB);
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//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
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//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
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const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
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const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
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// calculate rhs (or error) terms
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const SimdScalar dv0 = depthA * m_tau - vel0 * m_damping;
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const SimdScalar dv1 = depthB * m_tau - vel1 * m_damping;
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// dC/dv * dv = -C
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// jacobian * impulse = -error
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//
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//impulse = jacobianInverse * -error
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// inverting 2x2 symmetric system (offdiagonal are equal!)
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//
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SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
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SimdScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
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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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imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
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imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
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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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//[jA nD] * [imp0] = [dv0]
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//[nD jB] [imp1] [dv1]
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if ( imp0 > 0.0f)
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{
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if ( imp1 > 0.0f )
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{
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//both positive
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}
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else
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{
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imp1 = 0.f;
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// now imp0>0 imp1<0
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imp0 = dv0 / jacA.getDiagonal();
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if ( imp0 > 0.0f )
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{
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} else
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{
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imp0 = 0.f;
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}
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}
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}
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else
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{
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imp0 = 0.f;
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imp1 = dv1 / jacB.getDiagonal();
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if ( imp1 <= 0.0f )
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{
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imp1 = 0.f;
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// now imp0>0 imp1<0
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imp0 = dv0 / jacA.getDiagonal();
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if ( imp0 > 0.0f )
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{
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} else
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{
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imp0 = 0.f;
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}
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} else
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{
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}
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}
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}
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void Solve2LinearConstraint::resolveAngularConstraint( const SimdMatrix3x3& invInertiaAWS,
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const SimdScalar invMassA,
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const SimdVector3& linvelA,const SimdVector3& angvelA,
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const SimdVector3& rel_posA1,
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const SimdMatrix3x3& invInertiaBWS,
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const SimdScalar invMassB,
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const SimdVector3& linvelB,const SimdVector3& angvelB,
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const SimdVector3& rel_posA2,
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SimdScalar depthA, const SimdVector3& normalA,
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const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
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SimdScalar depthB, const SimdVector3& normalB,
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SimdScalar& imp0,SimdScalar& imp1)
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{
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}
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