135 lines
4.1 KiB
C++
135 lines
4.1 KiB
C++
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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 "btContactConstraint.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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#include "btContactSolverInfo.h"
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#include "LinearMath/btMinMax.h"
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#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
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btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
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:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
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m_contactManifold(*contactManifold)
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{
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}
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btContactConstraint::~btContactConstraint()
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{
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}
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void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
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{
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m_contactManifold = *contactManifold;
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}
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void btContactConstraint::getInfo1 (btConstraintInfo1* info)
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{
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}
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void btContactConstraint::getInfo2 (btConstraintInfo2* info)
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{
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}
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void btContactConstraint::buildJacobian()
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{
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}
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#include "btContactConstraint.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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#include "btContactSolverInfo.h"
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#include "LinearMath/btMinMax.h"
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#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
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#define ASSERT2 btAssert
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#define USE_INTERNAL_APPLY_IMPULSE 1
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//bilateral constraint between two dynamic objects
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void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
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btRigidBody& body2, const btVector3& pos2,
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btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
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{
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(void)timeStep;
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(void)distance;
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btScalar normalLenSqr = normal.length2();
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ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
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if (normalLenSqr > btScalar(1.1))
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{
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impulse = btScalar(0.);
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return;
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}
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btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
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btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
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//this jacobian entry could be re-used for all iterations
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btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
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btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
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btVector3 vel = vel1 - vel2;
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btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
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body2.getCenterOfMassTransform().getBasis().transpose(),
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rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
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body2.getInvInertiaDiagLocal(),body2.getInvMass());
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btScalar jacDiagAB = jac.getDiagonal();
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btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
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btScalar rel_vel = jac.getRelativeVelocity(
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body1.getLinearVelocity(),
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body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
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body2.getLinearVelocity(),
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body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
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btScalar a;
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a=jacDiagABInv;
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rel_vel = normal.dot(vel);
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//todo: move this into proper structure
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btScalar contactDamping = btScalar(0.2);
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#ifdef ONLY_USE_LINEAR_MASS
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btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
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impulse = - contactDamping * rel_vel * massTerm;
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#else
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btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
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impulse = velocityImpulse;
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#endif
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}
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