diff options
Diffstat (limited to 'extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.cpp')
-rw-r--r-- | extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.cpp | 134 |
1 files changed, 134 insertions, 0 deletions
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.cpp new file mode 100644 index 00000000000..d97096d9f26 --- /dev/null +++ b/extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.cpp @@ -0,0 +1,134 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +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" +#include "btJacobianEntry.h" +#include "btContactSolverInfo.h" +#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() +{ + +} + +void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold) +{ + m_contactManifold = *contactManifold; +} + +void btContactConstraint::getInfo1 (btConstraintInfo1* info) +{ + +} + +void btContactConstraint::getInfo2 (btConstraintInfo2* info) +{ + +} + +void btContactConstraint::buildJacobian() +{ + +} + + + + + +#include "btContactConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btContactSolverInfo.h" +#include "LinearMath/btMinMax.h" +#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" + +#define ASSERT2 btAssert + +#define USE_INTERNAL_APPLY_IMPULSE 1 + + +//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) +{ + (void)timeStep; + (void)distance; + + + btScalar normalLenSqr = normal.length2(); + ASSERT2(btFabs(normalLenSqr) < btScalar(1.1)); + if (normalLenSqr > btScalar(1.1)) + { + impulse = btScalar(0.); + return; + } + 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()); + + btScalar jacDiagAB = jac.getDiagonal(); + btScalar jacDiagABInv = btScalar(1.) / jacDiagAB; + + btScalar rel_vel = jac.getRelativeVelocity( + body1.getLinearVelocity(), + body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(), + body2.getLinearVelocity(), + body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); + btScalar a; + a=jacDiagABInv; + + + 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 + btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv; + impulse = velocityImpulse; +#endif +} + + + + |