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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#include "OdeConstraintSolver.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "Dynamics/RigidBody.h"
#include "ContactConstraint.h"
#include "Solve2LinearConstraint.h"
#include "ContactSolverInfo.h"
#include "Dynamics/BU_Joint.h"
#include "Dynamics/ContactJoint.h"
#define USE_SOR_SOLVER
#include "SorLcp.h"
#include <math.h>
#include <float.h>//FLT_MAX
#ifdef WIN32
#include <memory.h>
#endif
#include <string.h>
#include <stdio.h>
#ifdef WIN32
#include <malloc.h>
#else
#include <alloca.h>
#endif
class BU_Joint;
//see below
int gCurBody = 0;
int gCurJoint= 0;
int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
RigidBody** bodies,int bodyId0,int bodyId1);
//iterative lcp and penalty method
float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal)
{
gCurBody = 0;
gCurJoint = 0;
float cfm = 1e-5f;
float erp = 0.2f;
RigidBody* bodies [128];
int numBodies = 0;
BU_Joint* joints [128*5];
int numJoints = 0;
for (int j=0;j<numManifolds;j++)
{
int body0=-1,body1=-1;
PersistentManifold* manifold = manifoldPtr[j];
if (manifold->GetNumContacts() > 0)
{
body0 = ConvertBody((RigidBody*)manifold->GetBody0(),bodies,numBodies);
body1 = ConvertBody((RigidBody*)manifold->GetBody1(),bodies,numBodies);
ConvertConstraint(manifold,joints,numJoints,bodies,body0,body1);
}
}
SolveInternal1(cfm,erp,bodies,numBodies,joints,numJoints,infoGlobal);
return 0.f;
}
/////////////////////////////////////////////////////////////////////////////////
typedef SimdScalar dQuaternion[4];
#define _R(i,j) R[(i)*4+(j)]
void dRfromQ1 (dMatrix3 R, const dQuaternion q)
{
// q = (s,vx,vy,vz)
SimdScalar qq1 = 2*q[1]*q[1];
SimdScalar qq2 = 2*q[2]*q[2];
SimdScalar qq3 = 2*q[3]*q[3];
_R(0,0) = 1 - qq2 - qq3;
_R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
_R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
_R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
_R(1,1) = 1 - qq1 - qq3;
_R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
_R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
_R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
_R(2,2) = 1 - qq1 - qq2;
}
int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies)
{
if (!body || (body->getInvMass() == 0.f) )
{
return -1;
}
//first try to find
int i,j;
for (i=0;i<numBodies;i++)
{
if (bodies[i] == body)
return i;
}
//if not found, create a new body
bodies[numBodies++] = body;
//convert data
body->m_facc.setValue(0,0,0);
body->m_tacc.setValue(0,0,0);
//are the indices the same ?
for (i=0;i<4;i++)
{
for ( j=0;j<3;j++)
{
body->m_invI[i+4*j] = 0.f;
}
}
body->m_invI[0+4*0] = body->getInvInertiaDiagLocal()[0];
body->m_invI[1+4*1] = body->getInvInertiaDiagLocal()[1];
body->m_invI[2+4*2] = body->getInvInertiaDiagLocal()[2];
SimdMatrix3x3 invI;
invI.setIdentity();
invI[0][0] = body->getInvInertiaDiagLocal()[0];
invI[1][1] = body->getInvInertiaDiagLocal()[1];
invI[2][2] = body->getInvInertiaDiagLocal()[2];
SimdMatrix3x3 inertia = invI.inverse();
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
{
body->m_I[i+4*j] = inertia[i][j];
}
}
body->m_I[3+0*4] = 0.f;
body->m_I[3+1*4] = 0.f;
body->m_I[3+2*4] = 0.f;
body->m_I[3+3*4] = 0.f;
dQuaternion q;
q[1] = body->getOrientation()[0];
q[2] = body->getOrientation()[1];
q[3] = body->getOrientation()[2];
q[0] = body->getOrientation()[3];
dRfromQ1(body->m_R,q);
return numBodies-1;
}
#define MAX_JOINTS_1 8192
static ContactJoint gJointArray[MAX_JOINTS_1];
void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
RigidBody** bodies,int _bodyId0,int _bodyId1)
{
manifold->RefreshContactPoints(((RigidBody*)manifold->GetBody0())->getCenterOfMassTransform(),
((RigidBody*)manifold->GetBody1())->getCenterOfMassTransform());
int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
int i,numContacts = manifold->GetNumContacts();
bool swapBodies = (bodyId0 < 0);
RigidBody* body0,*body1;
if (swapBodies)
{
bodyId0 = _bodyId1;
bodyId1 = _bodyId0;
body0 = (RigidBody*)manifold->GetBody1();
body1 = (RigidBody*)manifold->GetBody0();
} else
{
body0 = (RigidBody*)manifold->GetBody0();
body1 = (RigidBody*)manifold->GetBody1();
}
assert(bodyId0 >= 0);
for (i=0;i<numContacts;i++)
{
assert (gCurJoint < MAX_JOINTS_1);
ContactJoint* cont = new (&gJointArray[gCurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);
cont->node[0].joint = cont;
cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;
cont->node[1].joint = cont;
cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0;
joints[numJoints++] = cont;
for (int i=0;i<6;i++)
cont->lambda[i] = 0.f;
cont->flags = 0;
}
//create a new contact constraint
};
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