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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* 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 "Solve2LinearConstraint.h"
#include "Dynamics/RigidBody.h"
#include "SimdVector3.h"
#include "JacobianEntry.h"
void Solve2LinearConstraint::resolveUnilateralPairConstraint(
RigidBody* body1,
RigidBody* body2,
const SimdMatrix3x3& world2A,
const SimdMatrix3x3& world2B,
const SimdVector3& invInertiaADiag,
const SimdScalar invMassA,
const SimdVector3& linvelA,const SimdVector3& angvelA,
const SimdVector3& rel_posA1,
const SimdVector3& invInertiaBDiag,
const SimdScalar invMassB,
const SimdVector3& linvelB,const SimdVector3& angvelB,
const SimdVector3& rel_posA2,
SimdScalar depthA, const SimdVector3& normalA,
const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
SimdScalar depthB, const SimdVector3& normalB,
SimdScalar& imp0,SimdScalar& imp1)
{
imp0 = 0.f;
imp1 = 0.f;
SimdScalar len = fabs(normalA.length())-1.f;
if (fabs(len) >= SIMD_EPSILON)
return;
ASSERT(len < SIMD_EPSILON);
//this jacobian entry could be re-used for all iterations
JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
// SimdScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
SimdScalar massTerm = 1.f / (invMassA + invMassB);
// calculate rhs (or error) terms
const SimdScalar dv0 = depthA * m_tau * massTerm - vel0 * m_damping;
const SimdScalar dv1 = depthB * m_tau * massTerm - vel1 * m_damping;
// dC/dv * dv = -C
// jacobian * impulse = -error
//
//impulse = jacobianInverse * -error
// inverting 2x2 symmetric system (offdiagonal are equal!)
//
SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
SimdScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
//[a b] [d -c]
//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
//[jA nD] * [imp0] = [dv0]
//[nD jB] [imp1] [dv1]
}
void Solve2LinearConstraint::resolveBilateralPairConstraint(
RigidBody* body1,
RigidBody* body2,
const SimdMatrix3x3& world2A,
const SimdMatrix3x3& world2B,
const SimdVector3& invInertiaADiag,
const SimdScalar invMassA,
const SimdVector3& linvelA,const SimdVector3& angvelA,
const SimdVector3& rel_posA1,
const SimdVector3& invInertiaBDiag,
const SimdScalar invMassB,
const SimdVector3& linvelB,const SimdVector3& angvelB,
const SimdVector3& rel_posA2,
SimdScalar depthA, const SimdVector3& normalA,
const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
SimdScalar depthB, const SimdVector3& normalB,
SimdScalar& imp0,SimdScalar& imp1)
{
imp0 = 0.f;
imp1 = 0.f;
SimdScalar len = fabs(normalA.length())-1.f;
if (fabs(len) >= SIMD_EPSILON)
return;
ASSERT(len < SIMD_EPSILON);
//this jacobian entry could be re-used for all iterations
JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
// calculate rhs (or error) terms
const SimdScalar dv0 = depthA * m_tau - vel0 * m_damping;
const SimdScalar dv1 = depthB * m_tau - vel1 * m_damping;
// dC/dv * dv = -C
// jacobian * impulse = -error
//
//impulse = jacobianInverse * -error
// inverting 2x2 symmetric system (offdiagonal are equal!)
//
SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
SimdScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
//[a b] [d -c]
//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
//[jA nD] * [imp0] = [dv0]
//[nD jB] [imp1] [dv1]
if ( imp0 > 0.0f)
{
if ( imp1 > 0.0f )
{
//both positive
}
else
{
imp1 = 0.f;
// now imp0>0 imp1<0
imp0 = dv0 / jacA.getDiagonal();
if ( imp0 > 0.0f )
{
} else
{
imp0 = 0.f;
}
}
}
else
{
imp0 = 0.f;
imp1 = dv1 / jacB.getDiagonal();
if ( imp1 <= 0.0f )
{
imp1 = 0.f;
// now imp0>0 imp1<0
imp0 = dv0 / jacA.getDiagonal();
if ( imp0 > 0.0f )
{
} else
{
imp0 = 0.f;
}
} else
{
}
}
}
void Solve2LinearConstraint::resolveAngularConstraint( const SimdMatrix3x3& invInertiaAWS,
const SimdScalar invMassA,
const SimdVector3& linvelA,const SimdVector3& angvelA,
const SimdVector3& rel_posA1,
const SimdMatrix3x3& invInertiaBWS,
const SimdScalar invMassB,
const SimdVector3& linvelB,const SimdVector3& angvelB,
const SimdVector3& rel_posA2,
SimdScalar depthA, const SimdVector3& normalA,
const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
SimdScalar depthB, const SimdVector3& normalB,
SimdScalar& imp0,SimdScalar& imp1)
{
}
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