1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
|
/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* 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 "dgHingeConstraint.h"
#include "dgBody.h"
#include "dgWorld.h"
#include "hpl1/engine/libraries/newton/core/dg.h"
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
dgHingeConstraint::dgHingeConstraint() : dgBilateralConstraint() {
NEWTON_ASSERT((((dgUnsigned64)&m_localMatrix0) & 15) == 0);
// constraint->Init ();
m_maxDOF = 6;
m_jointAccelFnt = NULL;
m_constId = dgHingeConstraintId;
m_angle = dgFloat32(dgFloat32(0.0f));
}
dgHingeConstraint::~dgHingeConstraint() {
}
/*
dgHingeConstraint* dgHingeConstraint::Create(dgWorld* world)
{
dgHingeConstraint* constraint;
//constraint = dgHingeConstraintArray::GetPool().GetElement();
dgHingeConstraintArray& array = *world;
constraint = array.GetElement();
NEWTON_ASSERT ((((dgUnsigned64) &constraint->m_localMatrix0) & 15) == 0);
constraint->Init ();
constraint->m_maxDOF = 6;
constraint->m_constId = dgHingeConstraintId;
constraint->m_angle = dgFloat32 (0.0f);
constraint->m_jointAccelFnt = NULL;
return constraint;
}
void dgHingeConstraint::Remove(dgWorld* world)
{
dgHingeConstraintArray& array = *world;
dgBilateralConstraint::Remove (world);
//dgHingeConstraintArray::GetPool().RemoveElement (this);
array.RemoveElement (this);
}
*/
void dgHingeConstraint::SetJointParameterCallBack(
dgHingeJointAcceleration callback) {
m_jointAccelFnt = callback;
}
dgFloat32 dgHingeConstraint::GetJointAngle() const {
return m_angle;
}
dgFloat32 dgHingeConstraint::GetJointOmega() const {
NEWTON_ASSERT(m_body0);
NEWTON_ASSERT(m_body1);
dgVector dir(m_body0->GetMatrix().RotateVector(m_localMatrix0[0]));
const dgVector &omega0 = m_body0->GetOmega();
const dgVector &omega1 = m_body1->GetOmega();
return (omega0 - omega1) % dir;
}
dgFloat32 dgHingeConstraint::CalculateStopAlpha(dgFloat32 angle,
const dgJointCallBackParam *param) const {
dgFloat32 alpha;
dgFloat32 omega;
dgFloat32 penetrationErr;
alpha = dgFloat32(0.0f);
if (m_angle > angle) {
omega = GetJointOmega();
if (omega < dgFloat32(0.0f)) {
omega = dgFloat32(0.0f);
}
penetrationErr = (angle - m_angle);
alpha = dgFloat32(100.0f) * penetrationErr - omega * dgFloat32(1.01f) / param->m_timestep;
} else if (m_angle < angle) {
omega = GetJointOmega();
if (omega > dgFloat32(0.0f)) {
omega = dgFloat32(0.0f);
}
penetrationErr = MIN_JOINT_PIN_LENGTH * (angle - m_angle);
alpha = dgFloat32(100.0f) * penetrationErr - omega * dgFloat32(1.01f) / param->m_timestep;
}
return alpha;
}
dgVector dgHingeConstraint::GetJointForce() const {
dgMatrix matrix0;
dgMatrix matrix1;
CalculateGlobalMatrixAndAngle(matrix0, matrix1);
return dgVector(
matrix0.m_front.Scale(m_jointForce[0]) + matrix0.m_up.Scale(m_jointForce[1]) + matrix0.m_right.Scale(m_jointForce[2]) + matrix0.m_up.Scale(m_jointForce[3]) + matrix0.m_right.Scale(m_jointForce[4]));
}
dgUnsigned32 dgHingeConstraint::JacobianDerivative(dgContraintDescritor ¶ms) {
dgMatrix matrix0;
dgMatrix matrix1;
dgVector angle(CalculateGlobalMatrixAndAngle(matrix0, matrix1));
m_angle = -angle.m_x;
NEWTON_ASSERT(
dgAbsf(1.0f - (matrix0.m_front % matrix0.m_front)) < dgFloat32(1.0e-5f));
NEWTON_ASSERT(dgAbsf(1.0f - (matrix0.m_up % matrix0.m_up)) < dgFloat32(1.0e-5f));
NEWTON_ASSERT(
dgAbsf(1.0f - (matrix0.m_right % matrix0.m_right)) < dgFloat32(1.0e-5f));
const dgVector &dir0 = matrix0.m_front;
const dgVector &dir1 = matrix0.m_up;
const dgVector &dir2 = matrix0.m_right;
const dgVector &p0 = matrix0.m_posit;
const dgVector &p1 = matrix1.m_posit;
dgVector q0(p0 + matrix0.m_front.Scale(MIN_JOINT_PIN_LENGTH));
dgVector q1(p1 + matrix1.m_front.Scale(MIN_JOINT_PIN_LENGTH));
// NEWTON_ASSERT (((p1 - p0) % (p1 - p0)) < 1.0e-2f);
dgPointParam pointDataP;
dgPointParam pointDataQ;
InitPointParam(pointDataP, m_stiffness, p0, p1);
InitPointParam(pointDataQ, m_stiffness, q0, q1);
CalculatePointDerivative(0, params, dir0, pointDataP, &m_jointForce[0]);
CalculatePointDerivative(1, params, dir1, pointDataP, &m_jointForce[1]);
CalculatePointDerivative(2, params, dir2, pointDataP, &m_jointForce[2]);
CalculatePointDerivative(3, params, dir1, pointDataQ, &m_jointForce[3]);
CalculatePointDerivative(4, params, dir2, pointDataQ, &m_jointForce[4]);
dgInt32 ret = 5;
if (m_jointAccelFnt) {
dgJointCallBackParam axisParam;
axisParam.m_accel = dgFloat32(0.0f);
axisParam.m_timestep = params.m_timestep;
axisParam.m_minFriction = DG_MIN_BOUND;
axisParam.m_maxFriction = DG_MAX_BOUND;
if (m_jointAccelFnt(reinterpret_cast<NewtonJoint *>(this), reinterpret_cast<NewtonHingeSliderUpdateDesc *>(&axisParam))) {
if ((axisParam.m_minFriction > DG_MIN_BOUND) || (axisParam.m_maxFriction < DG_MAX_BOUND)) {
params.m_forceBounds[5].m_low = axisParam.m_minFriction;
params.m_forceBounds[5].m_upper = axisParam.m_maxFriction;
params.m_forceBounds[5].m_normalIndex = DG_BILATERAL_FRICTION_CONSTRAINT;
}
CalculateAngularDerivative(5, params, dir0, m_stiffness, dgFloat32(0.0f),
&m_jointForce[5]);
// params.m_jointAccel[5] = axisParam.m_accel;
SetMotorAcceleration(5, axisParam.m_accel, params);
ret = 6;
}
}
return dgUnsigned32(ret);
}
|
