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/* 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 "dgSlidingConstraint.h"
#include "dgBody.h"
#include "dgWorld.h"
#include "hpl1/engine/libraries/newton/core/dg.h"
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
dgSlidingConstraint::dgSlidingConstraint() : dgBilateralConstraint() {
NEWTON_ASSERT((((dgUnsigned64)&m_localMatrix0) & 15) == 0);
// constraint->Init ();
m_maxDOF = 6;
m_constId = dgSliderConstraintId;
m_posit = dgFloat32(0.0f);
m_jointAccelFnt = NULL;
}
dgSlidingConstraint::~dgSlidingConstraint() {
}
/*
dgSlidingConstraint* dgSlidingConstraint::Create(dgWorld* world)
{
dgSlidingConstraint* constraint;
dgSlidingConstraintArray& array = *world;
// constraint = dgSlidingConstraintArray::GetPool().GetElement();
constraint = array.GetElement();
NEWTON_ASSERT ((((dgUnsigned64) &constraint->m_localMatrix0) & 15) == 0);
constraint->Init ();
constraint->m_maxDOF = 6;
constraint->m_constId = dgSliderConstraintId;
constraint->m_posit = dgFloat32 (0.0f);
constraint->m_jointAccelFnt = NULL;
return constraint;
}
void dgSlidingConstraint::Remove(dgWorld* world)
{
dgSlidingConstraintArray& array = *world;
dgBilateralConstraint::Remove (world);
// dgSlidingConstraintArray::GetPool().RemoveElement (this);
array.RemoveElement (this);
}
*/
void dgSlidingConstraint::SetJointParameterCallBack(
dgSlidingJointAcceleration callback) {
m_jointAccelFnt = callback;
}
dgFloat32 dgSlidingConstraint::GetJointPosit() const {
return m_posit;
}
dgFloat32 dgSlidingConstraint::GetJointVeloc() const {
NEWTON_ASSERT(m_body0);
NEWTON_ASSERT(m_body1);
dgVector dir(m_body0->GetMatrix().RotateVector(m_localMatrix0[0]));
const dgVector &veloc0 = m_body0->GetVelocity();
const dgVector &veloc1 = m_body1->GetVelocity();
// dgVector veloc1 (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
// if (m_body1) {
// veloc1 = m_body1->GetVelocity();
// }
return (veloc0 - veloc1) % dir;
}
dgFloat32 dgSlidingConstraint::CalculateStopAccel(dgFloat32 distance,
const dgJointCallBackParam *param) const {
dgFloat32 accel;
dgFloat32 speed;
dgFloat32 penetrationErr;
accel = dgFloat32(0.0f);
if (m_posit > distance) {
speed = GetJointVeloc();
if (speed < dgFloat32(0.0f)) {
speed = dgFloat32(0.0f);
}
penetrationErr = (distance - m_posit);
accel = dgFloat32(100.0f) * penetrationErr - speed * dgFloat32(1.01f) / param->m_timestep;
} else if (m_posit < distance) {
speed = GetJointVeloc();
if (speed > dgFloat32(0.0f)) {
speed = dgFloat32(0.0f);
}
penetrationErr = distance - m_posit;
NEWTON_ASSERT(penetrationErr >= dgFloat32(0.0f));
accel = dgFloat32(100.0f) * penetrationErr - speed * dgFloat32(1.01f) / param->m_timestep;
}
return accel;
}
dgVector dgSlidingConstraint::GetJointForce() const {
dgMatrix matrix0;
dgMatrix matrix1;
CalculateGlobalMatrixAndAngle(matrix0, matrix1);
return dgVector(
matrix0.m_up.Scale(m_jointForce[0]) + matrix0.m_right.Scale(m_jointForce[1]) + matrix0.m_up.Scale(m_jointForce[2]) + matrix0.m_right.Scale(m_jointForce[3]) + matrix0.m_right.Scale(m_jointForce[4]));
}
dgUnsigned32 dgSlidingConstraint::JacobianDerivative(
dgContraintDescritor ¶ms) {
dgInt32 ret;
dgMatrix matrix0;
dgMatrix matrix1;
CalculateGlobalMatrixAndAngle(matrix0, matrix1);
m_posit = (matrix0.m_posit - matrix1.m_posit) % matrix0.m_front;
matrix1.m_posit += matrix1.m_front.Scale(m_posit);
NEWTON_ASSERT(
dgAbsf(dgFloat32(1.0f) - (matrix0.m_front % matrix0.m_front)) < dgFloat32(1.0e-5f));
NEWTON_ASSERT(
dgAbsf(dgFloat32(1.0f) - (matrix0.m_up % matrix0.m_up)) < dgFloat32(1.0e-5f));
NEWTON_ASSERT(
dgAbsf(dgFloat32(1.0f) - (matrix0.m_right % matrix0.m_right)) < dgFloat32(1.0e-5f));
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 p0(matrix0.m_posit);
dgVector p1(
matrix1.m_posit + matrix1.m_front.Scale((p0 - matrix1.m_posit) % matrix1.m_front));
dgVector q0(p0 + matrix0.m_front.Scale(MIN_JOINT_PIN_LENGTH));
dgVector q1(p1 + matrix1.m_front.Scale(MIN_JOINT_PIN_LENGTH));
dgVector r0(p0 + matrix0.m_up.Scale(MIN_JOINT_PIN_LENGTH));
dgVector r1(p1 + matrix1.m_up.Scale(MIN_JOINT_PIN_LENGTH));
dgPointParam pointDataP;
dgPointParam pointDataQ;
dgPointParam pointDataR;
InitPointParam(pointDataP, m_stiffness, p0, p1);
InitPointParam(pointDataQ, m_stiffness, q0, q1);
InitPointParam(pointDataR, m_stiffness, r0, r1);
CalculatePointDerivative(0, params, dir1, pointDataP, &m_jointForce[0]);
CalculatePointDerivative(1, params, dir2, pointDataP, &m_jointForce[1]);
CalculatePointDerivative(2, params, dir1, pointDataQ, &m_jointForce[2]);
CalculatePointDerivative(3, params, dir2, pointDataQ, &m_jointForce[3]);
CalculatePointDerivative(4, params, dir2, pointDataR, &m_jointForce[4]);
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;
}
CalculatePointDerivative(5, params, matrix0.m_front, pointDataP,
&m_jointForce[5]);
// params.m_jointAccel[5] = axisParam.m_accel;
SetMotorAcceleration(5, axisParam.m_accel, params);
ret = 6;
}
}
return dgUnsigned32(ret);
}
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