[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | |
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| 17 | #include "btContactConstraint.h" |
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| 18 | #include "BulletDynamics/Dynamics/btRigidBody.h" |
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| 19 | #include "LinearMath/btVector3.h" |
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| 20 | #include "btJacobianEntry.h" |
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| 21 | #include "btContactSolverInfo.h" |
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| 22 | #include "LinearMath/btMinMax.h" |
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| 23 | #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" |
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| 24 | |
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[7983] | 25 | |
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| 26 | |
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| 27 | btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB) |
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| 28 | :btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB), |
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| 29 | m_contactManifold(*contactManifold) |
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| 30 | { |
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| 31 | |
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| 32 | } |
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| 33 | |
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| 34 | btContactConstraint::~btContactConstraint() |
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| 35 | { |
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| 36 | |
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| 37 | } |
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| 38 | |
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| 39 | void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold) |
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| 40 | { |
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| 41 | m_contactManifold = *contactManifold; |
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| 42 | } |
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| 43 | |
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| 44 | void btContactConstraint::getInfo1 (btConstraintInfo1* info) |
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| 45 | { |
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| 46 | |
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| 47 | } |
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| 48 | |
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| 49 | void btContactConstraint::getInfo2 (btConstraintInfo2* info) |
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| 50 | { |
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| 51 | |
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| 52 | } |
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| 53 | |
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| 54 | void btContactConstraint::buildJacobian() |
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| 55 | { |
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| 56 | |
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| 57 | } |
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| 58 | |
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| 59 | |
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| 60 | |
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| 61 | |
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| 62 | |
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| 63 | #include "btContactConstraint.h" |
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| 64 | #include "BulletDynamics/Dynamics/btRigidBody.h" |
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| 65 | #include "LinearMath/btVector3.h" |
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| 66 | #include "btJacobianEntry.h" |
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| 67 | #include "btContactSolverInfo.h" |
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| 68 | #include "LinearMath/btMinMax.h" |
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| 69 | #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" |
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| 70 | |
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[2882] | 71 | #define ASSERT2 btAssert |
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[1963] | 72 | |
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| 73 | #define USE_INTERNAL_APPLY_IMPULSE 1 |
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| 74 | |
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| 75 | |
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| 76 | //bilateral constraint between two dynamic objects |
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| 77 | void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, |
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| 78 | btRigidBody& body2, const btVector3& pos2, |
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| 79 | btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep) |
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| 80 | { |
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| 81 | (void)timeStep; |
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| 82 | (void)distance; |
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| 83 | |
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| 84 | |
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| 85 | btScalar normalLenSqr = normal.length2(); |
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| 86 | ASSERT2(btFabs(normalLenSqr) < btScalar(1.1)); |
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| 87 | if (normalLenSqr > btScalar(1.1)) |
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| 88 | { |
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| 89 | impulse = btScalar(0.); |
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| 90 | return; |
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| 91 | } |
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| 92 | btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); |
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| 93 | btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition(); |
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| 94 | //this jacobian entry could be re-used for all iterations |
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| 95 | |
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| 96 | btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1); |
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| 97 | btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2); |
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| 98 | btVector3 vel = vel1 - vel2; |
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| 99 | |
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| 100 | |
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[2882] | 101 | btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(), |
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[1963] | 102 | body2.getCenterOfMassTransform().getBasis().transpose(), |
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| 103 | rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(), |
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| 104 | body2.getInvInertiaDiagLocal(),body2.getInvMass()); |
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| 105 | |
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| 106 | btScalar jacDiagAB = jac.getDiagonal(); |
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| 107 | btScalar jacDiagABInv = btScalar(1.) / jacDiagAB; |
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| 108 | |
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| 109 | btScalar rel_vel = jac.getRelativeVelocity( |
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| 110 | body1.getLinearVelocity(), |
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| 111 | body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(), |
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| 112 | body2.getLinearVelocity(), |
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| 113 | body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); |
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| 114 | btScalar a; |
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| 115 | a=jacDiagABInv; |
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| 116 | |
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| 117 | |
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| 118 | rel_vel = normal.dot(vel); |
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| 119 | |
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| 120 | //todo: move this into proper structure |
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| 121 | btScalar contactDamping = btScalar(0.2); |
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| 122 | |
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| 123 | #ifdef ONLY_USE_LINEAR_MASS |
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| 124 | btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass()); |
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| 125 | impulse = - contactDamping * rel_vel * massTerm; |
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| 126 | #else |
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| 127 | btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv; |
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| 128 | impulse = velocityImpulse; |
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| 129 | #endif |
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| 130 | } |
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| 131 | |
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| 132 | |
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| 133 | |
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| 134 | |
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