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source: code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp @ 8501

Last change on this file since 8501 was 7983, checked in by rgrieder, 14 years ago

Updated Bullet Physics Engine from v2.74 to v2.77

  • Property svn:eol-style set to native
File size: 4.0 KB
RevLine 
[1963]1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17#include "btContactConstraint.h"
18#include "BulletDynamics/Dynamics/btRigidBody.h"
19#include "LinearMath/btVector3.h"
20#include "btJacobianEntry.h"
21#include "btContactSolverInfo.h"
22#include "LinearMath/btMinMax.h"
23#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
24
[7983]25
26
27btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
28:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
29        m_contactManifold(*contactManifold)
30{
31
32}
33
34btContactConstraint::~btContactConstraint()
35{
36
37}
38
39void    btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
40{
41        m_contactManifold = *contactManifold;
42}
43
44void btContactConstraint::getInfo1 (btConstraintInfo1* info)
45{
46
47}
48
49void btContactConstraint::getInfo2 (btConstraintInfo2* info)
50{
51
52}
53
54void    btContactConstraint::buildJacobian()
55{
56
57}
58
59
60
61
62
63#include "btContactConstraint.h"
64#include "BulletDynamics/Dynamics/btRigidBody.h"
65#include "LinearMath/btVector3.h"
66#include "btJacobianEntry.h"
67#include "btContactSolverInfo.h"
68#include "LinearMath/btMinMax.h"
69#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
70
[2882]71#define ASSERT2 btAssert
[1963]72
73#define USE_INTERNAL_APPLY_IMPULSE 1
74
75
76//bilateral constraint between two dynamic objects
77void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
78                      btRigidBody& body2, const btVector3& pos2,
79                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
80{
81        (void)timeStep;
82        (void)distance;
83
84
85        btScalar normalLenSqr = normal.length2();
86        ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
87        if (normalLenSqr > btScalar(1.1))
88        {
89                impulse = btScalar(0.);
90                return;
91        }
92        btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
93        btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
94        //this jacobian entry could be re-used for all iterations
95       
96        btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
97        btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
98        btVector3 vel = vel1 - vel2;
99       
100
[2882]101           btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
[1963]102                body2.getCenterOfMassTransform().getBasis().transpose(),
103                rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
104                body2.getInvInertiaDiagLocal(),body2.getInvMass());
105
106        btScalar jacDiagAB = jac.getDiagonal();
107        btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
108       
109          btScalar rel_vel = jac.getRelativeVelocity(
110                body1.getLinearVelocity(),
111                body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
112                body2.getLinearVelocity(),
113                body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); 
114        btScalar a;
115        a=jacDiagABInv;
116
117
118        rel_vel = normal.dot(vel);
119       
120        //todo: move this into proper structure
121        btScalar contactDamping = btScalar(0.2);
122
123#ifdef ONLY_USE_LINEAR_MASS
124        btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
125        impulse = - contactDamping * rel_vel * massTerm;
126#else   
127        btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
128        impulse = velocityImpulse;
129#endif
130}
131
132
133
134
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