Changes in the Contact class
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@436 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel
parent
d9452e727c
commit
03557bbff6
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@ -120,13 +120,8 @@ void CollisionDetection::computeAllContacts() {
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void CollisionDetection::computeContactGJK(const ContactInfo* const contactInfo) {
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// TODO : Compute PersisentContact here instead
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// Compute the set of contact points
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vector<Vector3D> contactPoints;
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contactPoints.push_back(contactInfo->point1);
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contactPoints.push_back(contactInfo->point2);
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// Create a new contact
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Contact* contact = new Contact(contactInfo->body1, contactInfo->body2, contactInfo->normal, contactInfo->penetrationDepth, contactPoints);
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Contact* contact = new Contact(contactInfo);
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// Add the contact to the physics world
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world->addConstraint(contact);
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@ -47,7 +47,7 @@ const double DEFAULT_TIMESTEP = 0.002;
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const double OBJECT_MARGIN = 0.04; // Object margin for collision detection
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// Contact constants
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const double FRICTION_COEFFICIENT = 0.4; // Friction coefficient
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const double FRICTION_COEFFICIENT = 1.0; // Friction coefficient
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const double PENETRATION_FACTOR = 0.2; // Penetration factor (between 0 and 1) which specify the importance of the
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// penetration depth in order to calculate the correct impulse for the contact
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@ -29,8 +29,9 @@ using namespace reactphysics3d;
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using namespace std;
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// Constructor
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Contact::Contact(Body* const body1, Body* const body2, const Vector3D& normal, double penetrationDepth, const vector<Vector3D>& points)
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:Constraint(body1, body2, 3*points.size(), true), normal(normal), penetrationDepth(penetrationDepth), points(points), nbPoints(points.size()) {
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Contact::Contact(const ContactInfo* contactInfo)
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: Constraint(contactInfo->body1, contactInfo->body2, 3, true), normal(contactInfo->normal), penetrationDepth(contactInfo->penetrationDepth),
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pointOnBody1(contactInfo->point1), pointOnBody2(contactInfo->point2) {
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// Compute the auxiliary lower and upper bounds
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// TODO : Now mC is only the mass of the first body but it is probably wrong
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@ -55,124 +56,92 @@ void Contact::computeJacobian(int noConstraint, Matrix1x6**& J_sp) const {
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assert(body1);
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assert(body2);
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Vector3D r1;
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Vector3D r2;
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Vector3D r1CrossN;
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Vector3D r2CrossN;
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Vector3D r1CrossU1;
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Vector3D r2CrossU1;
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Vector3D r1CrossU2;
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Vector3D r2CrossU2;
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Vector3D body1Position = body1->getTransform().getPosition();
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Vector3D body2Position = body2->getTransform().getPosition();
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int currentIndex = noConstraint; // Current constraint index
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// For each point in the contact
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for (int i=0; i<nbPoints; i++) {
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Vector3D r1 = pointOnBody1 - body1Position;
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Vector3D r2 = pointOnBody2 - body2Position;
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Vector3D r1CrossN = r1.cross(normal);
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Vector3D r2CrossN = r2.cross(normal);
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r1 = points[i] - body1Position;
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r2 = points[i] - body2Position;
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r1CrossN = r1.cross(normal);
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r2CrossN = r2.cross(normal);
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// Compute the jacobian matrix for the body 1 for the contact constraint
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J_sp[currentIndex][0].setValue(0, -normal.getX());
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J_sp[currentIndex][0].setValue(1, -normal.getY());
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J_sp[currentIndex][0].setValue(2, -normal.getZ());
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J_sp[currentIndex][0].setValue(3, -r1CrossN.getX());
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J_sp[currentIndex][0].setValue(4, -r1CrossN.getY());
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J_sp[currentIndex][0].setValue(5, -r1CrossN.getZ());
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// Compute the jacobian matrix for the body 1 for the contact constraint
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//J_sp[currentIndex][0].changeSize(1, 6);
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J_sp[currentIndex][0].setValue(0, -normal.getX());
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J_sp[currentIndex][0].setValue(1, -normal.getY());
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J_sp[currentIndex][0].setValue(2, -normal.getZ());
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J_sp[currentIndex][0].setValue(3, -r1CrossN.getX());
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J_sp[currentIndex][0].setValue(4, -r1CrossN.getY());
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J_sp[currentIndex][0].setValue(5, -r1CrossN.getZ());
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// Compute the jacobian matrix for the body 2 for the contact constraint
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J_sp[currentIndex][1].setValue(0, normal.getX());
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J_sp[currentIndex][1].setValue(1, normal.getY());
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J_sp[currentIndex][1].setValue(2, normal.getZ());
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J_sp[currentIndex][1].setValue(3, r2CrossN.getX());
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J_sp[currentIndex][1].setValue(4, r2CrossN.getY());
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J_sp[currentIndex][1].setValue(5, r2CrossN.getZ());
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// Compute the jacobian matrix for the body 2 for the contact constraint
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//J_sp[currentIndex][1].changeSize(1, 6);
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J_sp[currentIndex][1].setValue(0, normal.getX());
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J_sp[currentIndex][1].setValue(1, normal.getY());
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J_sp[currentIndex][1].setValue(2, normal.getZ());
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J_sp[currentIndex][1].setValue(3, r2CrossN.getX());
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J_sp[currentIndex][1].setValue(4, r2CrossN.getY());
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J_sp[currentIndex][1].setValue(5, r2CrossN.getZ());
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currentIndex++;
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currentIndex++;
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// Compute the jacobian matrix for the body 1 for the first friction constraint
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Vector3D r1CrossU1 = r1.cross(frictionVectors[0]);
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Vector3D r2CrossU1 = r2.cross(frictionVectors[0]);
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Vector3D r1CrossU2 = r1.cross(frictionVectors[1]);
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Vector3D r2CrossU2 = r2.cross(frictionVectors[1]);
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J_sp[currentIndex][0].setValue(0, -frictionVectors[0].getX());
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J_sp[currentIndex][0].setValue(1, -frictionVectors[0].getY());
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J_sp[currentIndex][0].setValue(2, -frictionVectors[0].getZ());
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J_sp[currentIndex][0].setValue(3, -r1CrossU1.getX());
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J_sp[currentIndex][0].setValue(4, -r1CrossU1.getY());
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J_sp[currentIndex][0].setValue(5, -r1CrossU1.getZ());
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// Compute the jacobian matrix for the body 1 for the first friction constraint
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r1CrossU1 = r1.cross(frictionVectors[0]);
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r2CrossU1 = r2.cross(frictionVectors[0]);
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r1CrossU2 = r1.cross(frictionVectors[1]);
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r2CrossU2 = r2.cross(frictionVectors[1]);
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//J_sp[currentIndex][0].changeSize(1, 6);
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J_sp[currentIndex][0].setValue(0, -frictionVectors[0].getX());
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J_sp[currentIndex][0].setValue(1, -frictionVectors[0].getY());
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J_sp[currentIndex][0].setValue(2, -frictionVectors[0].getZ());
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J_sp[currentIndex][0].setValue(3, -r1CrossU1.getX());
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J_sp[currentIndex][0].setValue(4, -r1CrossU1.getY());
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J_sp[currentIndex][0].setValue(5, -r1CrossU1.getZ());
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// Compute the jacobian matrix for the body 2 for the first friction constraint
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J_sp[currentIndex][1].setValue(0, frictionVectors[0].getX());
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J_sp[currentIndex][1].setValue(1, frictionVectors[0].getY());
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J_sp[currentIndex][1].setValue(2, frictionVectors[0].getZ());
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J_sp[currentIndex][1].setValue(3, r2CrossU1.getX());
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J_sp[currentIndex][1].setValue(4, r2CrossU1.getY());
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J_sp[currentIndex][1].setValue(5, r2CrossU1.getZ());
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// Compute the jacobian matrix for the body 2 for the first friction constraint
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//J_sp[currentIndex][1].changeSize(1, 6);
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J_sp[currentIndex][1].setValue(0, frictionVectors[0].getX());
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J_sp[currentIndex][1].setValue(1, frictionVectors[0].getY());
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J_sp[currentIndex][1].setValue(2, frictionVectors[0].getZ());
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J_sp[currentIndex][1].setValue(3, r2CrossU1.getX());
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J_sp[currentIndex][1].setValue(4, r2CrossU1.getY());
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J_sp[currentIndex][1].setValue(5, r2CrossU1.getZ());
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currentIndex++;
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currentIndex++;
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// Compute the jacobian matrix for the body 1 for the second friction constraint
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J_sp[currentIndex][0].setValue(0, -frictionVectors[1].getX());
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J_sp[currentIndex][0].setValue(1, -frictionVectors[1].getY());
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J_sp[currentIndex][0].setValue(2, -frictionVectors[1].getZ());
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J_sp[currentIndex][0].setValue(3, -r1CrossU2.getX());
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J_sp[currentIndex][0].setValue(4, -r1CrossU2.getY());
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J_sp[currentIndex][0].setValue(5, -r1CrossU2.getZ());
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// Compute the jacobian matrix for the body 1 for the second friction constraint
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//J_sp[currentIndex][0].changeSize(1, 6);
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J_sp[currentIndex][0].setValue(0, -frictionVectors[1].getX());
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J_sp[currentIndex][0].setValue(1, -frictionVectors[1].getY());
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J_sp[currentIndex][0].setValue(2, -frictionVectors[1].getZ());
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J_sp[currentIndex][0].setValue(3, -r1CrossU2.getX());
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J_sp[currentIndex][0].setValue(4, -r1CrossU2.getY());
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J_sp[currentIndex][0].setValue(5, -r1CrossU2.getZ());
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//J_sp[currentIndex][1].changeSize(1, 6);
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// Compute the jacobian matrix for the body 2 for the second friction constraint
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J_sp[currentIndex][1].setValue(0, frictionVectors[1].getX());
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J_sp[currentIndex][1].setValue(1, frictionVectors[1].getY());
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J_sp[currentIndex][1].setValue(2, frictionVectors[1].getZ());
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J_sp[currentIndex][1].setValue(3, r2CrossU2.getX());
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J_sp[currentIndex][1].setValue(4, r2CrossU2.getY());
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J_sp[currentIndex][1].setValue(5, r2CrossU2.getZ());
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currentIndex++;
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}
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// Compute the jacobian matrix for the body 2 for the second friction constraint
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J_sp[currentIndex][1].setValue(0, frictionVectors[1].getX());
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J_sp[currentIndex][1].setValue(1, frictionVectors[1].getY());
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J_sp[currentIndex][1].setValue(2, frictionVectors[1].getZ());
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J_sp[currentIndex][1].setValue(3, r2CrossU2.getX());
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J_sp[currentIndex][1].setValue(4, r2CrossU2.getY());
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J_sp[currentIndex][1].setValue(5, r2CrossU2.getZ());
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}
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// Compute the lowerbounds values for all the mathematical constraints. The
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// argument "lowerBounds" is the lowerbounds values vector of the constraint solver and
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// this methods has to fill in this vector starting from the row "noConstraint"
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void Contact::computeLowerBound(int noConstraint, Vector& lowerBounds) const {
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int index = noConstraint;
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assert(noConstraint >= 0 && noConstraint + nbConstraints <= lowerBounds.getNbComponent());
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// For each constraint
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for (int i=0; i<nbPoints; i++) {
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lowerBounds.setValue(index, 0.0); // Lower bound for the contact constraint
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lowerBounds.setValue(index + 1, -mu_mc_g); // Lower bound for the first friction constraint
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lowerBounds.setValue(index + 2, -mu_mc_g); // Lower bound for the second friction constraint
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index += 3;
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}
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lowerBounds.setValue(noConstraint, 0.0); // Lower bound for the contact constraint
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lowerBounds.setValue(noConstraint + 1, -mu_mc_g); // Lower bound for the first friction constraint
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lowerBounds.setValue(noConstraint + 2, -mu_mc_g); // Lower bound for the second friction constraint
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}
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// Compute the upperbounds values for all the mathematical constraints. The
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// argument "upperBounds" is the upperbounds values vector of the constraint solver and
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// this methods has to fill in this vector starting from the row "noConstraint"
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void Contact::computeUpperBound(int noConstraint, Vector& upperBounds) const {
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int index = noConstraint;
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assert(noConstraint >= 0 && noConstraint + nbConstraints <= upperBounds.getNbComponent());
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// For each constraint
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for (int i=0; i<nbPoints; i++) {
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upperBounds.setValue(index, INFINITY_CONST); // Upper bound for the contact constraint
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upperBounds.setValue(index + 1, mu_mc_g); // Upper bound for the first friction constraint
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upperBounds.setValue(index + 2, mu_mc_g); // Upper bound for the second friction constraint
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index += 3;
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}
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upperBounds.setValue(noConstraint, INFINITY_CONST); // Upper bound for the contact constraint
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upperBounds.setValue(noConstraint + 1, mu_mc_g); // Upper bound for the first friction constraint
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upperBounds.setValue(noConstraint + 2, mu_mc_g); // Upper bound for the second friction constraint
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}
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// Compute the error values for all the mathematical constraints. The argument
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@ -184,7 +153,6 @@ void Contact::computeErrorValue(int noConstraint, Vector& errorValues) const {
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RigidBody* rigidBody1 = dynamic_cast<RigidBody*>(body1);
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RigidBody* rigidBody2 = dynamic_cast<RigidBody*>(body2);
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int index = noConstraint;
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assert(noConstraint >= 0 && noConstraint + nbConstraints <= errorValues.getNbComponent());
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@ -195,10 +163,7 @@ void Contact::computeErrorValue(int noConstraint, Vector& errorValues) const {
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double errorValue = restitutionCoeff * (normal.dot(velocity1) - normal.dot(velocity2)) + PENETRATION_FACTOR * penetrationDepth;
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// Assign the error value to the vector of error values
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for (int i=0; i<nbPoints; i++) {
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errorValues.setValue(index, errorValue); // Error value for contact constraint
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errorValues.setValue(index + 1, 0.0); // Error value for friction constraint
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errorValues.setValue(index + 2, 0.0); // Error value for friction constraint
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index += 3;
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}
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errorValues.setValue(noConstraint, errorValue); // Error value for contact constraint
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errorValues.setValue(noConstraint + 1, 0.0); // Error value for friction constraint
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errorValues.setValue(noConstraint + 2, 0.0); // Error value for friction constraint
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}
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@ -27,6 +27,7 @@
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// Libraries
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#include "Constraint.h"
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#include "../collision/ContactInfo.h"
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#include "../body/RigidBody.h"
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#include "../constants.h"
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#include "../mathematics/mathematics.h"
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@ -43,29 +44,29 @@ namespace reactphysics3d {
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This class represents a collision contact between two bodies in
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the physics engine. The contact class inherits from the
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Constraint class. Each Contact represent a contact between two bodies
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and can have several contact points. The Contact will have 3 mathematical
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constraints for each contact point (1 for the contact constraint, and 2
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and contains the two contact points on each body. The contact has 3
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mathematical constraints (1 for the contact constraint, and 2
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for the friction constraints).
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-------------------------------------------------------------------
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*/
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class Contact : public Constraint {
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protected :
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const Vector3D normal; // Normal vector of the contact (From body1 toward body2)
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const double penetrationDepth; // Penetration depth
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const std::vector<Vector3D> points; // Contact points between the two bodies
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const int nbPoints; // Number of points in the contact
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std::vector<Vector3D> frictionVectors; // Two orthogonal vectors that span the tangential friction plane
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const Vector3D normal; // Normal vector of the contact (From body1 toward body2)
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const double penetrationDepth; // Penetration depth
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const Vector3D pointOnBody1; // Contact point on body 1
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const Vector3D pointOnBody2; // Contact point on body 2
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std::vector<Vector3D> frictionVectors; // Two orthogonal vectors that span the tangential friction plane
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double mu_mc_g;
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void computeFrictionVectors(); // Compute the two friction vectors that span the tangential friction plane
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public :
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Contact(Body* const body1, Body* const body2, const Vector3D& normal, double penetrationDepth, const std::vector<Vector3D>& points); // Constructor
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virtual ~Contact(); // Destructor
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Contact(const ContactInfo* contactInfo); // Constructor
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virtual ~Contact(); // Destructor
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Vector3D getNormal() const; // Return the normal vector of the contact
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Vector3D getPoint(int index) const; // Return a contact point
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int getNbPoints() const; // Return the number of contact points
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Vector3D getPointOnBody1() const; // Return the contact point on body 1
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Vector3D getPointOnBody2() const; // Return the contact point on body 2
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virtual void computeJacobian(int noConstraint, Matrix1x6**& J_SP) const; // Compute the jacobian matrix for all mathematical constraints
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virtual void computeLowerBound(int noConstraint, Vector& lowerBounds) const; // Compute the lowerbounds values for all the mathematical constraints
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virtual void computeUpperBound(int noConstraint, Vector& upperBounds) const; // Compute the upperbounds values for all the mathematical constraints
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@ -95,15 +96,14 @@ inline Vector3D Contact::getNormal() const {
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return normal;
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}
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// Return a contact points
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inline Vector3D Contact::getPoint(int index) const {
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assert(index >= 0 && index < nbPoints);
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return points[index];
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// Return the contact point on body 1
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inline Vector3D Contact::getPointOnBody1() const {
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return pointOnBody1;
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}
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// Return the number of contact points
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inline int Contact::getNbPoints() const {
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return nbPoints;
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// Return the contact point on body 2
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inline Vector3D Contact::getPointOnBody2() const {
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return pointOnBody2;
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}
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// Return the penetration depth of the contact
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@ -353,9 +353,8 @@ void ConstraintSolver::updateContactCache() {
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// Get all the contact points of the contact
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vector<Vector3D> points;
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vector<double> lambdas;
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for (int i=0; i<contact->getNbPoints(); i++) {
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points.push_back(contact->getPoint(i));
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}
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points.push_back(contact->getPointOnBody1());
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points.push_back(contact->getPointOnBody2());
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// For each constraint of the contact
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for (int i=0; i<contact->getNbConstraints(); i++) {
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@ -65,30 +65,38 @@ ContactCachingInfo* ContactCache::getContactCachingInfo(Contact* contact) const
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assert((*entry).first.first == contact->getBody1());
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assert((*entry).first.second == contact->getBody2());
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// If the new contact and the contact caching info doesn't have the same number of contact points
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if (contact->getNbPoints() != contactInfo->positions.size()) {
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// We return NULL because, the contact doesn't match
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// Get the position of the current contact
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posX = contact->getPointOnBody1().getX();
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posY = contact->getPointOnBody1().getY();
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posZ = contact->getPointOnBody1().getZ();
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// Get the position of the old contact
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Vector3D& contactPos1 = contactInfo->positions[0];
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// If the old contact point doesn't match the current one
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if (posX > contactPos1.getX() + POSITION_TOLERANCE || posX < contactPos1.getX() - POSITION_TOLERANCE ||
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posY > contactPos1.getY() + POSITION_TOLERANCE || posY < contactPos1.getY() - POSITION_TOLERANCE ||
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posZ > contactPos1.getZ() + POSITION_TOLERANCE || posZ < contactPos1.getZ() - POSITION_TOLERANCE) {
|
||||
|
||||
// Return NULL
|
||||
return NULL;
|
||||
}
|
||||
|
||||
for (int i=0; i<contactInfo->positions.size(); i++) {
|
||||
// Get the position of the current contact
|
||||
posX = contact->getPointOnBody2().getX();
|
||||
posY = contact->getPointOnBody2().getY();
|
||||
posZ = contact->getPointOnBody2().getZ();
|
||||
|
||||
// Get the position of the current contact
|
||||
posX = contact->getPoint(i).getX();
|
||||
posY = contact->getPoint(i).getY();
|
||||
posZ = contact->getPoint(i).getZ();
|
||||
// Get the position of the old contact
|
||||
Vector3D& contactPos2 = contactInfo->positions[1];
|
||||
|
||||
// Get the position of the old contact
|
||||
Vector3D& contactPos = contactInfo->positions[i];
|
||||
// If the old contact point doesn't match the current one
|
||||
if (posX > contactPos2.getX() + POSITION_TOLERANCE || posX < contactPos2.getX() - POSITION_TOLERANCE ||
|
||||
posY > contactPos2.getY() + POSITION_TOLERANCE || posY < contactPos2.getY() - POSITION_TOLERANCE ||
|
||||
posZ > contactPos2.getZ() + POSITION_TOLERANCE || posZ < contactPos2.getZ() - POSITION_TOLERANCE) {
|
||||
|
||||
// If the old contact point doesn't match the current one
|
||||
if (posX > contactPos.getX() + POSITION_TOLERANCE || posX < contactPos.getX() - POSITION_TOLERANCE ||
|
||||
posY > contactPos.getY() + POSITION_TOLERANCE || posY < contactPos.getY() - POSITION_TOLERANCE ||
|
||||
posZ > contactPos.getZ() + POSITION_TOLERANCE || posZ < contactPos.getZ() - POSITION_TOLERANCE) {
|
||||
|
||||
// Return NULL
|
||||
return NULL;
|
||||
}
|
||||
// Return NULL
|
||||
return NULL;
|
||||
}
|
||||
|
||||
// The old contact positions match the current contact, therefore we return the contact caching info
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user