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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@280 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2010-02-15 23:27:35 +00:00
parent c9f63b2a17
commit 3adbeb65ac
3 changed files with 124 additions and 1 deletions
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76
sources/reactphysics3d/engine/ConstraintSolver.cpp Normal file
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@ -0,0 +1,76 @@
/***************************************************************************
* Copyright (C) 2009 Daniel Chappuis *
****************************************************************************
* This file is part of ReactPhysics3D. *
* *
* ReactPhysics3D is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* ReactPhysics3D is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
// Libraries
#include "ConstraintSolver.h"
// Constructor
ConstraintSolver::ConstraintSolver() {
}
// Destructor
ConstraintSolver~ConstraintSolver() {
}
// Allocate all the matrices needed to solve the LCP problem
void ConstraintSolver::allocate(std::vector<Constraint*>& constraints, double dt) {
std::vector<Constraint*> activeConstraints;
unsigned int sizeJacobian = 0;
unsigned int nbAuxiliaryVars = 0;
// For each constraint
for (unsigned int i=0; i<constraints.size(); ++i) {
// If the constraint is active
if (constraints.at(i)->isActive()) {
activeConstraints.push_back(constraints.at(i));
// Evaluate the constraint
constraints.at(i)->evaluate(dt);
// Set the current jacobian index to the constraint
constraints.at(i)->setJacobianIndex(sizeJacobian);
// Update the size of the jacobian matrix
sizeJacobian += constraints.at(i)->getNbJacobianRows();
}
}
// For each active constraint
for (unsigned int i=0; i<activeConstraints.size(); ++i) {
// Set the auxiliary index
activeConstraints.at(i)->setAuxiliaryIndex(sizeJacobian + nbAuxiliaryVars);
// Update the number of auxiliary variables
nbAuxiliaryVars += activeConstraints.at(i)->getNbAuxiliaryVars();
}
// TODO : Continue to implement this ...
}
// Fill in all the matrices needed to solve the LCP problem
void ConstraintSolver::fillInMatrices(std::vector<Constraint*> constraints) {
}
// Solve the current LCP problem
void ConstraintSolver::solve(std::vector<Constraint*> constraints, double dt) {
}

48
sources/reactphysics3d/engine/ConstraintSolver.h Normal file
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/***************************************************************************
* Copyright (C) 2009 Daniel Chappuis *
****************************************************************************
* This file is part of ReactPhysics3D. *
* *
* ReactPhysics3D is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* ReactPhysics3D is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
#ifndef CONSTRAINTSOLVER_H
#define CONSTRAINTSOLVER_H
// Libraries
#include "../constraint/Constraint.h"
// ReactPhysics3D namespace
namespace reactphysics3d {
/* -------------------------------------------------------------------
Class ConstrainSolver :
This class represents the constraint solver. The goal is to
solve A constraint-base LCP problem.
-------------------------------------------------------------------
*/
class ConstraintSolver {
protected:
void allocate(std::vector<Constraint*>& constraints, double dt); // Allocate all the matrices needed to solve the LCP problem
void fillInMatrices(std::vector<Constraint*> constraints); // Fill in all the matrices needed to solve the LCP problem
public:
ConstraintSolver(); // Constructor
virtual ~ConstraintSolver(); // Destructor
void solve(std::vector<Constraint*>& constraints, double dt); // Solve the current LCP problem
};
} // End of ReactPhysics3D namespace
#endif

1
sources/reactphysics3d/engine/PhysicsEngine.h
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@ -47,7 +47,6 @@ class PhysicsEngine {
public :
PhysicsEngine(PhysicsWorld* world, const Time& timeStep) throw (std::invalid_argument); // Constructor
PhysicsEngine(const PhysicsEngine& engine); // Copy-constructor
~PhysicsEngine(); // Destructor
void start(); // Start the physics simulation