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Merge branch 'jingqi-develop' into develop

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This commit is contained in:
Daniel Chappuis 2021-12-07 09:00:27 +01:00
commit 3b31f40773
4 changed files with 16 additions and 16 deletions
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8
src/systems/SolveBallAndSocketJointSystem.cpp
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@ -77,8 +77,8 @@ void SolveBallAndSocketJointSystem::initBeforeSolve() {
const Quaternion& orientationBody2 = transformBody2.getOrientation();
// Compute the vector from body center to the anchor point in world-space
mBallAndSocketJointComponents.mR1World[i] = orientationBody1 * mBallAndSocketJointComponents.mLocalAnchorPointBody1[i];
mBallAndSocketJointComponents.mR2World[i] = orientationBody2 * mBallAndSocketJointComponents.mLocalAnchorPointBody2[i];
mBallAndSocketJointComponents.mR1World[i] = orientationBody1 * (mBallAndSocketJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]);
mBallAndSocketJointComponents.mR2World[i] = orientationBody2 * (mBallAndSocketJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]);
// Compute the corresponding skew-symmetric matrices
const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i];
@ -329,9 +329,9 @@ void SolveBallAndSocketJointSystem::solvePositionConstraint() {
// Compute the vector from body center to the anchor point in world-space
mBallAndSocketJointComponents.mR1World[i] = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1] *
mBallAndSocketJointComponents.mLocalAnchorPointBody1[i];
(mBallAndSocketJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]);
mBallAndSocketJointComponents.mR2World[i] = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2] *
mBallAndSocketJointComponents.mLocalAnchorPointBody2[i];
(mBallAndSocketJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]);
const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i];
const Vector3& r2World = mBallAndSocketJointComponents.mR2World[i];

8
src/systems/SolveFixedJointSystem.cpp
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@ -74,8 +74,8 @@ void SolveFixedJointSystem::initBeforeSolve() {
const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation();
// Compute the vector from body center to the anchor point in world-space
mFixedJointComponents.mR1World[i] = orientationBody1 * mFixedJointComponents.mLocalAnchorPointBody1[i];
mFixedJointComponents.mR2World[i] = orientationBody2 * mFixedJointComponents.mLocalAnchorPointBody2[i];
mFixedJointComponents.mR1World[i] = orientationBody1 * (mFixedJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]);
mFixedJointComponents.mR2World[i] = orientationBody2 * (mFixedJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]);
// Compute the corresponding skew-symmetric matrices
Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mFixedJointComponents.mR1World[i]);
@ -318,8 +318,8 @@ void SolveFixedJointSystem::solvePositionConstraint() {
mFixedJointComponents.mI2[i]);
// Compute the vector from body center to the anchor point in world-space
mFixedJointComponents.mR1World[i] = q1 * mFixedJointComponents.mLocalAnchorPointBody1[i];
mFixedJointComponents.mR2World[i] = q2 * mFixedJointComponents.mLocalAnchorPointBody2[i];
mFixedJointComponents.mR1World[i] = q1 * (mFixedJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]);
mFixedJointComponents.mR2World[i] = q2 * (mFixedJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]);
// Get the inverse mass and inverse inertia tensors of the bodies
decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1];

8
src/systems/SolveHingeJointSystem.cpp
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@ -74,8 +74,8 @@ void SolveHingeJointSystem::initBeforeSolve() {
const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation();
// Compute the vector from body center to the anchor point in world-space
mHingeJointComponents.mR1World[i] = orientationBody1 * mHingeJointComponents.mLocalAnchorPointBody1[i];
mHingeJointComponents.mR2World[i] = orientationBody2 * mHingeJointComponents.mLocalAnchorPointBody2[i];
mHingeJointComponents.mR1World[i] = orientationBody1 * (mHingeJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]);
mHingeJointComponents.mR2World[i] = orientationBody2 * (mHingeJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]);
// Compute vectors needed in the Jacobian
Vector3& a1 = mHingeJointComponents.mA1[i];
@ -497,8 +497,8 @@ void SolveHingeJointSystem::solvePositionConstraint() {
mHingeJointComponents.mI2[i]);
// Compute the vector from body center to the anchor point in world-space
mHingeJointComponents.mR1World[i] = q1 * mHingeJointComponents.mLocalAnchorPointBody1[i];
mHingeJointComponents.mR2World[i] = q2 * mHingeJointComponents.mLocalAnchorPointBody2[i];
mHingeJointComponents.mR1World[i] = q1 * (mHingeJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]);
mHingeJointComponents.mR2World[i] = q2 * (mHingeJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]);
// Compute the corresponding skew-symmetric matrices
Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR1World[i]);

8
src/systems/SolveSliderJointSystem.cpp
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@ -74,8 +74,8 @@ void SolveSliderJointSystem::initBeforeSolve() {
const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation();
// Vector from body center to the anchor point
mSliderJointComponents.mR1[i] = orientationBody1 * mSliderJointComponents.mLocalAnchorPointBody1[i];
mSliderJointComponents.mR2[i] = orientationBody2 * mSliderJointComponents.mLocalAnchorPointBody2[i];
mSliderJointComponents.mR1[i] = orientationBody1 * (mSliderJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]);
mSliderJointComponents.mR2[i] = orientationBody2 * (mSliderJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]);
// Compute the two orthogonal vectors to the slider axis in world-space
mSliderJointComponents.mSliderAxisWorld[i] = orientationBody1 * mSliderJointComponents.mSliderAxisBody1[i];
@ -545,8 +545,8 @@ void SolveSliderJointSystem::solvePositionConstraint() {
mSliderJointComponents.mI2[i]);
// Vector from body center to the anchor point
mSliderJointComponents.mR1[i] = q1 * mSliderJointComponents.mLocalAnchorPointBody1[i];
mSliderJointComponents.mR2[i] = q2 * mSliderJointComponents.mLocalAnchorPointBody2[i];
mSliderJointComponents.mR1[i] = q1 * (mSliderJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]);
mSliderJointComponents.mR2[i] = q2 * (mSliderJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]);
// Get the inverse mass and inverse inertia tensors of the bodies
const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1];