git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@290 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
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@ -24,8 +24,9 @@
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using namespace reactphysics3d;
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using namespace reactphysics3d;
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// Constructor
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// Constructor
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Constraint::Constraint(Body* const body1, Body* const body2)
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Constraint::Constraint(Body* const body1, Body* const body2, unsigned int nbAuxConstraints, bool active)
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:body1(body1), body2(body2), active(true) {
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:body1(body1), body2(body2), active(true), nbAuxConstraints(nbAuxConstraints),
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lowerBound(lowerBound), upperBound(upperBound), active(active) {
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}
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}
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@ -27,14 +27,19 @@
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// ReactPhysics3D namespace
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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namespace reactphysics3d {
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// Constants
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const double kErp = 0.8; // Value between 0 and 1 used to compute the kCorrection value (kCorrection = kErp * kFps)
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/* -------------------------------------------------------------------
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/* -------------------------------------------------------------------
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Class Constraint :
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Class Constraint :
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This abstract class represents a constraint in the physics engine.
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This abstract class represents a constraint in the physics engine.
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A constraint can be a collision contact or a joint for
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A constraint can be a collision contact or a joint for
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instance.
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instance. Each constraint have a jacobian matrix associated with
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the first body of the constraint and a jacobian matrix associated
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with the second body. Each constraint can also have some auxiliary
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constraints. Those auxiliary constraint are all represented in the
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auxiliary Jacobian matrix. Auxiliary constraints represents some
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constraints associated with a main constraint. For instance, a
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contact constraint between two bodies can have two associated
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auxiliary constraints to represent the frictions force constraints
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in two directions.
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-------------------------------------------------------------------
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-------------------------------------------------------------------
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*/
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*/
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class Constraint {
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class Constraint {
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@ -42,38 +47,32 @@ class Constraint {
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Body* const body1; // Pointer to the first body of the constraint
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Body* const body1; // Pointer to the first body of the constraint
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Body* const body2; // Pointer to the second body of the constraint
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Body* const body2; // Pointer to the second body of the constraint
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bool active; // True if the constraint is active
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bool active; // True if the constraint is active
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Matrix body1LinearJacobian; // Linear jacobian matrix of the constraint for body1
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Matrix body1Jacobian; // Jacobian matrix of the constraint for body1 (dimension 1x6)
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Matrix body2LinearJacobian; // Linear jacobian matrix of the constraint for body2
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Matrix body2Jacobian; // Jacobian matrix of the constraint for body2 (dimension 1x6)
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Matrix body1AngularJacobian; // Angular jacobian matrix of the constraint for body1
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Matrix auxJacobian; // Jacobian matrix for all the auxiliary constraints jacobian associated with this constraint
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Matrix body2AngularJacobian; // Angular jacobian matrix of the constraint for body2
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// (dimension nx6 where n is the number of auxiliary constraints)
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Vector errorVector; // Error term vector of the constraint
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unsigned int nbAuxConstraints; // Number of auxiliary constraints associated with this constraint
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Vector rightHandSideVector; // Right-hand-side vector
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double lowerBound; // Lower bound of the constraint
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Matrix auxiliaryRows;
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double upperBound; // Upper bound of the constraint
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Matrix auxiliaryColumns;
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Vector auxLowerBounds; // Vector that contains all the lower bounds of the auxiliary constraints
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unsigned int jacobianIndex; // Jacobian index
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Vector auxUpperBounds; // Vector that contains all the upper bounds of the auxiliary constraints
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unsigned int auxiliaryIndex; // Auxiliary index
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public :
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public :
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Constraint(Body* const body1, Body* const body2); // Constructor
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Constraint(Body* const body1, Body* const body2, unsigned int nbAuxConstraints, double lowerBound, double upperBound,
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bool active); // Constructor
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virtual ~Constraint(); // Destructor
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virtual ~Constraint(); // Destructor
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Body* const getBody1() const; // Return the reference to the body 1
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Body* const getBody1() const; // Return the reference to the body 1
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Body* const getBody2() const; // Return the reference to the body 2
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Body* const getBody2() const; // Return the reference to the body 2
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virtual void evaluate(double dt)=0; // Evaluate the constraint
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virtual void evaluate()=0; // Evaluate the constraint
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bool isActive() const; // Return true if the constraint is active
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bool isActive() const; // Return true if the constraint is active
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virtual unsigned int getNbJacobianRows() const=0; // Return the number of rows of the Jacobian matrix
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Matrix getBody1Jacobian() const; // Return the jacobian matrix of body 1
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void setJacobianIndex(unsigned int index); // Set the jacobian index value
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Matrix getBody2Jacobian() const; // Return the jacobian matrix of body 2
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unsigned int getJacobianIndex() const; // Return the jacobian index
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virtual unsigned int getNbAuxConstraints() const; // Return the number of auxiliary constraints
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Matrix getBody1LinearJacobian() const; // Return the linear jacobian matrix of body 1
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void getAuxJacobian(Matrix& auxJacobian) const; // Return the jacobian matrix of auxiliary constraints
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Matrix getBody2LinearJacobian() const; // Return the linear jacobian matrix of body 2
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double getLowerBound() const; // Return the lower bound value of the constraint
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Matrix getBody1AngularJacobian() const; // Return the angular jacobian matrix of body 1
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double getUpperBound() const; // Return the upper bound value of the constraint
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Matrix getBody2AngularJacobian() const; // Return the angular jacobian matrix of body 2
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void getAuxLowerBounds(Vector& auxLowerBounds) const; // Return the vector of lower bounds values
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Vector getErrorVector() const; // Return the error vector of the constraint
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void getAuxUpperBounds(Vector& auxUpperBounds) const; // Return the vector of the upper bounds values
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virtual int getNbAuxiliaryVars() const=0; // Return the number of auxiliary variables
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void setAuxiliaryIndex(unsigned int index); // Set the auxiliary index
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unsigned int getAuxiliaryIndex() const; // Return the auxiliary index
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void getAuxiliaryRowsAndCols(Matrix& rows, Matrix& columns) const; // Return the auxiliary rows and columns
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Vector getRightHandSideVector() const; // Return the right-hand-side vector
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};
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};
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// Return the reference to the body 1
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// Return the reference to the body 1
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return active;
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return active;
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}
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}
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// Set the jacobian index value
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// Return the jacobian matrix of body 1
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inline void Constraint::setJacobianIndex(unsigned int index) {
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inline Matrix Constraint::getBody1Jacobian() const {
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this->jacobianIndex = index;
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return body1Jacobian;
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}
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}
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// Return the jacobian index
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// Return the jacobian matrix of body 2
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inline unsigned int Constraint::getJacobianIndex() const {
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inline Matrix Constraint::getBody2Jacobian() const {
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return jacobianIndex;
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return body2Jacobian;
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}
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}
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// Return the linear jacobian matrix of body 1
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// Return the number auxiliary constraints
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inline Matrix Constraint::getBody1LinearJacobian() const {
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inline unsigned int Constraint::getNbAuxConstraints() const {
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return body1LinearJacobian;
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return nbAuxConstraints;
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}
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}
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// Return the linear jacobian matrix of body 2
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// Return the auxiliary jacobian matrix
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inline Matrix Constraint::getBody2LinearJacobian() const {
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inline void Constraint::getAuxJacobian(Matrix& auxJacobian) const {
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return body2LinearJacobian;
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auxJacobian = this->auxJacobian;
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}
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}
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// Return the angular jacobian matrix of body 1
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// Return the lower bound value of the constraint
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inline Matrix Constraint::getBody1AngularJacobian() const {
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inline double Constraint::getLowerBound() const {
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return body1AngularJacobian;
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return lowerBound;
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}
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}
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// Return the angular jacobian matrix of body 2
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// Return the upper bound value of the constraint
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inline Matrix Constraint::getBody2AngularJacobian() const {
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inline double Constraint::getUpperBound() const {
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return body2AngularJacobian;
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return upperBound;
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}
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}
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// Return the error vector of the constraint
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// Return the vector of lower bounds values
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inline Vector Constraint::getErrorVector() const {
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inline void Constraint::getAuxLowerBounds(Vector& auxLowerBounds) const {
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return errorVector;
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auxLowerBounds = this->auxLowerBounds;
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}
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}
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// Set the auxiliary index
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// Return the vector of the upper bounds values
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inline void Constraint::setAuxiliaryIndex(unsigned int index) {
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inline void Constraint::getAuxUpperBounds(Vector& auxUpperBounds) const {
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auxiliaryIndex = index;
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auxUpperBounds = this->auxUpperBounds;
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}
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}
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// Return the auxiliary index
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inline unsigned int Constraint::getAuxiliaryIndex() const {
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return auxiliaryIndex;
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}
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// Return the auxiliary rows and columns
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inline void Constraint::getAuxiliaryRowsAndCols(Matrix& rows, Matrix& columns) const {
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rows = auxiliaryRows;
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columns = auxiliaryColumns;
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}
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// Return the right-hand-side vector
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inline Vector Constraint::getRightHandSideVector() const {
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return rightHandSideVector;
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}
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} // End of the ReactPhysics3D namespace
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} // End of the ReactPhysics3D namespace
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#endif
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#endif
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// Constructor
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// Constructor
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Contact::Contact(Body* const body1, Body* const body2, const Vector3D& normal, double penetrationDepth, const std::vector<Vector3D>& points)
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Contact::Contact(Body* const body1, Body* const body2, const Vector3D& normal, double penetrationDepth, const std::vector<Vector3D>& points)
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:Constraint(body1, body2), normal(normal), penetrationDepth(penetrationDepth), points(points), nbFrictionVectors(NB_FRICTION_VECTORS) {
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:Constraint(body1, body2, 2, 0, INFINITY_CONST, true), normal(normal), penetrationDepth(penetrationDepth), points(points) {
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active = true;
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body1Jacobian = Matrix(1, 6);
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body2Jacobian = Matrix(1, 6);
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auxJacobian = Matrix(2, 6);
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}
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}
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// Destructor
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// Destructor
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// Evaluate the constraint
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// Evaluate the constraint
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// This method computes the jacobian matrices of the constraint
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// This method computes the jacobian matrices of the constraint
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// The argument "dt" is the time step of the physics simulation
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void Contact::evaluate() {
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void Contact::evaluate(double dt) {
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RigidBody* rigidBody1 = dynamic_cast<RigidBody*>(body1);
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RigidBody* rigidBody1 = dynamic_cast<RigidBody*>(body1);
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RigidBody* rigidBody2 = dynamic_cast<RigidBody*>(body2);
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RigidBody* rigidBody2 = dynamic_cast<RigidBody*>(body2);
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assert(frictionVectors.size() == NB_FRICTION_VECTORS);
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assert(rigidBody1 != 0);
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assert(rigidBody1 != 0);
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assert(rigidBody2 != 0);
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assert(rigidBody2 != 0);
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// Computation of the linear jacobian for body 1
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// Compute the jacobian matrix for the body 1
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body1LinearJacobian = Matrix(1 + NB_FRICTION_VECTORS, 3);
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body1LinearJacobian.setValue(0, 0, -normal.getX());
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body1LinearJacobian.setValue(0, 1, -normal.getY());
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body1LinearJacobian.setValue(0, 2, -normal.getZ());
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for (unsigned int i=1; i<=NB_FRICTION_VECTORS; ++i) {
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body1LinearJacobian.setValue(i, 0, -frictionVectors.at(i-1).getX());
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body1LinearJacobian.setValue(i, 1, -frictionVectors.at(i-1).getY());
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body1LinearJacobian.setValue(i, 2, -frictionVectors.at(i-1).getZ());
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}
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// Computation of the linear jacobian for body 2
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body2LinearJacobian = Matrix(1 + NB_FRICTION_VECTORS, 3);
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body2LinearJacobian.setValue(0, 0, normal.getX());
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body2LinearJacobian.setValue(0, 1, normal.getY());
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body2LinearJacobian.setValue(0, 2, normal.getZ());
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for (unsigned int i=1; i<=NB_FRICTION_VECTORS; ++i) {
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body2LinearJacobian.setValue(i, 0, frictionVectors.at(i-1).getX());
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body2LinearJacobian.setValue(i, 1, frictionVectors.at(i-1).getY());
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body2LinearJacobian.setValue(i, 2, frictionVectors.at(i-1).getZ());
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}
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// Computation of the angular jacobian for body 1
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Vector3D r1 = rigidBody1->getCurrentBodyState().getPosition();
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Vector3D r1CrossNormal = r1.crossProduct(normal);
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body1AngularJacobian = Matrix(1 + NB_FRICTION_VECTORS, 3);
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body1AngularJacobian.setValue(0, 0, -r1CrossNormal.getX());
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body1AngularJacobian.setValue(0, 1, -r1CrossNormal.getY());
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body1AngularJacobian.setValue(0, 2, -r1CrossNormal.getZ());
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for (unsigned int i=1; i<=NB_FRICTION_VECTORS; ++i) {
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Vector3D r1CrossFrictionVector = r1.crossProduct(frictionVectors.at(i-1));
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body1AngularJacobian.setValue(i, 0, -r1CrossFrictionVector.getX());
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body1AngularJacobian.setValue(i, 1, -r1CrossFrictionVector.getY());
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body1AngularJacobian.setValue(i, 2, -r1CrossFrictionVector.getZ());
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}
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// Computation of the angular jacobian for body 2
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Vector3D r2 = rigidBody2->getCurrentBodyState().getPosition();
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Vector3D r2CrossNormal = r2.crossProduct(normal);
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body2AngularJacobian = Matrix(1 + NB_FRICTION_VECTORS, 3);
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body2AngularJacobian.setValue(0, 0, r2CrossNormal.getX());
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body2AngularJacobian.setValue(0, 1, r2CrossNormal.getY());
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body2AngularJacobian.setValue(0, 2, r2CrossNormal.getZ());
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for (unsigned int i=1; i<=NB_FRICTION_VECTORS; ++i) {
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Vector3D r2CrossFrictionVector = r2.crossProduct(frictionVectors.at(i-1));
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body2AngularJacobian.setValue(i, 0, r2CrossFrictionVector.getX());
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body2AngularJacobian.setValue(i, 1, r2CrossFrictionVector.getY());
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body2AngularJacobian.setValue(i, 2, r2CrossFrictionVector.getZ());
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}
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// TODO : Compute the auxiliary rows and cols
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// Computation of the error vector
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double kFps = 1.0 / dt;
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double kCorrection = kErp * kFps; // Computation of the error coefficient
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errorVector = Vector(1+NB_FRICTION_VECTORS);
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errorVector.setValue(0, kCorrection * penetrationDepth);
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for (unsigned int i=1; i<=NB_FRICTION_VECTORS; ++i) {
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errorVector.setValue(i, 0.0);
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}
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}
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}
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// TODO : Delete this (Used to debug collision detection)
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// TODO : Delete this (Used to debug collision detection)
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// ReactPhysics3D namespace
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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namespace reactphysics3d {
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// Constants
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const unsigned int NB_FRICTION_VECTORS = 4; // Number of vectors used to describe the contact friction
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/* -------------------------------------------------------------------
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/* -------------------------------------------------------------------
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Class Contact :
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Class Contact :
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This class represents a collision contact between two bodies in
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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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the physics engine. The contact class inherits from the
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Constraint class. The collision detection systems compute
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Constraint class. The collision detection system computes
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contact informations that will be used to perform the collision
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contact informations that will be used to perform the collision
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response.
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response. A contact constraint has two auxiliary constraints in
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order two represent the two friction forces at the contact
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surface.
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-------------------------------------------------------------------
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-------------------------------------------------------------------
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*/
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*/
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class Contact : public Constraint {
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class Contact : public Constraint {
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Vector3D normal; // Normal vector of the contact (From body1 toward body2)
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Vector3D normal; // Normal vector of the contact (From body1 toward body2)
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double penetrationDepth; // Penetration depth
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double penetrationDepth; // Penetration depth
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std::vector<Vector3D> points; // Contact points
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std::vector<Vector3D> points; // Contact points
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unsigned int nbFrictionVectors; // Number of vectors used to describe the friction
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std::vector<Vector3D> frictionVectors; // Two orthogonal vectors that span the tangential friction plane
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// TODO : Implement the computation of the frictionVectors in the collision detection
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std::vector<Vector3D> frictionVectors; // Set of vectors that span the tangential friction plane
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void computeFrictionVectors(const Vector3D& vector1, const Vector3D& vector2); // Compute all the friction vectors from two vectors that span the friction plane
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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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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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Contact(Body* const body1, Body* const body2, const Vector3D& normal, double penetrationDepth, const std::vector<Vector3D>& points); // Constructor
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Vector3D getNormal() const; // Return the normal vector of the contact
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Vector3D getNormal() const; // Return the normal vector of the contact
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std::vector<Vector3D> getPoints() const; // Return the contact points
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std::vector<Vector3D> getPoints() const; // Return the contact points
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virtual unsigned int getNbJacobianRows() const; // Return the number of rows of the Jacobian matrix
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virtual void evaluate(); // Evaluate the constraint
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virtual void evaluate(double dt); // Evaluate the constraint
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virtual unsigned int getNbAuxConstraints() const; // Return the number of auxiliary constraints
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virtual int getNbAuxiliaryVars() const; // Return the number of auxiliary variables
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void draw() const; // TODO : Delete this (Used to debug collision detection)
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void draw() const; // TODO : Delete this (Used to debug collision detection)
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};
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};
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// Compute all the friction vectors from two vectors that span the friction cone
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// Compute the two orthogonal vectors "v1" and "v2" that span the tangential friction plane
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// The vectors "vector1" and "vector2" are two vectors that span the friction cone
|
// The two vectors have to be such that : v1 x v2 = contactNormal
|
||||||
inline void Contact::computeFrictionVectors(const Vector3D& vector1, const Vector3D& vector2) {
|
inline void Contact::computeFrictionVectors() {
|
||||||
// Delete the current friction vectors
|
// Delete the current friction vectors
|
||||||
frictionVectors.clear();
|
frictionVectors.clear();
|
||||||
|
|
||||||
Vector3D vector;
|
// TODO : Implement this method ...
|
||||||
|
|
||||||
// Compute each friction vector
|
|
||||||
for (unsigned int i=1; i<=NB_FRICTION_VECTORS; ++i) {
|
|
||||||
vector = cos((2.0 * (i-1) * PI) / NB_FRICTION_VECTORS) * vector1 + sin((2.0 * (i-1) * PI) / NB_FRICTION_VECTORS) * vector2;
|
|
||||||
frictionVectors.push_back(vector);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Return the normal vector of the contact
|
// Return the normal vector of the contact
|
||||||
|
@ -88,16 +78,6 @@ inline std::vector<Vector3D> Contact::getPoints() const {
|
||||||
return points;
|
return points;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Return the number of rows of the Jacobian matrix
|
|
||||||
inline unsigned int Contact::getNbJacobianRows() const {
|
|
||||||
return (1+nbFrictionVectors);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Return the number of auxiliary variables
|
|
||||||
inline int Contact::getNbAuxiliaryVars() const {
|
|
||||||
return nbFrictionVectors;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
} // End of the ReactPhysics3D namespace
|
} // End of the ReactPhysics3D namespace
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue
Block a user