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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@305 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2010-04-12 22:27:50 +00:00
parent 6ed69219c7
commit 5293491b3b
2 changed files with 24 additions and 11 deletions
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34
sources/reactphysics3d/engine/ConstraintSolver.cpp
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@ -49,6 +49,10 @@ void ConstraintSolver::allocate() {
if (constraint->isActive()) { if (constraint->isActive()) {
activeConstraints.push_back(constraint); activeConstraints.push_back(constraint);
// Add the two bodies of the constraint in the constraintBodies list
constraintBodies.push_back(constraint->getBody1());
constraintBodies.push_back(constraint->getBody2());
// Fill in the body number maping // Fill in the body number maping
bodyNumberMapping.insert(std::pair<Body*, unsigned int>(constraint->getBody1(), bodyNumberMapping.size())); bodyNumberMapping.insert(std::pair<Body*, unsigned int>(constraint->getBody1(), bodyNumberMapping.size()));
bodyNumberMapping.insert(std::pair<Body*, unsigned int>(constraint->getBody1(), bodyNumberMapping.size())); bodyNumberMapping.insert(std::pair<Body*, unsigned int>(constraint->getBody1(), bodyNumberMapping.size()));
@ -74,6 +78,7 @@ void ConstraintSolver::allocate() {
lowerBounds = Vector(nbConstraints); lowerBounds = Vector(nbConstraints);
upperBounds = Vector(nbConstraints); upperBounds = Vector(nbConstraints);
Minv_sp = Matrix(6*nbBodies, 6); Minv_sp = Matrix(6*nbBodies, 6);
Minv_sp.initWithValue(0.0);
V = Vector(6*nbBodies); V = Vector(6*nbBodies);
Fext = Vector(6*nbBodies); Fext = Vector(6*nbBodies);
} }
@ -121,19 +126,26 @@ void ConstraintSolver::fillInMatrices() {
} }
} }
// For each current body of the physics world // For each current body that is implied in some constraint
for (unsigned int b=0; b<nbBodies; b++) { for (unsigned int b=0; b<nbBodies; b++) {
Body* body = constraintBodies.at(b);
unsigned int bodyNumber = bodyNumberMapping.at(body);
// TODO : Use polymorphism and remove this casting
RigidBody* rigidBody = dynamic_cast<RigidBody*>(body);
assert(rigidBody != 0);
// Compute the vector with velocities values // Compute the vector with velocities values
V.fillInSubVector(b*3, ) V.fillInSubVector(bodyNumber*6, rigidBody->getCurrentBodyState()->getLinearVelocity());
Minv.fillInSubMatrix(i, 0, bodies.at(b)->getCurrentBodyState().getMassInverse().getValue() * Matrix::identity(3)); V.fillInSubVector(bodyNumber*6+3, rigidBody->getCurrentBodyState()->getAngularVelocity());
Minv.fillInSubMatrix(i+3, 3, bodies.at(b)->getCurrentBodyState().getInertiaTensorInverse());
u.fillInSubVector(i, bodies.at(b)->getCurrentBodyState().getLinearVelocity()); // Compute the vector with forces and torques values
u.fillInSubVector(i+3, bodies.at(b)->getCurrentBodyState().getAngularVelocity()); Fext.fillInSubVector(bodyNumber*6, rigidBody->getCurrentBodyState()->getExternalForce());
fExt.fillInSubVector(i, bodies.at(b)->getCurrentBodyState().getExternalForce()); Fext.fillInSubVector(bodyNumber*6+3, rigidBody->getCurrentBodyState()->getExternalTorque());
Vector3D externalTorque = bodies.at(b)->getCurrentBodyState().getExternalTorque();
Matrix3x3 inertia = bodies.at(b)->getInertiaTensor(); // Compute the inverse sparse mass matrix
Vector3D angularVelocity = bodies.at(b)->getCurrentBodyState().getAngularVelocity(); Minv_sp.fillInSubMatrix(b*6, 0, rigidBody->getCurrentBodyState().getMassInverse().getValue() * Matrix::identity(3));
fExt.fillInSubVector(i+3, externalTorque - (angularVelocity.crossProduct(inertia*angularVelocity))); Minv_sp.fillInSubMatrix(b*6+3, 3, rigidBody->getCurrentBodyState().getInertiaTensorInverse());
} }
} }

1
sources/reactphysics3d/engine/ConstraintSolver.h
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@ -42,6 +42,7 @@ class ConstraintSolver {
LCPSolver& lcpSolver; // LCP Solver LCPSolver& lcpSolver; // LCP Solver
PhysicsWorld& physicsWorld; // Reference to the physics world PhysicsWorld& physicsWorld; // Reference to the physics world
std::vector<Constraint*> activeConstraints; // Current active constraints in the physics world std::vector<Constraint*> activeConstraints; // Current active constraints in the physics world
std::vector<Body*> constraintBodies; // Bodies that are implied in some constraint
unsigned int nbBodies; // Current number of bodies in the physics world unsigned int nbBodies; // Current number of bodies in the physics world
std::map<Body*, unsigned int> bodyNumberMapping; // Map a body pointer with its index number std::map<Body*, unsigned int> bodyNumberMapping; // Map a body pointer with its index number
Body** bodyMapping; // 2-dimensional array that contains the mapping of body reference Body** bodyMapping; // 2-dimensional array that contains the mapping of body reference