Change the way to compute the inverse constraint matrix K for the penetration constraint
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@ -73,6 +73,9 @@ void ConstraintSolver::initialize() {
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mConstraintBodies.insert(body1);
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mConstraintBodies.insert(body1);
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mConstraintBodies.insert(body2);
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mConstraintBodies.insert(body2);
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Vector3 x1 = body1->getTransform().getPosition();
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Vector3 x2 = body2->getTransform().getPosition();
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constraint.indexBody1 = mMapBodyToIndex[body1];
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constraint.indexBody1 = mMapBodyToIndex[body1];
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constraint.indexBody2 = mMapBodyToIndex[body2];
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constraint.indexBody2 = mMapBodyToIndex[body2];
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constraint.inverseInertiaTensorBody1 = body1->getInertiaTensorInverseWorld();
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constraint.inverseInertiaTensorBody1 = body1->getInertiaTensorInverseWorld();
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@ -86,10 +89,18 @@ void ConstraintSolver::initialize() {
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// For each contact point of the contact manifold
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// For each contact point of the contact manifold
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for (uint c=0; c<contactManifold.nbContacts; c++) {
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for (uint c=0; c<contactManifold.nbContacts; c++) {
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ContactPointConstraint& contactPointConstraint = constraint.contacts[c];
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// Get a contact point
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// Get a contact point
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Contact* contact = contactManifold.contacts[c];
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Contact* contact = contactManifold.contacts[c];
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constraint.contacts[c].contact = contact;
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Vector3 p1 = contact->getWorldPointOnBody1();
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Vector3 p2 = contact->getWorldPointOnBody2();
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contactPointConstraint.contact = contact;
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contactPointConstraint.normal = contact->getNormal();
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contactPointConstraint.r1 = p1 - x1;
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contactPointConstraint.r2 = p2 - x2;
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}
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}
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mNbContactConstraints++;
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mNbContactConstraints++;
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@ -165,12 +176,31 @@ void ConstraintSolver::initializeContactConstraints(decimal dt) {
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uint indexBody1 = constraint.indexBody1;
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uint indexBody1 = constraint.indexBody1;
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uint indexBody2 = constraint.indexBody2;
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uint indexBody2 = constraint.indexBody2;
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Matrix3x3& I1 = constraint.inverseInertiaTensorBody1;
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Matrix3x3& I2 = constraint.inverseInertiaTensorBody2;
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// For each contact point constraint
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// For each contact point constraint
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for (uint i=0; i<constraint.nbContacts; i++) {
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for (uint i=0; i<constraint.nbContacts; i++) {
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ContactPointConstraint& contact = constraint.contacts[i];
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ContactPointConstraint& contact = constraint.contacts[i];
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Contact* realContact = contact.contact;
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Contact* realContact = contact.contact;
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contact.r1CrossN = contact.r1.cross(contact.normal);
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contact.r1CrossT1 = contact.r1.cross(contact.frictionVector1);
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contact.r1CrossT2 = contact.r1.cross(contact.frictionVector2);
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contact.r2CrossT1 = contact.r2.cross(contact.frictionVector1);
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contact.r2CrossT2 = contact.r2.cross(contact.frictionVector2);
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contact.inversePenetrationMass = 0.0;
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if (constraint.isBody1Moving) {
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contact.inversePenetrationMass += constraint.massInverseBody1 +
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((I1 * contact.r1CrossN).cross(contact.r1)).dot(contact.normal);
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}
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if (constraint.isBody2Moving) {
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contact.inversePenetrationMass += constraint.massInverseBody2 +
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((I2 * contact.r2CrossN).cross(contact.r2)).dot(contact.normal);
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}
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// Fill in the J_sp matrix
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// Fill in the J_sp matrix
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realContact->computeJacobianPenetration(contact.J_spBody1Penetration, contact.J_spBody2Penetration);
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realContact->computeJacobianPenetration(contact.J_spBody1Penetration, contact.J_spBody2Penetration);
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realContact->computeJacobianFriction1(contact.J_spBody1Friction1, contact.J_spBody2Friction1);
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realContact->computeJacobianFriction1(contact.J_spBody1Friction1, contact.J_spBody2Friction1);
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@ -488,14 +518,6 @@ void ConstraintSolver::solveLCP() {
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ContactPointConstraint& contact = constraint.contacts[i];
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ContactPointConstraint& contact = constraint.contacts[i];
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// --------- Penetration --------- //
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contact.d_Penetration = 0.0;
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for (uint j=0; j<6; j++) {
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contact.d_Penetration += contact.J_spBody1Penetration[j] * contact.B_spBody1Penetration[j]
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+ contact.J_spBody2Penetration[j] * contact.B_spBody2Penetration[j];
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}
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// --------- Friction 1 --------- //
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// --------- Friction 1 --------- //
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contact.d_Friction1 = 0.0;
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contact.d_Friction1 = 0.0;
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@ -535,7 +557,7 @@ void ConstraintSolver::solveLCP() {
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for (uint j=0; j<6; j++) {
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for (uint j=0; j<6; j++) {
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deltaLambda -= (contact.J_spBody1Penetration[j] * a[indexBody1Array + j] + contact.J_spBody2Penetration[j] * a[indexBody2Array + j]);
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deltaLambda -= (contact.J_spBody1Penetration[j] * a[indexBody1Array + j] + contact.J_spBody2Penetration[j] * a[indexBody2Array + j]);
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}
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}
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deltaLambda /= contact.d_Penetration;
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deltaLambda /= contact.inversePenetrationMass;
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lambdaTemp = contact.penetrationImpulse;
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lambdaTemp = contact.penetrationImpulse;
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contact.penetrationImpulse = std::max(contact.lowerBoundPenetration, std::min(contact.penetrationImpulse + deltaLambda, contact.upperBoundPenetration));
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contact.penetrationImpulse = std::max(contact.lowerBoundPenetration, std::min(contact.penetrationImpulse + deltaLambda, contact.upperBoundPenetration));
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deltaLambda = contact.penetrationImpulse - lambdaTemp;
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deltaLambda = contact.penetrationImpulse - lambdaTemp;
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@ -89,7 +89,6 @@ struct ContactPointConstraint {
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decimal B_spBody2Friction1[6];
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decimal B_spBody2Friction1[6];
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decimal B_spBody1Friction2[6];
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decimal B_spBody1Friction2[6];
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decimal B_spBody2Friction2[6];
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decimal B_spBody2Friction2[6];
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decimal d_Penetration;
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decimal d_Friction1;
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decimal d_Friction1;
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decimal d_Friction2;
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decimal d_Friction2;
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};
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};
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