107 lines
4.1 KiB
C++
107 lines
4.1 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2018 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "ConstraintSolver.h"
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#include "utils/Profiler.h"
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#include "engine/Island.h"
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using namespace reactphysics3d;
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// Constructor
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ConstraintSolver::ConstraintSolver() : mIsWarmStartingActive(true) {
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#ifdef IS_PROFILING_ACTIVE
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mProfiler = nullptr;
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#endif
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}
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// Initialize the constraint solver for a given island
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void ConstraintSolver::initializeForIsland(decimal dt, Island* island) {
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RP3D_PROFILE("ConstraintSolver::initializeForIsland()", mProfiler);
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assert(island != nullptr);
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assert(island->getNbBodies() > 0);
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assert(island->getNbJoints() > 0);
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// Set the current time step
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mTimeStep = dt;
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// Initialize the constraint solver data used to initialize and solve the constraints
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mConstraintSolverData.timeStep = mTimeStep;
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mConstraintSolverData.isWarmStartingActive = mIsWarmStartingActive;
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// For each joint of the island
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Joint** joints = island->getJoints();
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for (uint i=0; i<island->getNbJoints(); i++) {
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// Initialize the constraint before solving it
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joints[i]->initBeforeSolve(mConstraintSolverData);
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// Warm-start the constraint if warm-starting is enabled
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if (mIsWarmStartingActive) {
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joints[i]->warmstart(mConstraintSolverData);
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}
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}
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}
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// Solve the velocity constraints
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void ConstraintSolver::solveVelocityConstraints(Island* island) {
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RP3D_PROFILE("ConstraintSolver::solveVelocityConstraints()", mProfiler);
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assert(island != nullptr);
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assert(island->getNbJoints() > 0);
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// For each joint of the island
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Joint** joints = island->getJoints();
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for (uint i=0; i<island->getNbJoints(); i++) {
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// Solve the constraint
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joints[i]->solveVelocityConstraint(mConstraintSolverData);
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}
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}
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// Solve the position constraints
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void ConstraintSolver::solvePositionConstraints(Island* island) {
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RP3D_PROFILE("ConstraintSolver::solvePositionConstraints()", mProfiler);
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assert(island != nullptr);
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assert(island->getNbJoints() > 0);
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// For each joint of the island
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Joint** joints = island->getJoints();
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for (uint i=0; i < island->getNbJoints(); i++) {
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// Solve the constraint
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joints[i]->solvePositionConstraint(mConstraintSolverData);
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}
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}
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