151 lines
6.9 KiB
C++
151 lines
6.9 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 "systems/ConstraintSolverSystem.h"
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#include "components/JointComponents.h"
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#include "components/BallAndSocketJointComponents.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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ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents,
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TransformComponents& transformComponents,
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JointComponents& jointComponents,
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BallAndSocketJointComponents& ballAndSocketJointComponents,
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FixedJointComponents& fixedJointComponents)
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: mIsWarmStartingActive(true), mIslands(islands),
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mConstraintSolverData(rigidBodyComponents, jointComponents),
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mSolveBallAndSocketJointSystem(rigidBodyComponents, transformComponents, jointComponents, ballAndSocketJointComponents),
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mSolveFixedJointSystem(rigidBodyComponents, transformComponents, jointComponents, fixedJointComponents),
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mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents),
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mFixedJointComponents(fixedJointComponents) {
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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
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void ConstraintSolverSystem::initialize(decimal dt) {
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RP3D_PROFILE("ConstraintSolverSystem::initialize()", mProfiler);
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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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mSolveBallAndSocketJointSystem.setTimeStep(dt);
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mSolveBallAndSocketJointSystem.setIsWarmStartingActive(mIsWarmStartingActive);
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mSolveFixedJointSystem.setTimeStep(dt);
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mSolveFixedJointSystem.setIsWarmStartingActive(mIsWarmStartingActive);
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mSolveBallAndSocketJointSystem.initBeforeSolve();
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mSolveFixedJointSystem.initBeforeSolve();
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if (mIsWarmStartingActive) {
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mSolveBallAndSocketJointSystem.warmstart();
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mSolveFixedJointSystem.warmstart();
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}
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// For each joint
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for (uint i=0; i<mConstraintSolverData.jointComponents.getNbEnabledComponents(); i++) {
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// TODO : DELETE THIS
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Entity jointEntity = mConstraintSolverData.jointComponents.mJointEntities[i];
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if (mBallAndSocketJointComponents.hasComponent(jointEntity) ||
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mFixedJointComponents.hasComponent(jointEntity)) {
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continue;
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}
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const Entity body1 = mConstraintSolverData.jointComponents.mBody1Entities[i];
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const Entity body2 = mConstraintSolverData.jointComponents.mBody2Entities[i];
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assert(!mConstraintSolverData.rigidBodyComponents.getIsEntityDisabled(body1));
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assert(!mConstraintSolverData.rigidBodyComponents.getIsEntityDisabled(body2));
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// Initialize the constraint before solving it
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mJointComponents.mJoints[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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mConstraintSolverData.jointComponents.mJoints[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 ConstraintSolverSystem::solveVelocityConstraints() {
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RP3D_PROFILE("ConstraintSolverSystem::solveVelocityConstraints()", mProfiler);
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mSolveBallAndSocketJointSystem.solveVelocityConstraint();
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mSolveFixedJointSystem.solveVelocityConstraint();
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// For each joint
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for (uint i=0; i<mConstraintSolverData.jointComponents.getNbEnabledComponents(); i++) {
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// TODO : DELETE THIS
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Entity jointEntity = mConstraintSolverData.jointComponents.mJointEntities[i];
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if (mBallAndSocketJointComponents.hasComponent(jointEntity) ||
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mFixedJointComponents.hasComponent(jointEntity)) {
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continue;
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}
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// Solve the constraint
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mConstraintSolverData.jointComponents.mJoints[i]->solveVelocityConstraint(mConstraintSolverData);
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}
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}
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// Solve the position constraints
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void ConstraintSolverSystem::solvePositionConstraints() {
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RP3D_PROFILE("ConstraintSolverSystem::solvePositionConstraints()", mProfiler);
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mSolveBallAndSocketJointSystem.solvePositionConstraint();
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mSolveFixedJointSystem.solvePositionConstraint();
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// For each joint
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for (uint i=0; i<mConstraintSolverData.jointComponents.getNbEnabledComponents(); i++) {
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// TODO : DELETE THIS
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Entity jointEntity = mConstraintSolverData.jointComponents.mJointEntities[i];
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if (mBallAndSocketJointComponents.hasComponent(jointEntity) ||
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mFixedJointComponents.hasComponent(jointEntity)) {
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continue;
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}
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// Solve the constraint
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mConstraintSolverData.jointComponents.mJoints[i]->solvePositionConstraint(mConstraintSolverData);
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}
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}
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