821 lines
59 KiB
C++
821 lines
59 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2020 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 <reactphysics3d/systems/ContactSolverSystem.h>
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#include <reactphysics3d/engine/PhysicsWorld.h>
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#include <reactphysics3d/body/RigidBody.h>
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#include <reactphysics3d/constraint/ContactPoint.h>
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#include <reactphysics3d/utils/Profiler.h>
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#include <reactphysics3d/engine/Island.h>
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#include <reactphysics3d/collision/Collider.h>
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#include <reactphysics3d/components/CollisionBodyComponents.h>
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#include <reactphysics3d/components/ColliderComponents.h>
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#include <reactphysics3d/collision/ContactManifold.h>
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#include <algorithm>
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using namespace reactphysics3d;
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using namespace std;
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// Constants initialization
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const decimal ContactSolverSystem::BETA = decimal(0.2);
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const decimal ContactSolverSystem::BETA_SPLIT_IMPULSE = decimal(0.2);
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const decimal ContactSolverSystem::SLOP = decimal(0.01);
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// Constructor
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ContactSolverSystem::ContactSolverSystem(MemoryManager& memoryManager, PhysicsWorld& world, Islands& islands,
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CollisionBodyComponents& bodyComponents, RigidBodyComponents& rigidBodyComponents,
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ColliderComponents& colliderComponents, decimal& restitutionVelocityThreshold)
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:mMemoryManager(memoryManager), mWorld(world), mRestitutionVelocityThreshold(restitutionVelocityThreshold),
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mContactConstraints(nullptr), mContactPoints(nullptr),
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mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr),
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mBodyComponents(bodyComponents), mRigidBodyComponents(rigidBodyComponents),
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mColliderComponents(colliderComponents), mIsSplitImpulseActive(true) {
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#ifdef IS_RP3D_PROFILING_ENABLED
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mProfiler = nullptr;
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#endif
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}
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// Initialize the contact constraints
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void ContactSolverSystem::init(List<ContactManifold>* contactManifolds, List<ContactPoint>* contactPoints, decimal timeStep) {
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mAllContactManifolds = contactManifolds;
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mAllContactPoints = contactPoints;
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RP3D_PROFILE("ContactSolver::init()", mProfiler);
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mTimeStep = timeStep;
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const uint nbContactManifolds = mAllContactManifolds->size();
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const uint nbContactPoints = mAllContactPoints->size();
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mNbContactManifolds = 0;
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mNbContactPoints = 0;
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mContactConstraints = nullptr;
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mContactPoints = nullptr;
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if (nbContactManifolds == 0 || nbContactPoints == 0) return;
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mContactPoints = static_cast<ContactPointSolver*>(mMemoryManager.allocate(MemoryManager::AllocationType::Frame,
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sizeof(ContactPointSolver) * nbContactPoints));
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assert(mContactPoints != nullptr);
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mContactConstraints = static_cast<ContactManifoldSolver*>(mMemoryManager.allocate(MemoryManager::AllocationType::Frame,
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sizeof(ContactManifoldSolver) * nbContactManifolds));
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assert(mContactConstraints != nullptr);
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// For each island of the world
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const uint nbIslands = mIslands.getNbIslands();
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for (uint i = 0; i < nbIslands; i++) {
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if (mIslands.nbContactManifolds[i] > 0) {
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initializeForIsland(i);
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}
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}
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// Warmstarting
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warmStart();
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}
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// Release allocated memory
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void ContactSolverSystem::reset() {
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if (mAllContactPoints->size() > 0) mMemoryManager.release(MemoryManager::AllocationType::Frame, mContactPoints, sizeof(ContactPointSolver) * mAllContactPoints->size());
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if (mAllContactManifolds->size() > 0) mMemoryManager.release(MemoryManager::AllocationType::Frame, mContactConstraints, sizeof(ContactManifoldSolver) * mAllContactManifolds->size());
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}
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// Initialize the constraint solver for a given island
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void ContactSolverSystem::initializeForIsland(uint islandIndex) {
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RP3D_PROFILE("ContactSolver::initializeForIsland()", mProfiler);
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assert(mIslands.nbBodiesInIsland[islandIndex] > 0);
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assert(mIslands.nbContactManifolds[islandIndex] > 0);
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// For each contact manifold of the island
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const uint contactManifoldsIndex = mIslands.contactManifoldsIndices[islandIndex];
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const uint nbContactManifolds = mIslands.nbContactManifolds[islandIndex];
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for (uint m=contactManifoldsIndex; m < contactManifoldsIndex + nbContactManifolds; m++) {
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ContactManifold& externalManifold = (*mAllContactManifolds)[m];
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assert(externalManifold.nbContactPoints > 0);
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const uint rigidBodyIndex1 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1);
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const uint rigidBodyIndex2 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2);
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// Get the two bodies of the contact
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assert(body1 != nullptr);
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assert(body2 != nullptr);
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assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity1));
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assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity2));
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const uint collider1Index = mColliderComponents.getEntityIndex(externalManifold.colliderEntity1);
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const uint collider2Index = mColliderComponents.getEntityIndex(externalManifold.colliderEntity2);
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// Get the position of the two bodies
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const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex1];
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const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex2];
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// Initialize the internal contact manifold structure using the external contact manifold
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new (mContactConstraints + mNbContactManifolds) ContactManifoldSolver();
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mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody1 = rigidBodyIndex1;
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mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody2 = rigidBodyIndex2;
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mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = mRigidBodyComponents.mInverseInertiaTensorsWorld[rigidBodyIndex1];
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mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = mRigidBodyComponents.mInverseInertiaTensorsWorld[rigidBodyIndex2];
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mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex1];
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mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex2];
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mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints;
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mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(mColliderComponents.mMaterials[collider1Index], mColliderComponents.mMaterials[collider2Index]);
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mContactConstraints[mNbContactManifolds].externalContactManifold = &externalManifold;
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mContactConstraints[mNbContactManifolds].normal.setToZero();
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mContactConstraints[mNbContactManifolds].frictionPointBody1.setToZero();
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mContactConstraints[mNbContactManifolds].frictionPointBody2.setToZero();
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// Get the velocities of the bodies
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const Vector3& v1 = mRigidBodyComponents.mLinearVelocities[rigidBodyIndex1];
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const Vector3& w1 = mRigidBodyComponents.mAngularVelocities[rigidBodyIndex1];
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const Vector3& v2 = mRigidBodyComponents.mLinearVelocities[rigidBodyIndex2];
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const Vector3& w2 = mRigidBodyComponents.mAngularVelocities[rigidBodyIndex2];
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const Transform& collider1LocalToWorldTransform = mColliderComponents.mLocalToWorldTransforms[collider1Index];
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const Transform& collider2LocalToWorldTransform = mColliderComponents.mLocalToWorldTransforms[collider2Index];
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// For each contact point of the contact manifold
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assert(externalManifold.nbContactPoints > 0);
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const uint contactPointsStartIndex = externalManifold.contactPointsIndex;
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const uint nbContactPoints = static_cast<uint>(externalManifold.nbContactPoints);
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for (uint c=contactPointsStartIndex; c < contactPointsStartIndex + nbContactPoints; c++) {
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ContactPoint& externalContact = (*mAllContactPoints)[c];
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new (mContactPoints + mNbContactPoints) ContactPointSolver();
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mContactPoints[mNbContactPoints].externalContact = &externalContact;
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mContactPoints[mNbContactPoints].normal = externalContact.getNormal();
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// Get the contact point on the two bodies
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const Vector3 p1 = collider1LocalToWorldTransform * externalContact.getLocalPointOnShape1();
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const Vector3 p2 = collider2LocalToWorldTransform * externalContact.getLocalPointOnShape2();
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mContactPoints[mNbContactPoints].r1.x = p1.x - x1.x;
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mContactPoints[mNbContactPoints].r1.y = p1.y - x1.y;
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mContactPoints[mNbContactPoints].r1.z = p1.z - x1.z;
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mContactPoints[mNbContactPoints].r2.x = p2.x - x2.x;
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mContactPoints[mNbContactPoints].r2.y = p2.y - x2.y;
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mContactPoints[mNbContactPoints].r2.z = p2.z - x2.z;
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mContactPoints[mNbContactPoints].penetrationDepth = externalContact.getPenetrationDepth();
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mContactPoints[mNbContactPoints].isRestingContact = externalContact.getIsRestingContact();
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externalContact.setIsRestingContact(true);
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mContactPoints[mNbContactPoints].penetrationImpulse = externalContact.getPenetrationImpulse();
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mContactPoints[mNbContactPoints].penetrationSplitImpulse = 0.0;
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mContactConstraints[mNbContactManifolds].frictionPointBody1.x += p1.x;
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mContactConstraints[mNbContactManifolds].frictionPointBody1.y += p1.y;
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mContactConstraints[mNbContactManifolds].frictionPointBody1.z += p1.z;
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mContactConstraints[mNbContactManifolds].frictionPointBody2.x += p2.x;
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mContactConstraints[mNbContactManifolds].frictionPointBody2.y += p2.y;
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mContactConstraints[mNbContactManifolds].frictionPointBody2.z += p2.z;
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// Compute the velocity difference
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//deltaV = v2 + w2.cross(mContactPoints[mNbContactPoints].r2) - v1 - w1.cross(mContactPoints[mNbContactPoints].r1);
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Vector3 deltaV(v2.x + w2.y * mContactPoints[mNbContactPoints].r2.z - w2.z * mContactPoints[mNbContactPoints].r2.y
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- v1.x - w1.y * mContactPoints[mNbContactPoints].r1.z - w1.z * mContactPoints[mNbContactPoints].r1.y,
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v2.y + w2.z * mContactPoints[mNbContactPoints].r2.x - w2.x * mContactPoints[mNbContactPoints].r2.z
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- v1.y - w1.z * mContactPoints[mNbContactPoints].r1.x - w1.x * mContactPoints[mNbContactPoints].r1.z,
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v2.z + w2.x * mContactPoints[mNbContactPoints].r2.y - w2.y * mContactPoints[mNbContactPoints].r2.x
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- v1.z - w1.x * mContactPoints[mNbContactPoints].r1.y - w1.y * mContactPoints[mNbContactPoints].r1.x);
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// r1CrossN = mContactPoints[mNbContactPoints].r1.cross(mContactPoints[mNbContactPoints].normal);
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Vector3 r1CrossN(mContactPoints[mNbContactPoints].r1.y * mContactPoints[mNbContactPoints].normal.z -
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mContactPoints[mNbContactPoints].r1.z * mContactPoints[mNbContactPoints].normal.y,
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mContactPoints[mNbContactPoints].r1.z * mContactPoints[mNbContactPoints].normal.x -
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mContactPoints[mNbContactPoints].r1.x * mContactPoints[mNbContactPoints].normal.z,
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mContactPoints[mNbContactPoints].r1.x * mContactPoints[mNbContactPoints].normal.y -
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mContactPoints[mNbContactPoints].r1.y * mContactPoints[mNbContactPoints].normal.x);
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// r2CrossN = mContactPoints[mNbContactPoints].r2.cross(mContactPoints[mNbContactPoints].normal);
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Vector3 r2CrossN(mContactPoints[mNbContactPoints].r2.y * mContactPoints[mNbContactPoints].normal.z -
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mContactPoints[mNbContactPoints].r2.z * mContactPoints[mNbContactPoints].normal.y,
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mContactPoints[mNbContactPoints].r2.z * mContactPoints[mNbContactPoints].normal.x -
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mContactPoints[mNbContactPoints].r2.x * mContactPoints[mNbContactPoints].normal.z,
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mContactPoints[mNbContactPoints].r2.x * mContactPoints[mNbContactPoints].normal.y -
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mContactPoints[mNbContactPoints].r2.y * mContactPoints[mNbContactPoints].normal.x);
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mContactPoints[mNbContactPoints].i1TimesR1CrossN = mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 * r1CrossN;
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mContactPoints[mNbContactPoints].i2TimesR2CrossN = mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 * r2CrossN;
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// Compute the inverse mass matrix K for the penetration constraint
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decimal massPenetration = mContactConstraints[mNbContactManifolds].massInverseBody1 + mContactConstraints[mNbContactManifolds].massInverseBody2 +
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((mContactPoints[mNbContactPoints].i1TimesR1CrossN).cross(mContactPoints[mNbContactPoints].r1)).dot(mContactPoints[mNbContactPoints].normal) +
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((mContactPoints[mNbContactPoints].i2TimesR2CrossN).cross(mContactPoints[mNbContactPoints].r2)).dot(mContactPoints[mNbContactPoints].normal);
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mContactPoints[mNbContactPoints].inversePenetrationMass = massPenetration > decimal(0.0) ? decimal(1.0) / massPenetration : decimal(0.0);
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// Compute the restitution velocity bias "b". We compute this here instead
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// of inside the solve() method because we need to use the velocity difference
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// at the beginning of the contact. Note that if it is a resting contact (normal
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// velocity bellow a given threshold), we do not add a restitution velocity bias
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mContactPoints[mNbContactPoints].restitutionBias = 0.0;
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// deltaVDotN = deltaV.dot(mContactPoints[mNbContactPoints].normal);
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decimal deltaVDotN = deltaV.x * mContactPoints[mNbContactPoints].normal.x +
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deltaV.y * mContactPoints[mNbContactPoints].normal.y +
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deltaV.z * mContactPoints[mNbContactPoints].normal.z;
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const decimal restitutionFactor = computeMixedRestitutionFactor(mColliderComponents.mMaterials[collider1Index], mColliderComponents.mMaterials[collider2Index]);
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if (deltaVDotN < -mRestitutionVelocityThreshold) {
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mContactPoints[mNbContactPoints].restitutionBias = restitutionFactor * deltaVDotN;
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}
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mContactConstraints[mNbContactManifolds].normal.x += mContactPoints[mNbContactPoints].normal.x;
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mContactConstraints[mNbContactManifolds].normal.y += mContactPoints[mNbContactPoints].normal.y;
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mContactConstraints[mNbContactManifolds].normal.z += mContactPoints[mNbContactPoints].normal.z;
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mNbContactPoints++;
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}
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mContactConstraints[mNbContactManifolds].frictionPointBody1 /= static_cast<decimal>(mContactConstraints[mNbContactManifolds].nbContacts);
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mContactConstraints[mNbContactManifolds].frictionPointBody2 /= static_cast<decimal>(mContactConstraints[mNbContactManifolds].nbContacts);
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mContactConstraints[mNbContactManifolds].r1Friction.x = mContactConstraints[mNbContactManifolds].frictionPointBody1.x - x1.x;
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mContactConstraints[mNbContactManifolds].r1Friction.y = mContactConstraints[mNbContactManifolds].frictionPointBody1.y - x1.y;
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mContactConstraints[mNbContactManifolds].r1Friction.z = mContactConstraints[mNbContactManifolds].frictionPointBody1.z - x1.z;
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mContactConstraints[mNbContactManifolds].r2Friction.x = mContactConstraints[mNbContactManifolds].frictionPointBody2.x - x2.x;
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mContactConstraints[mNbContactManifolds].r2Friction.y = mContactConstraints[mNbContactManifolds].frictionPointBody2.y - x2.y;
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mContactConstraints[mNbContactManifolds].r2Friction.z = mContactConstraints[mNbContactManifolds].frictionPointBody2.z - x2.z;
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mContactConstraints[mNbContactManifolds].oldFrictionVector1 = externalManifold.frictionVector1;
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mContactConstraints[mNbContactManifolds].oldFrictionVector2 = externalManifold.frictionVector2;
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// Initialize the accumulated impulses with the previous step accumulated impulses
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mContactConstraints[mNbContactManifolds].friction1Impulse = externalManifold.frictionImpulse1;
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mContactConstraints[mNbContactManifolds].friction2Impulse = externalManifold.frictionImpulse2;
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mContactConstraints[mNbContactManifolds].frictionTwistImpulse = externalManifold.frictionTwistImpulse;
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mContactConstraints[mNbContactManifolds].normal.normalize();
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// deltaVFrictionPoint = v2 + w2.cross(mContactConstraints[mNbContactManifolds].r2Friction) -
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// v1 - w1.cross(mContactConstraints[mNbContactManifolds].r1Friction);
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Vector3 deltaVFrictionPoint(v2.x + w2.y * mContactConstraints[mNbContactManifolds].r2Friction.z -
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w2.z * mContactConstraints[mNbContactManifolds].r2Friction.y -
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v1.x - w1.y * mContactConstraints[mNbContactManifolds].r1Friction.z -
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w1.z * mContactConstraints[mNbContactManifolds].r1Friction.y,
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v2.y + w2.z * mContactConstraints[mNbContactManifolds].r2Friction.x -
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w2.x * mContactConstraints[mNbContactManifolds].r2Friction.z -
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v1.y - w1.z * mContactConstraints[mNbContactManifolds].r1Friction.x -
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w1.x * mContactConstraints[mNbContactManifolds].r1Friction.z,
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v2.z + w2.x * mContactConstraints[mNbContactManifolds].r2Friction.y -
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w2.y * mContactConstraints[mNbContactManifolds].r2Friction.x -
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v1.z - w1.x * mContactConstraints[mNbContactManifolds].r1Friction.y -
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w1.y * mContactConstraints[mNbContactManifolds].r1Friction.x);
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// Compute the friction vectors
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computeFrictionVectors(deltaVFrictionPoint, mContactConstraints[mNbContactManifolds]);
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// Compute the inverse mass matrix K for the friction constraints at the center of
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// the contact manifold
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mContactConstraints[mNbContactManifolds].r1CrossT1 = mContactConstraints[mNbContactManifolds].r1Friction.cross(mContactConstraints[mNbContactManifolds].frictionVector1);
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mContactConstraints[mNbContactManifolds].r1CrossT2 = mContactConstraints[mNbContactManifolds].r1Friction.cross(mContactConstraints[mNbContactManifolds].frictionVector2);
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mContactConstraints[mNbContactManifolds].r2CrossT1 = mContactConstraints[mNbContactManifolds].r2Friction.cross(mContactConstraints[mNbContactManifolds].frictionVector1);
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mContactConstraints[mNbContactManifolds].r2CrossT2 = mContactConstraints[mNbContactManifolds].r2Friction.cross(mContactConstraints[mNbContactManifolds].frictionVector2);
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decimal friction1Mass = mContactConstraints[mNbContactManifolds].massInverseBody1 + mContactConstraints[mNbContactManifolds].massInverseBody2 +
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((mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 * mContactConstraints[mNbContactManifolds].r1CrossT1).cross(mContactConstraints[mNbContactManifolds].r1Friction)).dot(
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mContactConstraints[mNbContactManifolds].frictionVector1) +
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((mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 * mContactConstraints[mNbContactManifolds].r2CrossT1).cross(mContactConstraints[mNbContactManifolds].r2Friction)).dot(
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mContactConstraints[mNbContactManifolds].frictionVector1);
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decimal friction2Mass = mContactConstraints[mNbContactManifolds].massInverseBody1 + mContactConstraints[mNbContactManifolds].massInverseBody2 +
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((mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 * mContactConstraints[mNbContactManifolds].r1CrossT2).cross(mContactConstraints[mNbContactManifolds].r1Friction)).dot(
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mContactConstraints[mNbContactManifolds].frictionVector2) +
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((mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 * mContactConstraints[mNbContactManifolds].r2CrossT2).cross(mContactConstraints[mNbContactManifolds].r2Friction)).dot(
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mContactConstraints[mNbContactManifolds].frictionVector2);
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decimal frictionTwistMass = mContactConstraints[mNbContactManifolds].normal.dot(mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 *
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mContactConstraints[mNbContactManifolds].normal) +
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mContactConstraints[mNbContactManifolds].normal.dot(mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 *
|
|
mContactConstraints[mNbContactManifolds].normal);
|
|
mContactConstraints[mNbContactManifolds].inverseFriction1Mass = friction1Mass > decimal(0.0) ? decimal(1.0) / friction1Mass : decimal(0.0);
|
|
mContactConstraints[mNbContactManifolds].inverseFriction2Mass = friction2Mass > decimal(0.0) ? decimal(1.0) / friction2Mass : decimal(0.0);
|
|
mContactConstraints[mNbContactManifolds].inverseTwistFrictionMass = frictionTwistMass > decimal(0.0) ? decimal(1.0) / frictionTwistMass : decimal(0.0);
|
|
|
|
mNbContactManifolds++;
|
|
}
|
|
}
|
|
|
|
// Warm start the solver.
|
|
/// For each constraint, we apply the previous impulse (from the previous step)
|
|
/// at the beginning. With this technique, we will converge faster towards
|
|
/// the solution of the linear system
|
|
void ContactSolverSystem::warmStart() {
|
|
|
|
RP3D_PROFILE("ContactSolver::warmStart()", mProfiler);
|
|
|
|
uint contactPointIndex = 0;
|
|
|
|
// For each constraint
|
|
for (uint c=0; c<mNbContactManifolds; c++) {
|
|
|
|
bool atLeastOneRestingContactPoint = false;
|
|
|
|
for (short int i=0; i<mContactConstraints[c].nbContacts; i++) {
|
|
|
|
// If it is not a new contact (this contact was already existing at last time step)
|
|
if (mContactPoints[contactPointIndex].isRestingContact) {
|
|
|
|
const uint32 rigidBody1Index = mContactConstraints[c].rigidBodyComponentIndexBody1;
|
|
const uint32 rigidBody2Index = mContactConstraints[c].rigidBodyComponentIndexBody2;
|
|
|
|
atLeastOneRestingContactPoint = true;
|
|
|
|
// --------- Penetration --------- //
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
Vector3 impulsePenetration(mContactPoints[contactPointIndex].normal.x * mContactPoints[contactPointIndex].penetrationImpulse,
|
|
mContactPoints[contactPointIndex].normal.y * mContactPoints[contactPointIndex].penetrationImpulse,
|
|
mContactPoints[contactPointIndex].normal.z * mContactPoints[contactPointIndex].penetrationImpulse);
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * impulsePenetration.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * impulsePenetration.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * impulsePenetration.z;
|
|
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse;
|
|
|
|
// Update the velocities of the body 2 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * impulsePenetration.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * impulsePenetration.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * impulsePenetration.z;
|
|
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse;
|
|
}
|
|
else { // If it is a new contact point
|
|
|
|
// Initialize the accumulated impulses to zero
|
|
mContactPoints[contactPointIndex].penetrationImpulse = 0.0;
|
|
}
|
|
|
|
contactPointIndex++;
|
|
}
|
|
|
|
// If we solve the friction constraints at the center of the contact manifold and there is
|
|
// at least one resting contact point in the contact manifold
|
|
if (atLeastOneRestingContactPoint) {
|
|
|
|
// Project the old friction impulses (with old friction vectors) into the new friction
|
|
// vectors to get the new friction impulses
|
|
Vector3 oldFrictionImpulse(mContactConstraints[c].friction1Impulse * mContactConstraints[c].oldFrictionVector1.x +
|
|
mContactConstraints[c].friction2Impulse * mContactConstraints[c].oldFrictionVector2.x,
|
|
mContactConstraints[c].friction1Impulse * mContactConstraints[c].oldFrictionVector1.y +
|
|
mContactConstraints[c].friction2Impulse * mContactConstraints[c].oldFrictionVector2.y,
|
|
mContactConstraints[c].friction1Impulse * mContactConstraints[c].oldFrictionVector1.z +
|
|
mContactConstraints[c].friction2Impulse * mContactConstraints[c].oldFrictionVector2.z);
|
|
mContactConstraints[c].friction1Impulse = oldFrictionImpulse.dot(mContactConstraints[c].frictionVector1);
|
|
mContactConstraints[c].friction2Impulse = oldFrictionImpulse.dot(mContactConstraints[c].frictionVector2);
|
|
|
|
// ------ First friction constraint at the center of the contact manifold ------ //
|
|
|
|
// Compute the impulse P = J^T * lambda
|
|
Vector3 angularImpulseBody1(-mContactConstraints[c].r1CrossT1.x * mContactConstraints[c].friction1Impulse,
|
|
-mContactConstraints[c].r1CrossT1.y * mContactConstraints[c].friction1Impulse,
|
|
-mContactConstraints[c].r1CrossT1.z * mContactConstraints[c].friction1Impulse);
|
|
Vector3 linearImpulseBody2(mContactConstraints[c].frictionVector1.x * mContactConstraints[c].friction1Impulse,
|
|
mContactConstraints[c].frictionVector1.y * mContactConstraints[c].friction1Impulse,
|
|
mContactConstraints[c].frictionVector1.z * mContactConstraints[c].friction1Impulse);
|
|
Vector3 angularImpulseBody2(mContactConstraints[c].r2CrossT1.x * mContactConstraints[c].friction1Impulse,
|
|
mContactConstraints[c].r2CrossT1.y * mContactConstraints[c].friction1Impulse,
|
|
mContactConstraints[c].r2CrossT1.z * mContactConstraints[c].friction1Impulse);
|
|
|
|
const uint32 rigidBody1Index = mContactConstraints[c].rigidBodyComponentIndexBody1;
|
|
const uint32 rigidBody2Index = mContactConstraints[c].rigidBodyComponentIndexBody2;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index] -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index] += mContactConstraints[c].massInverseBody2 * linearImpulseBody2;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2;
|
|
|
|
// ------ Second friction constraint at the center of the contact manifold ----- //
|
|
|
|
// Compute the impulse P = J^T * lambda
|
|
angularImpulseBody1.x = -mContactConstraints[c].r1CrossT2.x * mContactConstraints[c].friction2Impulse;
|
|
angularImpulseBody1.y = -mContactConstraints[c].r1CrossT2.y * mContactConstraints[c].friction2Impulse;
|
|
angularImpulseBody1.z = -mContactConstraints[c].r1CrossT2.z * mContactConstraints[c].friction2Impulse;
|
|
linearImpulseBody2.x = mContactConstraints[c].frictionVector2.x * mContactConstraints[c].friction2Impulse;
|
|
linearImpulseBody2.y = mContactConstraints[c].frictionVector2.y * mContactConstraints[c].friction2Impulse;
|
|
linearImpulseBody2.z = mContactConstraints[c].frictionVector2.z * mContactConstraints[c].friction2Impulse;
|
|
angularImpulseBody2.x = mContactConstraints[c].r2CrossT2.x * mContactConstraints[c].friction2Impulse;
|
|
angularImpulseBody2.y = mContactConstraints[c].r2CrossT2.y * mContactConstraints[c].friction2Impulse;
|
|
angularImpulseBody2.z = mContactConstraints[c].r2CrossT2.z * mContactConstraints[c].friction2Impulse;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z;
|
|
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1;
|
|
|
|
// Update the velocities of the body 2 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z;
|
|
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2;
|
|
|
|
// ------ Twist friction constraint at the center of the contact manifold ------ //
|
|
|
|
// Compute the impulse P = J^T * lambda
|
|
angularImpulseBody1.x = -mContactConstraints[c].normal.x * mContactConstraints[c].frictionTwistImpulse;
|
|
angularImpulseBody1.y = -mContactConstraints[c].normal.y * mContactConstraints[c].frictionTwistImpulse;
|
|
angularImpulseBody1.z = -mContactConstraints[c].normal.z * mContactConstraints[c].frictionTwistImpulse;
|
|
|
|
angularImpulseBody2.x = mContactConstraints[c].normal.x * mContactConstraints[c].frictionTwistImpulse;
|
|
angularImpulseBody2.y = mContactConstraints[c].normal.y * mContactConstraints[c].frictionTwistImpulse;
|
|
angularImpulseBody2.z = mContactConstraints[c].normal.z * mContactConstraints[c].frictionTwistImpulse;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1;
|
|
|
|
// Update the velocities of the body 2 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2;
|
|
}
|
|
else { // If it is a new contact manifold
|
|
|
|
// Initialize the accumulated impulses to zero
|
|
mContactConstraints[c].friction1Impulse = 0.0;
|
|
mContactConstraints[c].friction2Impulse = 0.0;
|
|
mContactConstraints[c].frictionTwistImpulse = 0.0;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Solve the contacts
|
|
void ContactSolverSystem::solve() {
|
|
|
|
RP3D_PROFILE("ContactSolverSystem::solve()", mProfiler);
|
|
|
|
decimal deltaLambda;
|
|
decimal lambdaTemp;
|
|
uint contactPointIndex = 0;
|
|
|
|
const decimal beta = mIsSplitImpulseActive ? BETA_SPLIT_IMPULSE : BETA;
|
|
|
|
// For each contact manifold
|
|
for (uint c=0; c<mNbContactManifolds; c++) {
|
|
|
|
decimal sumPenetrationImpulse = 0.0;
|
|
|
|
const uint32 rigidBody1Index = mContactConstraints[c].rigidBodyComponentIndexBody1;
|
|
const uint32 rigidBody2Index = mContactConstraints[c].rigidBodyComponentIndexBody2;
|
|
|
|
// Get the constrained velocities
|
|
const Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index];
|
|
const Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index];
|
|
const Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index];
|
|
const Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index];
|
|
|
|
for (short int i=0; i<mContactConstraints[c].nbContacts; i++) {
|
|
|
|
// --------- Penetration --------- //
|
|
|
|
// Compute J*v
|
|
//Vector3 deltaV = v2 + w2.cross(mContactPoints[contactPointIndex].r2) - v1 - w1.cross(mContactPoints[contactPointIndex].r1);
|
|
Vector3 deltaV(v2.x + w2.y * mContactPoints[contactPointIndex].r2.z - w2.z * mContactPoints[contactPointIndex].r2.y - v1.x -
|
|
w1.y * mContactPoints[contactPointIndex].r1.z + w1.z * mContactPoints[contactPointIndex].r1.y,
|
|
v2.y + w2.z * mContactPoints[contactPointIndex].r2.x - w2.x * mContactPoints[contactPointIndex].r2.z - v1.y -
|
|
w1.z * mContactPoints[contactPointIndex].r1.x + w1.x * mContactPoints[contactPointIndex].r1.z,
|
|
v2.z + w2.x * mContactPoints[contactPointIndex].r2.y - w2.y * mContactPoints[contactPointIndex].r2.x - v1.z -
|
|
w1.x * mContactPoints[contactPointIndex].r1.y + w1.y * mContactPoints[contactPointIndex].r1.x);
|
|
decimal deltaVDotN = deltaV.x * mContactPoints[contactPointIndex].normal.x + deltaV.y * mContactPoints[contactPointIndex].normal.y +
|
|
deltaV.z * mContactPoints[contactPointIndex].normal.z;
|
|
decimal Jv = deltaVDotN;
|
|
|
|
// Compute the bias "b" of the constraint
|
|
decimal biasPenetrationDepth = 0.0;
|
|
if (mContactPoints[contactPointIndex].penetrationDepth > SLOP) biasPenetrationDepth = -(beta/mTimeStep) *
|
|
std::max(0.0f, float(mContactPoints[contactPointIndex].penetrationDepth - SLOP));
|
|
decimal b = biasPenetrationDepth + mContactPoints[contactPointIndex].restitutionBias;
|
|
|
|
// Compute the Lagrange multiplier lambda
|
|
if (mIsSplitImpulseActive) {
|
|
deltaLambda = - (Jv + mContactPoints[contactPointIndex].restitutionBias) *
|
|
mContactPoints[contactPointIndex].inversePenetrationMass;
|
|
}
|
|
else {
|
|
deltaLambda = - (Jv + b) * mContactPoints[contactPointIndex].inversePenetrationMass;
|
|
}
|
|
lambdaTemp = mContactPoints[contactPointIndex].penetrationImpulse;
|
|
mContactPoints[contactPointIndex].penetrationImpulse = std::max(mContactPoints[contactPointIndex].penetrationImpulse +
|
|
deltaLambda, decimal(0.0));
|
|
deltaLambda = mContactPoints[contactPointIndex].penetrationImpulse - lambdaTemp;
|
|
|
|
Vector3 linearImpulse(mContactPoints[contactPointIndex].normal.x * deltaLambda,
|
|
mContactPoints[contactPointIndex].normal.y * deltaLambda,
|
|
mContactPoints[contactPointIndex].normal.z * deltaLambda);
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z;
|
|
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * deltaLambda;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * deltaLambda;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * deltaLambda;
|
|
|
|
// Update the velocities of the body 2 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z;
|
|
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * deltaLambda;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * deltaLambda;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * deltaLambda;
|
|
|
|
sumPenetrationImpulse += mContactPoints[contactPointIndex].penetrationImpulse;
|
|
|
|
// If the split impulse position correction is active
|
|
if (mIsSplitImpulseActive) {
|
|
|
|
// Split impulse (position correction)
|
|
const Vector3& v1Split = mRigidBodyComponents.mSplitLinearVelocities[rigidBody1Index];
|
|
const Vector3& w1Split = mRigidBodyComponents.mSplitAngularVelocities[rigidBody1Index];
|
|
const Vector3& v2Split = mRigidBodyComponents.mSplitLinearVelocities[rigidBody2Index];
|
|
const Vector3& w2Split = mRigidBodyComponents.mSplitAngularVelocities[rigidBody2Index];
|
|
|
|
//Vector3 deltaVSplit = v2Split + w2Split.cross(mContactPoints[contactPointIndex].r2) - v1Split - w1Split.cross(mContactPoints[contactPointIndex].r1);
|
|
Vector3 deltaVSplit(v2Split.x + w2Split.y * mContactPoints[contactPointIndex].r2.z - w2Split.z * mContactPoints[contactPointIndex].r2.y - v1Split.x -
|
|
w1Split.y * mContactPoints[contactPointIndex].r1.z + w1Split.z * mContactPoints[contactPointIndex].r1.y,
|
|
v2Split.y + w2Split.z * mContactPoints[contactPointIndex].r2.x - w2Split.x * mContactPoints[contactPointIndex].r2.z - v1Split.y -
|
|
w1Split.z * mContactPoints[contactPointIndex].r1.x + w1Split.x * mContactPoints[contactPointIndex].r1.z,
|
|
v2Split.z + w2Split.x * mContactPoints[contactPointIndex].r2.y - w2Split.y * mContactPoints[contactPointIndex].r2.x - v1Split.z -
|
|
w1Split.x * mContactPoints[contactPointIndex].r1.y + w1Split.y * mContactPoints[contactPointIndex].r1.x);
|
|
decimal JvSplit = deltaVSplit.x * mContactPoints[contactPointIndex].normal.x +
|
|
deltaVSplit.y * mContactPoints[contactPointIndex].normal.y +
|
|
deltaVSplit.z * mContactPoints[contactPointIndex].normal.z;
|
|
decimal deltaLambdaSplit = - (JvSplit + biasPenetrationDepth) *
|
|
mContactPoints[contactPointIndex].inversePenetrationMass;
|
|
decimal lambdaTempSplit = mContactPoints[contactPointIndex].penetrationSplitImpulse;
|
|
mContactPoints[contactPointIndex].penetrationSplitImpulse = std::max(
|
|
mContactPoints[contactPointIndex].penetrationSplitImpulse +
|
|
deltaLambdaSplit, decimal(0.0));
|
|
deltaLambdaSplit = mContactPoints[contactPointIndex].penetrationSplitImpulse - lambdaTempSplit;
|
|
|
|
Vector3 linearImpulse(mContactPoints[contactPointIndex].normal.x * deltaLambdaSplit,
|
|
mContactPoints[contactPointIndex].normal.y * deltaLambdaSplit,
|
|
mContactPoints[contactPointIndex].normal.z * deltaLambdaSplit);
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mSplitLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x;
|
|
mRigidBodyComponents.mSplitLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y;
|
|
mRigidBodyComponents.mSplitLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z;
|
|
|
|
mRigidBodyComponents.mSplitAngularVelocities[rigidBody1Index].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * deltaLambdaSplit;
|
|
mRigidBodyComponents.mSplitAngularVelocities[rigidBody1Index].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * deltaLambdaSplit;
|
|
mRigidBodyComponents.mSplitAngularVelocities[rigidBody1Index].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * deltaLambdaSplit;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mSplitLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x;
|
|
mRigidBodyComponents.mSplitLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y;
|
|
mRigidBodyComponents.mSplitLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z;
|
|
|
|
mRigidBodyComponents.mSplitAngularVelocities[rigidBody2Index].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * deltaLambdaSplit;
|
|
mRigidBodyComponents.mSplitAngularVelocities[rigidBody2Index].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * deltaLambdaSplit;
|
|
mRigidBodyComponents.mSplitAngularVelocities[rigidBody2Index].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * deltaLambdaSplit;
|
|
}
|
|
|
|
contactPointIndex++;
|
|
}
|
|
|
|
// ------ First friction constraint at the center of the contact manifold ------ //
|
|
|
|
// Compute J*v
|
|
// deltaV = v2 + w2.cross(mContactConstraints[c].r2Friction) - v1 - w1.cross(mContactConstraints[c].r1Friction);
|
|
Vector3 deltaV(v2.x + w2.y * mContactConstraints[c].r2Friction.z - w2.z * mContactConstraints[c].r2Friction.y - v1.x -
|
|
w1.y * mContactConstraints[c].r1Friction.z + w1.z * mContactConstraints[c].r1Friction.y,
|
|
|
|
v2.y + w2.z * mContactConstraints[c].r2Friction.x - w2.x * mContactConstraints[c].r2Friction.z - v1.y -
|
|
w1.z * mContactConstraints[c].r1Friction.x + w1.x * mContactConstraints[c].r1Friction.z,
|
|
|
|
v2.z + w2.x * mContactConstraints[c].r2Friction.y - w2.y * mContactConstraints[c].r2Friction.x - v1.z -
|
|
w1.x * mContactConstraints[c].r1Friction.y + w1.y * mContactConstraints[c].r1Friction.x);
|
|
decimal Jv = deltaV.x * mContactConstraints[c].frictionVector1.x +
|
|
deltaV.y * mContactConstraints[c].frictionVector1.y +
|
|
deltaV.z * mContactConstraints[c].frictionVector1.z;
|
|
|
|
// Compute the Lagrange multiplier lambda
|
|
decimal deltaLambda = -Jv * mContactConstraints[c].inverseFriction1Mass;
|
|
decimal frictionLimit = mContactConstraints[c].frictionCoefficient * sumPenetrationImpulse;
|
|
lambdaTemp = mContactConstraints[c].friction1Impulse;
|
|
mContactConstraints[c].friction1Impulse = std::max(-frictionLimit,
|
|
std::min(mContactConstraints[c].friction1Impulse +
|
|
deltaLambda, frictionLimit));
|
|
deltaLambda = mContactConstraints[c].friction1Impulse - lambdaTemp;
|
|
|
|
// Compute the impulse P=J^T * lambda
|
|
Vector3 angularImpulseBody1(-mContactConstraints[c].r1CrossT1.x * deltaLambda,
|
|
-mContactConstraints[c].r1CrossT1.y * deltaLambda,
|
|
-mContactConstraints[c].r1CrossT1.z * deltaLambda);
|
|
Vector3 linearImpulseBody2(mContactConstraints[c].frictionVector1.x * deltaLambda,
|
|
mContactConstraints[c].frictionVector1.y * deltaLambda,
|
|
mContactConstraints[c].frictionVector1.z * deltaLambda);
|
|
Vector3 angularImpulseBody2(mContactConstraints[c].r2CrossT1.x * deltaLambda,
|
|
mContactConstraints[c].r2CrossT1.y * deltaLambda,
|
|
mContactConstraints[c].r2CrossT1.z * deltaLambda);
|
|
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z;
|
|
|
|
Vector3 angularVelocity1 = mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].x += angularVelocity1.x;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].y += angularVelocity1.y;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].z += angularVelocity1.z;
|
|
|
|
// Update the velocities of the body 2 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z;
|
|
|
|
Vector3 angularVelocity2 = mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].x += angularVelocity2.x;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].y += angularVelocity2.y;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].z += angularVelocity2.z;
|
|
|
|
// ------ Second friction constraint at the center of the contact manifold ----- //
|
|
|
|
// Compute J*v
|
|
//deltaV = v2 + w2.cross(mContactConstraints[c].r2Friction) - v1 - w1.cross(mContactConstraints[c].r1Friction);
|
|
deltaV.x = v2.x + w2.y * mContactConstraints[c].r2Friction.z - w2.z * mContactConstraints[c].r2Friction.y - v1.x -
|
|
w1.y * mContactConstraints[c].r1Friction.z + w1.z * mContactConstraints[c].r1Friction.y;
|
|
deltaV.y = v2.y + w2.z * mContactConstraints[c].r2Friction.x - w2.x * mContactConstraints[c].r2Friction.z - v1.y -
|
|
w1.z * mContactConstraints[c].r1Friction.x + w1.x * mContactConstraints[c].r1Friction.z;
|
|
deltaV.z = v2.z + w2.x * mContactConstraints[c].r2Friction.y - w2.y * mContactConstraints[c].r2Friction.x - v1.z -
|
|
w1.x * mContactConstraints[c].r1Friction.y + w1.y * mContactConstraints[c].r1Friction.x;
|
|
Jv = deltaV.x * mContactConstraints[c].frictionVector2.x + deltaV.y * mContactConstraints[c].frictionVector2.y +
|
|
deltaV.z * mContactConstraints[c].frictionVector2.z;
|
|
|
|
// Compute the Lagrange multiplier lambda
|
|
deltaLambda = -Jv * mContactConstraints[c].inverseFriction2Mass;
|
|
frictionLimit = mContactConstraints[c].frictionCoefficient * sumPenetrationImpulse;
|
|
lambdaTemp = mContactConstraints[c].friction2Impulse;
|
|
mContactConstraints[c].friction2Impulse = std::max(-frictionLimit,
|
|
std::min(mContactConstraints[c].friction2Impulse +
|
|
deltaLambda, frictionLimit));
|
|
deltaLambda = mContactConstraints[c].friction2Impulse - lambdaTemp;
|
|
|
|
// Compute the impulse P=J^T * lambda
|
|
angularImpulseBody1.x = -mContactConstraints[c].r1CrossT2.x * deltaLambda;
|
|
angularImpulseBody1.y = -mContactConstraints[c].r1CrossT2.y * deltaLambda;
|
|
angularImpulseBody1.z = -mContactConstraints[c].r1CrossT2.z * deltaLambda;
|
|
|
|
linearImpulseBody2.x = mContactConstraints[c].frictionVector2.x * deltaLambda;
|
|
linearImpulseBody2.y = mContactConstraints[c].frictionVector2.y * deltaLambda;
|
|
linearImpulseBody2.z = mContactConstraints[c].frictionVector2.z * deltaLambda;
|
|
|
|
angularImpulseBody2.x = mContactConstraints[c].r2CrossT2.x * deltaLambda;
|
|
angularImpulseBody2.y = mContactConstraints[c].r2CrossT2.y * deltaLambda;
|
|
angularImpulseBody2.z = mContactConstraints[c].r2CrossT2.z * deltaLambda;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z;
|
|
|
|
angularVelocity1 = mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].x += angularVelocity1.x;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].y += angularVelocity1.y;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].z += angularVelocity1.z;
|
|
|
|
// Update the velocities of the body 2 by applying the impulse P
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y;
|
|
mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z;
|
|
|
|
angularVelocity2 = mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].x += angularVelocity2.x;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].y += angularVelocity2.y;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].z += angularVelocity2.z;
|
|
|
|
// ------ Twist friction constraint at the center of the contact manifol ------ //
|
|
|
|
// Compute J*v
|
|
deltaV = w2 - w1;
|
|
Jv = deltaV.x * mContactConstraints[c].normal.x + deltaV.y * mContactConstraints[c].normal.y +
|
|
deltaV.z * mContactConstraints[c].normal.z;
|
|
|
|
deltaLambda = -Jv * (mContactConstraints[c].inverseTwistFrictionMass);
|
|
frictionLimit = mContactConstraints[c].frictionCoefficient * sumPenetrationImpulse;
|
|
lambdaTemp = mContactConstraints[c].frictionTwistImpulse;
|
|
mContactConstraints[c].frictionTwistImpulse = std::max(-frictionLimit,
|
|
std::min(mContactConstraints[c].frictionTwistImpulse
|
|
+ deltaLambda, frictionLimit));
|
|
deltaLambda = mContactConstraints[c].frictionTwistImpulse - lambdaTemp;
|
|
|
|
// Compute the impulse P=J^T * lambda
|
|
angularImpulseBody2.x = mContactConstraints[c].normal.x * deltaLambda;
|
|
angularImpulseBody2.y = mContactConstraints[c].normal.y * deltaLambda;
|
|
angularImpulseBody2.z = mContactConstraints[c].normal.z * deltaLambda;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
angularVelocity1 = mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].x -= angularVelocity1.x;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].y -= angularVelocity1.y;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].z -= angularVelocity1.z;
|
|
|
|
// Update the velocities of the body 1 by applying the impulse P
|
|
angularVelocity2 = mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].x += angularVelocity2.x;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].y += angularVelocity2.y;
|
|
mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].z += angularVelocity2.z;
|
|
}
|
|
}
|
|
|
|
// Store the computed impulses to use them to
|
|
// warm start the solver at the next iteration
|
|
void ContactSolverSystem::storeImpulses() {
|
|
|
|
RP3D_PROFILE("ContactSolver::storeImpulses()", mProfiler);
|
|
|
|
uint contactPointIndex = 0;
|
|
|
|
// For each contact manifold
|
|
for (uint c=0; c<mNbContactManifolds; c++) {
|
|
|
|
for (short int i=0; i<mContactConstraints[c].nbContacts; i++) {
|
|
|
|
mContactPoints[contactPointIndex].externalContact->setPenetrationImpulse(mContactPoints[contactPointIndex].penetrationImpulse);
|
|
|
|
contactPointIndex++;
|
|
}
|
|
|
|
mContactConstraints[c].externalContactManifold->frictionImpulse1 = mContactConstraints[c].friction1Impulse;
|
|
mContactConstraints[c].externalContactManifold->frictionImpulse2 = mContactConstraints[c].friction2Impulse;
|
|
mContactConstraints[c].externalContactManifold->frictionTwistImpulse = mContactConstraints[c].frictionTwistImpulse;
|
|
mContactConstraints[c].externalContactManifold->frictionVector1 = mContactConstraints[c].frictionVector1;
|
|
mContactConstraints[c].externalContactManifold->frictionVector2 = mContactConstraints[c].frictionVector2;
|
|
}
|
|
}
|
|
|
|
// Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction plane
|
|
// for a contact manifold. The two vectors have to be such that : t1 x t2 = contactNormal.
|
|
void ContactSolverSystem::computeFrictionVectors(const Vector3& deltaVelocity, ContactManifoldSolver& contact) const {
|
|
|
|
RP3D_PROFILE("ContactSolver::computeFrictionVectors()", mProfiler);
|
|
|
|
assert(contact.normal.length() > decimal(0.0));
|
|
|
|
// Compute the velocity difference vector in the tangential plane
|
|
const Vector3 normalVelocity(deltaVelocity.x * contact.normal.x * contact.normal.x,
|
|
deltaVelocity.y * contact.normal.y * contact.normal.y,
|
|
deltaVelocity.z * contact.normal.z * contact.normal.z);
|
|
const Vector3 tangentVelocity(deltaVelocity.x - normalVelocity.x, deltaVelocity.y - normalVelocity.y,
|
|
deltaVelocity.z - normalVelocity.z);
|
|
|
|
// If the velocty difference in the tangential plane is not zero
|
|
const decimal lengthTangentVelocity = tangentVelocity.length();
|
|
if (lengthTangentVelocity > MACHINE_EPSILON) {
|
|
|
|
// Compute the first friction vector in the direction of the tangent
|
|
// velocity difference
|
|
contact.frictionVector1 = tangentVelocity / lengthTangentVelocity;
|
|
}
|
|
else {
|
|
|
|
// Get any orthogonal vector to the normal as the first friction vector
|
|
contact.frictionVector1 = contact.normal.getOneUnitOrthogonalVector();
|
|
}
|
|
|
|
// The second friction vector is computed by the cross product of the first
|
|
// friction vector and the contact normal
|
|
contact.frictionVector2 = contact.normal.cross(contact.frictionVector1);
|
|
}
|