public void SolveVelocityConstraints()
{
for (int i = 0; i < _count; ++i)
{
ContactVelocityConstraint vc = _velocityConstraints[i];
int indexA = vc.indexA;
int indexB = vc.indexB;
FP mA = vc.invMassA;
FP iA = vc.invIA;
FP mB = vc.invMassB;
FP iB = vc.invIB;
int pointCount = vc.pointCount;
TSVector2 vA = _velocities[indexA].v;
FP wA = _velocities[indexA].w;
TSVector2 vB = _velocities[indexB].v;
FP wB = _velocities[indexB].w;
TSVector2 normal = vc.normal;
TSVector2 tangent = MathUtils.Cross(normal, 1.0f);
FP friction = vc.friction;
Debug.Assert(pointCount == 1 || pointCount == 2);
// Solve tangent constraints first because non-penetration is more important
// than friction.
for (int j = 0; j < pointCount; ++j)
{
VelocityConstraintPoint vcp = vc.points[j];
// Relative velocity at contact
TSVector2 dv = vB + MathUtils.Cross(wB, vcp.rB) - vA - MathUtils.Cross(wA, vcp.rA);
// Compute tangent force
FP vt = TSVector2.Dot(dv, tangent) - vc.tangentSpeed;
FP lambda = vcp.tangentMass * (-vt);
// b2Clamp the accumulated force
FP maxFriction = friction * vcp.normalImpulse;
FP newImpulse = MathUtils.Clamp(vcp.tangentImpulse + lambda, -maxFriction, maxFriction);
lambda = newImpulse - vcp.tangentImpulse;
vcp.tangentImpulse = newImpulse;
// Apply contact impulse
TSVector2 P = lambda * tangent;
vA -= mA * P;
wA -= iA * MathUtils.Cross(vcp.rA, P);
vB += mB * P;
wB += iB * MathUtils.Cross(vcp.rB, P);
}
// Solve normal constraints
if (vc.pointCount == 1)
{
VelocityConstraintPoint vcp = vc.points[0];
// Relative velocity at contact
TSVector2 dv = vB + MathUtils.Cross(wB, vcp.rB) - vA - MathUtils.Cross(wA, vcp.rA);
// Compute normal impulse
FP vn = TSVector2.Dot(dv, normal);
FP lambda = -vcp.normalMass * (vn - vcp.velocityBias);
// b2Clamp the accumulated impulse
FP newImpulse = TrueSync.TSMath.Max(vcp.normalImpulse + lambda, 0.0f);
lambda = newImpulse - vcp.normalImpulse;
vcp.normalImpulse = newImpulse;
// Apply contact impulse
TSVector2 P = lambda * normal;
vA -= mA * P;
wA -= iA * MathUtils.Cross(vcp.rA, P);
vB += mB * P;
wB += iB * MathUtils.Cross(vcp.rB, P);
}
else
{
// Block solver developed in collaboration with Dirk Gregorius (back in 01/07 on Box2D_Lite).
// Build the mini LCP for this contact patch
//
// vn = A * x + b, vn >= 0, , vn >= 0, x >= 0 and vn_i * x_i = 0 with i = 1..2
//
// A = J * W * JT and J = ( -n, -r1 x n, n, r2 x n )
// b = vn0 - velocityBias
//
// The system is solved using the "Total enumeration method" (s. Murty). The complementary constraint vn_i * x_i
// implies that we must have in any solution either vn_i = 0 or x_i = 0. So for the 2D contact problem the cases
// vn1 = 0 and vn2 = 0, x1 = 0 and x2 = 0, x1 = 0 and vn2 = 0, x2 = 0 and vn1 = 0 need to be tested. The first valid
// solution that satisfies the problem is chosen.
//
// In order to account of the accumulated impulse 'a' (because of the iterative nature of the solver which only requires
// that the accumulated impulse is clamped and not the incremental impulse) we change the impulse variable (x_i).
//
// Substitute:
//
// x = a + d
//
// a := old total impulse
// x := new total impulse
// d := incremental impulse
//
// For the current iteration we extend the formula for the incremental impulse
// to compute the new total impulse:
//
// vn = A * d + b
// = A * (x - a) + b
// = A * x + b - A * a
// = A * x + b'
// b' = b - A * a;
VelocityConstraintPoint cp1 = vc.points[0];
VelocityConstraintPoint cp2 = vc.points[1];
TSVector2 a = new TSVector2(cp1.normalImpulse, cp2.normalImpulse);
Debug.Assert(a.x >= 0.0f && a.y >= 0.0f);
// Relative velocity at contact
TSVector2 dv1 = vB + MathUtils.Cross(wB, cp1.rB) - vA - MathUtils.Cross(wA, cp1.rA);
TSVector2 dv2 = vB + MathUtils.Cross(wB, cp2.rB) - vA - MathUtils.Cross(wA, cp2.rA);
// Compute normal velocity
FP vn1 = TSVector2.Dot(dv1, normal);
FP vn2 = TSVector2.Dot(dv2, normal);
TSVector2 b = new TSVector2();
b.x = vn1 - cp1.velocityBias;
b.y = vn2 - cp2.velocityBias;
// Compute b'
b -= MathUtils.Mul(ref vc.K, a);
//FP k_errorTol = 1e-3f;
//B2_NOT_USED(k_errorTol);
for (; ;)
{
//
// Case 1: vn = 0
//
// 0 = A * x + b'
//
// Solve for x:
//
// x = - inv(A) * b'
//
TSVector2 x = -MathUtils.Mul(ref vc.normalMass, b);
if (x.x >= 0.0f && x.y >= 0.0f)
{
// Get the incremental impulse
TSVector2 d = x - a;
// Apply incremental impulse
TSVector2 P1 = d.x * normal;
TSVector2 P2 = d.y * normal;
vA -= mA * (P1 + P2);
wA -= iA * (MathUtils.Cross(cp1.rA, P1) + MathUtils.Cross(cp2.rA, P2));
vB += mB * (P1 + P2);
wB += iB * (MathUtils.Cross(cp1.rB, P1) + MathUtils.Cross(cp2.rB, P2));
// Accumulate
cp1.normalImpulse = x.x;
cp2.normalImpulse = x.y;
#if B2_DEBUG_SOLVER
// Postconditions
dv1 = vB + MathUtils.Cross(wB, cp1.rB) - vA - MathUtils.Cross(wA, cp1.rA);
dv2 = vB + MathUtils.Cross(wB, cp2.rB) - vA - MathUtils.Cross(wA, cp2.rA);
// Compute normal velocity
vn1 = Vector2.Dot(dv1, normal);
vn2 = Vector2.Dot(dv2, normal);
b2Assert(b2Abs(vn1 - cp1.velocityBias) < k_errorTol);
b2Assert(b2Abs(vn2 - cp2.velocityBias) < k_errorTol);
#endif
break;
}
//
// Case 2: vn1 = 0 and x2 = 0
//
// 0 = a11 * x1 + a12 * 0 + b1'
// vn2 = a21 * x1 + a22 * 0 + b2'
//
x.x = -cp1.normalMass * b.x;
x.y = 0.0f;
vn1 = 0.0f;
vn2 = vc.K.ex.y * x.x + b.y;
if (x.x >= 0.0f && vn2 >= 0.0f)
{
// Get the incremental impulse
TSVector2 d = x - a;
// Apply incremental impulse
TSVector2 P1 = d.x * normal;
TSVector2 P2 = d.y * normal;
vA -= mA * (P1 + P2);
wA -= iA * (MathUtils.Cross(cp1.rA, P1) + MathUtils.Cross(cp2.rA, P2));
vB += mB * (P1 + P2);
wB += iB * (MathUtils.Cross(cp1.rB, P1) + MathUtils.Cross(cp2.rB, P2));
// Accumulate
cp1.normalImpulse = x.x;
cp2.normalImpulse = x.y;
#if B2_DEBUG_SOLVER
// Postconditions
dv1 = vB + MathUtils.Cross(wB, cp1.rB) - vA - MathUtils.Cross(wA, cp1.rA);
// Compute normal velocity
vn1 = Vector2.Dot(dv1, normal);
b2Assert(b2Abs(vn1 - cp1.velocityBias) < k_errorTol);
#endif
break;
}
//
// Case 3: vn2 = 0 and x1 = 0
//
// vn1 = a11 * 0 + a12 * x2 + b1'
// 0 = a21 * 0 + a22 * x2 + b2'
//
x.x = 0.0f;
x.y = -cp2.normalMass * b.y;
vn1 = vc.K.ey.x * x.y + b.x;
vn2 = 0.0f;
if (x.y >= 0.0f && vn1 >= 0.0f)
{
// Resubstitute for the incremental impulse
TSVector2 d = x - a;
// Apply incremental impulse
TSVector2 P1 = d.x * normal;
TSVector2 P2 = d.y * normal;
vA -= mA * (P1 + P2);
wA -= iA * (MathUtils.Cross(cp1.rA, P1) + MathUtils.Cross(cp2.rA, P2));
vB += mB * (P1 + P2);
wB += iB * (MathUtils.Cross(cp1.rB, P1) + MathUtils.Cross(cp2.rB, P2));
// Accumulate
cp1.normalImpulse = x.x;
cp2.normalImpulse = x.y;
#if B2_DEBUG_SOLVER
// Postconditions
dv2 = vB + MathUtils.Cross(wB, cp2.rB) - vA - MathUtils.Cross(wA, cp2.rA);
// Compute normal velocity
vn2 = Vector2.Dot(dv2, normal);
b2Assert(b2Abs(vn2 - cp2.velocityBias) < k_errorTol);
#endif
break;
}
//
// Case 4: x1 = 0 and x2 = 0
//
// vn1 = b1
// vn2 = b2;
x.x = 0.0f;
x.y = 0.0f;
vn1 = b.x;
vn2 = b.y;
if (vn1 >= 0.0f && vn2 >= 0.0f)
{
// Resubstitute for the incremental impulse
TSVector2 d = x - a;
// Apply incremental impulse
TSVector2 P1 = d.x * normal;
TSVector2 P2 = d.y * normal;
vA -= mA * (P1 + P2);
wA -= iA * (MathUtils.Cross(cp1.rA, P1) + MathUtils.Cross(cp2.rA, P2));
vB += mB * (P1 + P2);
wB += iB * (MathUtils.Cross(cp1.rB, P1) + MathUtils.Cross(cp2.rB, P2));
// Accumulate
cp1.normalImpulse = x.x;
cp2.normalImpulse = x.y;
break;
}
// No solution, give up. This is hit sometimes, but it doesn't seem to matter.
break;
}
}
_velocities[indexA].v = vA;
_velocities[indexA].w = wA;
_velocities[indexB].v = vB;
_velocities[indexB].w = wB;
}
}
public void Reset(TimeStep step, int count, Contact[] contacts, Position[] positions, Velocity[] velocities, bool warmstarting = Settings.EnableWarmstarting)
{
_step = step;
_count = count;
_positions = positions;
_velocities = velocities;
_contacts = contacts;
// grow the array
if (_velocityConstraints == null || _velocityConstraints.Length < count)
{
_velocityConstraints = new ContactVelocityConstraint[count * 2];
_positionConstraints = new ContactPositionConstraint[count * 2];
for (int i = 0; i < _velocityConstraints.Length; i++)
{
_velocityConstraints[i] = new ContactVelocityConstraint();
}
for (int i = 0; i < _positionConstraints.Length; i++)
{
_positionConstraints[i] = new ContactPositionConstraint();
}
}
// Initialize position independent portions of the constraints.
for (int i = 0; i < _count; ++i)
{
Contact contact = contacts[i];
Fixture fixtureA = contact.FixtureA;
Fixture fixtureB = contact.FixtureB;
Shape shapeA = fixtureA.Shape;
Shape shapeB = fixtureB.Shape;
FP radiusA = shapeA.Radius;
FP radiusB = shapeB.Radius;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
Manifold manifold = contact.Manifold;
int pointCount = manifold.PointCount;
Debug.Assert(pointCount > 0);
ContactVelocityConstraint vc = _velocityConstraints[i];
vc.friction = contact.Friction;
vc.restitution = contact.Restitution;
vc.tangentSpeed = contact.TangentSpeed;
vc.indexA = bodyA.IslandIndex;
vc.indexB = bodyB.IslandIndex;
vc.invMassA = bodyA._invMass;
vc.invMassB = bodyB._invMass;
vc.invIA = bodyA._invI;
vc.invIB = bodyB._invI;
vc.contactIndex = i;
vc.pointCount = pointCount;
vc.K.SetZero();
vc.normalMass.SetZero();
ContactPositionConstraint pc = _positionConstraints[i];
pc.indexA = bodyA.IslandIndex;
pc.indexB = bodyB.IslandIndex;
pc.invMassA = bodyA._invMass;
pc.invMassB = bodyB._invMass;
pc.localCenterA = bodyA._sweep.LocalCenter;
pc.localCenterB = bodyB._sweep.LocalCenter;
pc.invIA = bodyA._invI;
pc.invIB = bodyB._invI;
pc.localNormal = manifold.LocalNormal;
pc.localPoint = manifold.LocalPoint;
pc.pointCount = pointCount;
pc.radiusA = radiusA;
pc.radiusB = radiusB;
pc.type = manifold.Type;
for (int j = 0; j < pointCount; ++j)
{
ManifoldPoint cp = manifold.Points[j];
VelocityConstraintPoint vcp = vc.points[j];
if (Settings.EnableWarmstarting)
{
vcp.normalImpulse = _step.dtRatio * cp.NormalImpulse;
vcp.tangentImpulse = _step.dtRatio * cp.TangentImpulse;
}
else
{
vcp.normalImpulse = 0.0f;
vcp.tangentImpulse = 0.0f;
}
vcp.rA = TSVector2.zero;
vcp.rB = TSVector2.zero;
vcp.normalMass = 0.0f;
vcp.tangentMass = 0.0f;
vcp.velocityBias = 0.0f;
pc.localPoints[j] = cp.LocalPoint;
}
}
}
public void InitializeVelocityConstraints()
{
for (int i = 0; i < _count; ++i)
{
ContactVelocityConstraint vc = _velocityConstraints[i];
ContactPositionConstraint pc = _positionConstraints[i];
FP radiusA = pc.radiusA;
FP radiusB = pc.radiusB;
Manifold manifold = _contacts[vc.contactIndex].Manifold;
int indexA = vc.indexA;
int indexB = vc.indexB;
FP mA = vc.invMassA;
FP mB = vc.invMassB;
FP iA = vc.invIA;
FP iB = vc.invIB;
TSVector2 localCenterA = pc.localCenterA;
TSVector2 localCenterB = pc.localCenterB;
TSVector2 cA = _positions[indexA].c;
FP aA = _positions[indexA].a;
TSVector2 vA = _velocities[indexA].v;
FP wA = _velocities[indexA].w;
TSVector2 cB = _positions[indexB].c;
FP aB = _positions[indexB].a;
TSVector2 vB = _velocities[indexB].v;
FP wB = _velocities[indexB].w;
Debug.Assert(manifold.PointCount > 0);
Transform xfA = new Transform();
Transform xfB = new Transform();
xfA.q.Set(aA);
xfB.q.Set(aB);
xfA.p = cA - MathUtils.Mul(xfA.q, localCenterA);
xfB.p = cB - MathUtils.Mul(xfB.q, localCenterB);
TSVector2 normal;
FixedArray2 <TSVector2> points;
WorldManifold.Initialize(ref manifold, ref xfA, radiusA, ref xfB, radiusB, out normal, out points);
vc.normal = normal;
int pointCount = vc.pointCount;
for (int j = 0; j < pointCount; ++j)
{
VelocityConstraintPoint vcp = vc.points[j];
vcp.rA = points[j] - cA;
vcp.rB = points[j] - cB;
FP rnA = MathUtils.Cross(vcp.rA, vc.normal);
FP rnB = MathUtils.Cross(vcp.rB, vc.normal);
FP kNormal = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
vcp.normalMass = kNormal > 0.0f ? 1.0f / kNormal : 0.0f;
TSVector2 tangent = MathUtils.Cross(vc.normal, 1.0f);
FP rtA = MathUtils.Cross(vcp.rA, tangent);
FP rtB = MathUtils.Cross(vcp.rB, tangent);
FP kTangent = mA + mB + iA * rtA * rtA + iB * rtB * rtB;
vcp.tangentMass = kTangent > 0.0f ? 1.0f / kTangent : 0.0f;
// Setup a velocity bias for restitution.
vcp.velocityBias = 0.0f;
FP vRel = TSVector2.Dot(vc.normal, vB + MathUtils.Cross(wB, vcp.rB) - vA - MathUtils.Cross(wA, vcp.rA));
if (vRel < -Settings.VelocityThreshold)
{
vcp.velocityBias = -vc.restitution * vRel;
}
}
// If we have two points, then prepare the block solver.
if (vc.pointCount == 2)
{
VelocityConstraintPoint vcp1 = vc.points[0];
VelocityConstraintPoint vcp2 = vc.points[1];
FP rn1A = MathUtils.Cross(vcp1.rA, vc.normal);
FP rn1B = MathUtils.Cross(vcp1.rB, vc.normal);
FP rn2A = MathUtils.Cross(vcp2.rA, vc.normal);
FP rn2B = MathUtils.Cross(vcp2.rB, vc.normal);
FP k11 = mA + mB + iA * rn1A * rn1A + iB * rn1B * rn1B;
FP k22 = mA + mB + iA * rn2A * rn2A + iB * rn2B * rn2B;
FP k12 = mA + mB + iA * rn1A * rn2A + iB * rn1B * rn2B;
// Ensure a reasonable condition number.
FP k_maxConditionNumber = 1000.0f;
if (k11 * k11 < k_maxConditionNumber * (k11 * k22 - k12 * k12))
{
// K is safe to invert.
vc.K.ex = new TSVector2(k11, k12);
vc.K.ey = new TSVector2(k12, k22);
vc.normalMass = vc.K.Inverse;
}
else
{
// The constraints are redundant, just use one.
// TODO_ERIN use deepest?
vc.pointCount = 1;
}
}
}
}
