public void SolveToi(TimeStep subStep, int toiIndexA, int toiIndexB)
{
Debug.Assert(toiIndexA < BodyCount);
Debug.Assert(toiIndexB < BodyCount);
// Initialize the body state.
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
Positions[i].C.Set(b.Sweep.C);
Positions[i].A = b.Sweep.A;
Velocities[i].V.Set(b.LinearVelocity);
Velocities[i].W = b.AngularVelocity;
}
toiSolverDef.Contacts = Contacts;
toiSolverDef.Count = ContactCount;
toiSolverDef.Step = subStep;
toiSolverDef.Positions = Positions;
toiSolverDef.Velocities = Velocities;
toiContactSolver.Init(toiSolverDef);
// Solve position constraints.
for (int i = 0; i < subStep.PositionIterations; ++i)
{
bool contactsOkay = toiContactSolver.SolveTOIPositionConstraints(toiIndexA, toiIndexB);
if (contactsOkay)
{
break;
}
}
// #if 0
// // Is the new position really safe?
// for (int i = 0; i < m_contactCount; ++i)
// {
// Contact* c = m_contacts[i];
// Fixture* fA = c.GetFixtureA();
// Fixture* fB = c.GetFixtureB();
//
// Body bA = fA.GetBody();
// Body bB = fB.GetBody();
//
// int indexA = c.GetChildIndexA();
// int indexB = c.GetChildIndexB();
//
// DistanceInput input;
// input.proxyA.Set(fA.GetShape(), indexA);
// input.proxyB.Set(fB.GetShape(), indexB);
// input.transformA = bA.GetTransform();
// input.transformB = bB.GetTransform();
// input.useRadii = false;
//
// DistanceOutput output;
// SimplexCache cache;
// cache.count = 0;
// Distance(&output, &cache, &input);
//
// if (output.distance == 0 || cache.count == 3)
// {
// cache.count += 0;
// }
// }
// #endif
// Leap of faith to new safe state.
Bodies[toiIndexA].Sweep.C0.Set(Positions[toiIndexA].C);
Bodies[toiIndexA].Sweep.A0 = Positions[toiIndexA].A;
Bodies[toiIndexB].Sweep.C0.Set(Positions[toiIndexB].C);
Bodies[toiIndexB].Sweep.A0 = Positions[toiIndexB].A;
// No warm starting is needed for TOI events because warm
// starting impulses were applied in the discrete solver.
toiContactSolver.InitializeVelocityConstraints();
// Solve velocity constraints.
for (int i = 0; i < subStep.VelocityIterations; ++i)
{
toiContactSolver.SolveVelocityConstraints();
}
// Don't store the TOI contact forces for warm starting
// because they can be quite large.
float h = subStep.Dt;
// Integrate positions
for (int i = 0; i < BodyCount; ++i)
{
Vec2 c = Positions[i].C;
float a = Positions[i].A;
Vec2 v = Velocities[i].V;
float w = Velocities[i].W;
// Check for large velocities
translation.Set(v).MulLocal(h);
if (Vec2.Dot(translation, translation) > Settings.MAX_TRANSLATION_SQUARED)
{
float ratio = Settings.MAX_TRANSLATION / translation.Length();
v.MulLocal(ratio);
}
float rotation = h * w;
if (rotation * rotation > Settings.MaxRotationSquared)
{
float ratio = Settings.MAX_ROTATION / MathUtils.Abs(rotation);
w *= ratio;
}
// Integrate
c.X += v.X * h;
c.Y += v.Y * h;
a += h * w;
Positions[i].C.Set(c);
Positions[i].A = a;
Velocities[i].V.Set(v);
Velocities[i].W = w;
// Sync bodies
Body body = Bodies[i];
body.Sweep.C.Set(c);
body.Sweep.A = a;
body.LinearVelocity.Set(v);
body.AngularVelocity = w;
body.SynchronizeTransform();
}
Report(toiContactSolver.VelocityConstraints);
}
public void Solve(Profile profile, TimeStep step, Vec2 gravity, bool allowSleep)
{
// Console.WriteLine("Solving Island");
float h = step.Dt;
// Integrate velocities and apply damping. Initialize the body state.
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
Vec2 c = b.Sweep.C;
float a = b.Sweep.A;
Vec2 v = b.LinearVelocity;
float w = b.AngularVelocity;
// Store positions for continuous collision.
b.Sweep.C0.Set(b.Sweep.C);
b.Sweep.A0 = b.Sweep.A;
if (b.Type == BodyType.Dynamic)
{
// Integrate velocities.
// v += h * (b.m_gravityScale * gravity + b.m_invMass * b.m_force);
v.X += h * (b.GravityScale * gravity.X + b.InvMass * b.Force.X);
v.Y += h * (b.GravityScale * gravity.Y + b.InvMass * b.Force.Y);
w += h * b.InvI * b.Torque;
// Apply damping.
// ODE: dv/dt + c * v = 0
// Solution: v(t) = v0 * exp(-c * t)
// Time step: v(t + dt) = v0 * exp(-c * (t + dt)) = v0 * exp(-c * t) * exp(-c * dt) = v *
// exp(-c * dt)
// v2 = exp(-c * dt) * v1
// Taylor expansion:
// v2 = (1.0f - c * dt) * v1
v.MulLocal(MathUtils.Clamp(1.0f - h * b.LinearDamping, 0.0f, 1.0f));
w *= MathUtils.Clamp(1.0f - h * b.AngularDamping, 0.0f, 1.0f);
}
//Debug.Assert (v.x == 0);
Positions[i].C.Set(c);
Positions[i].A = a;
Velocities[i].V.Set(v);
Velocities[i].W = w;
}
timer.Reset();
// Solver data
solverData.Step = step;
solverData.Positions = Positions;
solverData.Velocities = Velocities;
// Initialize velocity constraints.
solverDef.Step = step;
solverDef.Contacts = Contacts;
solverDef.Count = ContactCount;
solverDef.Positions = Positions;
solverDef.Velocities = Velocities;
contactSolver.Init(solverDef);
//Console.WriteLine("island init vel");
contactSolver.InitializeVelocityConstraints();
if (step.WarmStarting)
{
//Console.WriteLine("island warm start");
contactSolver.WarmStart();
}
for (int i = 0; i < JointCount; ++i)
{
Joints[i].InitVelocityConstraints(solverData);
}
profile.SolveInit = timer.Milliseconds;
// Solve velocity constraints
timer.Reset();
//Console.WriteLine("island solving velocities");
for (int i = 0; i < step.VelocityIterations; ++i)
{
for (int j = 0; j < JointCount; ++j)
{
Joints[j].SolveVelocityConstraints(solverData);
}
contactSolver.SolveVelocityConstraints();
}
// Store impulses for warm starting
contactSolver.StoreImpulses();
profile.SolveVelocity = timer.Milliseconds;
// Integrate positions
for (int i = 0; i < BodyCount; ++i)
{
Vec2 c = Positions[i].C;
float a = Positions[i].A;
Vec2 v = Velocities[i].V;
float w = Velocities[i].W;
// Check for large velocities
translation.X = v.X * h;
translation.Y = v.Y * h;
if (Vec2.Dot(translation, translation) > Settings.MAX_TRANSLATION_SQUARED)
{
float ratio = Settings.MAX_TRANSLATION / translation.Length();
v.X *= ratio;
v.Y *= ratio;
}
float rotation = h * w;
if (rotation * rotation > Settings.MaxRotationSquared)
{
float ratio = Settings.MAX_ROTATION / MathUtils.Abs(rotation);
w *= ratio;
}
// Integrate
c.X += h * v.X;
c.Y += h * v.Y;
a += h * w;
Positions[i].A = a;
Velocities[i].W = w;
}
// Solve position constraints
timer.Reset();
bool positionSolved = false;
for (int i = 0; i < step.PositionIterations; ++i)
{
bool contactsOkay = contactSolver.SolvePositionConstraints();
bool jointsOkay = true;
for (int j = 0; j < JointCount; ++j)
{
bool jointOkay = Joints[j].SolvePositionConstraints(solverData);
jointsOkay = jointsOkay && jointOkay;
}
if (contactsOkay && jointsOkay)
{
// Exit early if the position errors are small.
positionSolved = true;
break;
}
}
// Copy state buffers back to the bodies
for (int i = 0; i < BodyCount; ++i)
{
Body body = Bodies[i];
body.Sweep.C.Set(Positions[i].C);
body.Sweep.A = Positions[i].A;
body.LinearVelocity.Set(Velocities[i].V);
body.AngularVelocity = Velocities[i].W;
body.SynchronizeTransform();
}
profile.SolvePosition = timer.Milliseconds;
Report(contactSolver.VelocityConstraints);
if (allowSleep)
{
float minSleepTime = Single.MaxValue;
const float linTolSqr = Settings.LINEAR_SLEEP_TOLERANCE * Settings.LINEAR_SLEEP_TOLERANCE;
float angTolSqr = Settings.ANGULAR_SLEEP_TOLERANCE * Settings.ANGULAR_SLEEP_TOLERANCE;
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
if (b.Type == BodyType.Static)
{
continue;
}
if ((b.Flags & Body.TypeFlags.AutoSleep) == 0 || b.AngularVelocity * b.AngularVelocity > angTolSqr || Vec2.Dot(b.LinearVelocity, b.LinearVelocity) > linTolSqr)
{
b.SleepTime = 0.0f;
minSleepTime = 0.0f;
}
else
{
b.SleepTime += h;
minSleepTime = MathUtils.Min(minSleepTime, b.SleepTime);
}
}
if (minSleepTime >= Settings.TIME_TO_SLEEP && positionSolved)
{
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
b.Awake = false;
}
}
}
}
