/// <seealso cref="Joint.solvePositionConstraints(float)"></seealso>
public override bool SolvePositionConstraints(SolverData data)
{
Vec2 cA = data.Positions[m_indexA].C;
float aA = data.Positions[m_indexA].A;
Vec2 cB = data.Positions[m_indexB].C;
float aB = data.Positions[m_indexB].A;
Rot qA = Pool.PopRot();
Rot qB = Pool.PopRot();
Vec2 temp = Pool.PopVec2();
Vec2 rA = Pool.PopVec2();
Vec2 rB = Pool.PopVec2();
qA.Set(aA);
qB.Set(aB);
float mA = m_invMassA, mB = m_invMassB;
float iA = m_invIA, iB = m_invIB;
Rot.MulToOutUnsafe(qA, temp.Set(LocalAnchorA).SubLocal(m_localCenterA), rA);
Rot.MulToOutUnsafe(qB, temp.Set(LocalAnchorB).SubLocal(m_localCenterB), rB);
float positionError, angularError;
Mat33 K = Pool.PopMat33();
Vec2 C1 = Pool.PopVec2();
Vec2 P = Pool.PopVec2();
K.Ex.X = mA + mB + rA.Y * rA.Y * iA + rB.Y * rB.Y * iB;
K.Ey.X = (-rA.Y) * rA.X * iA - rB.Y * rB.X * iB;
K.Ez.X = (-rA.Y) * iA - rB.Y * iB;
K.Ex.Y = K.Ey.X;
K.Ey.Y = mA + mB + rA.X * rA.X * iA + rB.X * rB.X * iB;
K.Ez.Y = rA.X * iA + rB.X * iB;
K.Ex.Z = K.Ez.X;
K.Ey.Z = K.Ez.Y;
K.Ez.Z = iA + iB;
if (Frequency > 0.0f)
{
C1.Set(cB).AddLocal(rB).SubLocal(cA).SubLocal(rA);
positionError = C1.Length();
angularError = 0.0f;
K.Solve22ToOut(C1, P);
P.NegateLocal();
cA.X -= mA * P.X;
cA.Y -= mA * P.Y;
aA -= iA * Vec2.Cross(rA, P);
cB.X += mB * P.X;
cB.Y += mB * P.Y;
aB += iB * Vec2.Cross(rB, P);
}
else
{
C1.Set(cB).AddLocal(rB).SubLocal(cA).SubLocal(rA);
float C2 = aB - aA - m_referenceAngle;
positionError = C1.Length();
angularError = MathUtils.Abs(C2);
Vec3 C = Pool.PopVec3();
Vec3 impulse = Pool.PopVec3();
C.Set(C1.X, C1.Y, C2);
K.Solve33ToOut(C, impulse);
impulse.NegateLocal();
P.Set(impulse.X, impulse.Y);
cA.X -= mA * P.X;
cA.Y -= mA * P.Y;
aA -= iA * (Vec2.Cross(rA, P) + impulse.Z);
cB.X += mB * P.X;
cB.Y += mB * P.Y;
aB += iB * (Vec2.Cross(rB, P) + impulse.Z);
}
data.Positions[m_indexA].C.Set(cA);
data.Positions[m_indexA].A = aA;
data.Positions[m_indexB].C.Set(cB);
data.Positions[m_indexB].A = aB;
Pool.PushVec2(5);
Pool.PushRot(2);
Pool.PushMat33(1);
return(positionError <= Settings.LINEAR_SLOP && angularError <= Settings.ANGULAR_SLOP);
}
public override void SolveVelocityConstraints(SolverData data)
{
Vec2 vA = data.Velocities[IndexA].V;
float wA = data.Velocities[IndexA].W;
Vec2 vB = data.Velocities[IndexB].V;
float wB = data.Velocities[IndexB].W;
float mA = InvMassA, mB = InvMassB;
float iA = InvIA, iB = InvIB;
Vec2 temp = Pool.PopVec2();
// Solve linear motor constraint.
if (m_motorEnabled && LimitState != LimitState.Equal)
{
temp.Set(vB).SubLocal(vA);
float Cdot = Vec2.Dot(Axis, temp) + A2 * wB - A1 * wA;
float impulse = MotorMass * (m_motorSpeed - Cdot);
float oldImpulse = MotorImpulse;
float maxImpulse = data.Step.Dt * m_maxMotorForce;
MotorImpulse = MathUtils.Clamp(MotorImpulse + impulse, -maxImpulse, maxImpulse);
impulse = MotorImpulse - oldImpulse;
Vec2 P = Pool.PopVec2();
P.Set(Axis).MulLocal(impulse);
float LA = impulse * A1;
float LB = impulse * A2;
vA.X -= mA * P.X;
vA.Y -= mA * P.Y;
wA -= iA * LA;
vB.X += mB * P.X;
vB.Y += mB * P.Y;
wB += iB * LB;
Pool.PushVec2(1);
}
Vec2 Cdot1 = Pool.PopVec2();
temp.Set(vB).SubLocal(vA);
Cdot1.X = Vec2.Dot(Perp, temp) + S2 * wB - S1 * wA;
Cdot1.Y = wB - wA;
// System.out.println(Cdot1);
if (m_limitEnabled && LimitState != LimitState.Inactive)
{
// Solve prismatic and limit constraint in block form.
float Cdot2;
temp.Set(vB).SubLocal(vA);
Cdot2 = Vec2.Dot(Axis, temp) + A2 * wB - A1 * wA;
Vec3 Cdot = Pool.PopVec3();
Cdot.Set(Cdot1.X, Cdot1.Y, Cdot2);
Cdot.NegateLocal();
Vec3 f1 = Pool.PopVec3();
Vec3 df = Pool.PopVec3();
f1.Set(Impulse);
K.Solve33ToOut(Cdot.NegateLocal(), df);
//Cdot.negateLocal(); not used anymore
Impulse.AddLocal(df);
if (LimitState == LimitState.AtLower)
{
Impulse.Z = MathUtils.Max(Impulse.Z, 0.0f);
}
else if (LimitState == LimitState.AtUpper)
{
Impulse.Z = MathUtils.Min(Impulse.Z, 0.0f);
}
// f2(1:2) = invK(1:2,1:2) * (-Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3))) +
// f1(1:2)
Vec2 b = Pool.PopVec2();
Vec2 f2r = Pool.PopVec2();
temp.Set(K.Ez.X, K.Ez.Y).MulLocal(Impulse.Z - f1.Z);
b.Set(Cdot1).NegateLocal().SubLocal(temp);
temp.Set(f1.X, f1.Y);
K.Solve22ToOut(b, f2r);
f2r.AddLocal(temp);
Impulse.X = f2r.X;
Impulse.Y = f2r.Y;
df.Set(Impulse).SubLocal(f1);
Vec2 P = Pool.PopVec2();
temp.Set(Axis).MulLocal(df.Z);
P.Set(Perp).MulLocal(df.X).AddLocal(temp);
float LA = df.X * S1 + df.Y + df.Z * A1;
float LB = df.X * S2 + df.Y + df.Z * A2;
vA.X -= mA * P.X;
vA.Y -= mA * P.Y;
wA -= iA * LA;
vB.X += mB * P.X;
vB.Y += mB * P.Y;
wB += iB * LB;
Pool.PushVec2(3);
Pool.PushVec3(3);
}
else
{
// Limit is inactive, just solve the prismatic constraint in block form.
Vec2 df = Pool.PopVec2();
K.Solve22ToOut(Cdot1.NegateLocal(), df);
Cdot1.NegateLocal();
Impulse.X += df.X;
Impulse.Y += df.Y;
Vec2 P = Pool.PopVec2();
P.Set(Perp).MulLocal(df.X);
float LA = df.X * S1 + df.Y;
float LB = df.X * S2 + df.Y;
vA.X -= mA * P.X;
vA.Y -= mA * P.Y;
wA -= iA * LA;
vB.X += mB * P.X;
vB.Y += mB * P.Y;
wB += iB * LB;
Vec2 Cdot10 = Pool.PopVec2();
Cdot10.Set(Cdot1);
Cdot1.X = Vec2.Dot(Perp, temp.Set(vB).SubLocal(vA)) + S2 * wB - S1 * wA;
Cdot1.Y = wB - wA;
if (MathUtils.Abs(Cdot1.X) > 0.01f || MathUtils.Abs(Cdot1.Y) > 0.01f)
{
// djm note: what's happening here?
Mat33.Mul22ToOutUnsafe(K, df, temp);
Cdot1.X += 0.0f;
}
Pool.PushVec2(3);
}
data.Velocities[IndexA].V.Set(vA);
data.Velocities[IndexA].W = wA;
data.Velocities[IndexB].V.Set(vB);
data.Velocities[IndexB].W = wB;
Pool.PushVec2(2);
}
public override bool SolvePositionConstraints(SolverData data)
{
Rot qA = Pool.PopRot();
Rot qB = Pool.PopRot();
Vec2 rA = Pool.PopVec2();
Vec2 rB = Pool.PopVec2();
Vec2 d = Pool.PopVec2();
Vec2 axis = Pool.PopVec2();
Vec2 perp = Pool.PopVec2();
Vec2 temp = Pool.PopVec2();
Vec2 C1 = Pool.PopVec2();
Vec3 impulse = Pool.PopVec3();
Vec2 cA = data.Positions[IndexA].C;
float aA = data.Positions[IndexA].A;
Vec2 cB = data.Positions[IndexB].C;
float aB = data.Positions[IndexB].A;
qA.Set(aA);
qB.Set(aB);
float mA = InvMassA, mB = InvMassB;
float iA = InvIA, iB = InvIB;
// Compute fresh Jacobians
Rot.MulToOutUnsafe(qA, temp.Set(LocalAnchorA).SubLocal(LocalCenterA), rA);
Rot.MulToOutUnsafe(qB, temp.Set(LocalAnchorB).SubLocal(LocalCenterB), rB);
d.Set(cB).AddLocal(rB).SubLocal(cA).SubLocal(rA);
Rot.MulToOutUnsafe(qA, LocalXAxisA, axis);
float a1 = Vec2.Cross(temp.Set(d).AddLocal(rA), axis);
float a2 = Vec2.Cross(rB, axis);
Rot.MulToOutUnsafe(qA, LocalYAxisA, perp);
float s1 = Vec2.Cross(temp.Set(d).AddLocal(rA), perp);
float s2 = Vec2.Cross(rB, perp);
C1.X = Vec2.Dot(perp, d);
C1.Y = aB - aA - ReferenceAngle;
float linearError = MathUtils.Abs(C1.X);
float angularError = MathUtils.Abs(C1.Y);
bool active = false;
float C2 = 0.0f;
if (m_limitEnabled)
{
float translation = Vec2.Dot(axis, d);
if (MathUtils.Abs(UpperTranslation - LowerTranslation) < 2.0f * Settings.LINEAR_SLOP)
{
// Prevent large angular corrections
C2 = MathUtils.Clamp(translation, -Settings.MAX_LINEAR_CORRECTION, Settings.MAX_LINEAR_CORRECTION);
linearError = MathUtils.Max(linearError, MathUtils.Abs(translation));
active = true;
}
else if (translation <= LowerTranslation)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - LowerTranslation + Settings.LINEAR_SLOP, -Settings.MAX_LINEAR_CORRECTION, 0.0f);
linearError = MathUtils.Max(linearError, LowerTranslation - translation);
active = true;
}
else if (translation >= UpperTranslation)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - UpperTranslation - Settings.LINEAR_SLOP, 0.0f, Settings.MAX_LINEAR_CORRECTION);
linearError = MathUtils.Max(linearError, translation - UpperTranslation);
active = true;
}
}
if (active)
{
float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
float k12 = iA * s1 + iB * s2;
float k13 = iA * s1 * a1 + iB * s2 * a2;
float k22 = iA + iB;
if (k22 == 0.0f)
{
// For fixed rotation
k22 = 1.0f;
}
float k23 = iA * a1 + iB * a2;
float k33 = mA + mB + iA * a1 * a1 + iB * a2 * a2;
Mat33 K = Pool.PopMat33();
K.Ex.Set(k11, k12, k13);
K.Ey.Set(k12, k22, k23);
K.Ez.Set(k13, k23, k33);
Vec3 C = Pool.PopVec3();
C.X = C1.X;
C.Y = C1.Y;
C.Z = C2;
K.Solve33ToOut(C.NegateLocal(), impulse);
Pool.PushVec3(1);
Pool.PushMat33(1);
}
else
{
float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
float k12 = iA * s1 + iB * s2;
float k22 = iA + iB;
if (k22 == 0.0f)
{
k22 = 1.0f;
}
Mat22 K = Pool.PopMat22();
K.Ex.Set(k11, k12);
K.Ey.Set(k12, k22);
// temp is impulse1
K.SolveToOut(C1.NegateLocal(), temp);
C1.NegateLocal();
impulse.X = temp.X;
impulse.Y = temp.Y;
impulse.Z = 0.0f;
Pool.PushMat22(1);
}
float Px = impulse.X * perp.X + impulse.Z * axis.X;
float Py = impulse.X * perp.Y + impulse.Z * axis.Y;
float LA = impulse.X * s1 + impulse.Y + impulse.Z * a1;
float LB = impulse.X * s2 + impulse.Y + impulse.Z * a2;
cA.X -= mA * Px;
cA.Y -= mA * Py;
aA -= iA * LA;
cB.X += mB * Px;
cB.Y += mB * Py;
aB += iB * LB;
data.Positions[IndexA].C.Set(cA);
data.Positions[IndexA].A = aA;
data.Positions[IndexB].C.Set(cB);
data.Positions[IndexB].A = aB;
Pool.PushVec2(7);
Pool.PushVec3(1);
Pool.PushRot(2);
return(linearError <= Settings.LINEAR_SLOP && angularError <= Settings.ANGULAR_SLOP);
}
public override void SolveVelocityConstraints(SolverData data)
{
Vec2 vA = data.Velocities[IndexA].V;
float wA = data.Velocities[IndexA].W;
Vec2 vB = data.Velocities[IndexB].V;
float wB = data.Velocities[IndexB].W;
float mA = InvMassA, mB = InvMassB;
float iA = InvIA, iB = InvIB;
bool fixedRotation = (iA + iB == 0.0f);
// Solve motor constraint.
if (m_motorEnabled && LimitState != LimitState.Equal && fixedRotation == false)
{
float Cdot = wB - wA - m_motorSpeed;
float impulse = (-MotorMass) * Cdot;
float oldImpulse = MotorImpulse;
float maxImpulse = data.Step.Dt * m_maxMotorTorque;
MotorImpulse = MathUtils.Clamp(MotorImpulse + impulse, -maxImpulse, maxImpulse);
impulse = MotorImpulse - oldImpulse;
wA -= iA * impulse;
wB += iB * impulse;
}
Vec2 temp = Pool.PopVec2();
// Solve limit constraint.
if (m_limitEnabled && LimitState != LimitState.Inactive && fixedRotation == false)
{
Vec2 Cdot1 = Pool.PopVec2();
Vec3 Cdot = Pool.PopVec3();
// Solve point-to-point constraint
Vec2.CrossToOutUnsafe(wA, RA, temp);
Vec2.CrossToOutUnsafe(wB, RB, Cdot1);
Cdot1.AddLocal(vB).SubLocal(vA).SubLocal(temp);
float Cdot2 = wB - wA;
Cdot.Set(Cdot1.X, Cdot1.Y, Cdot2);
Vec3 impulse = Pool.PopVec3();
Mass.Solve33ToOut(Cdot, impulse);
impulse.NegateLocal();
if (LimitState == LimitState.Equal)
{
Impulse.AddLocal(impulse);
}
else if (LimitState == LimitState.AtLower)
{
float newImpulse = Impulse.Z + impulse.Z;
if (newImpulse < 0.0f)
{
//UPGRADE_NOTE: Final was removed from the declaration of 'rhs '. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1003'"
Vec2 rhs = Pool.PopVec2();
rhs.Set(Mass.Ez.X, Mass.Ez.Y).MulLocal(Impulse.Z).SubLocal(Cdot1);
Mass.Solve22ToOut(rhs, temp);
impulse.X = temp.X;
impulse.Y = temp.Y;
impulse.Z = -Impulse.Z;
Impulse.X += temp.X;
Impulse.Y += temp.Y;
Impulse.Z = 0.0f;
Pool.PushVec2(1);
}
else
{
Impulse.AddLocal(impulse);
}
}
else if (LimitState == LimitState.AtUpper)
{
float newImpulse = Impulse.Z + impulse.Z;
if (newImpulse > 0.0f)
{
Vec2 rhs = Pool.PopVec2();
rhs.Set(Mass.Ez.X, Mass.Ez.Y).MulLocal(Impulse.Z).SubLocal(Cdot1);
Mass.Solve22ToOut(rhs, temp);
impulse.X = temp.X;
impulse.Y = temp.Y;
impulse.Z = -Impulse.Z;
Impulse.X += temp.X;
Impulse.Y += temp.Y;
Impulse.Z = 0.0f;
Pool.PushVec2(1);
}
else
{
Impulse.AddLocal(impulse);
}
}
Vec2 P = Pool.PopVec2();
P.Set(impulse.X, impulse.Y);
vA.X -= mA * P.X;
vA.Y -= mA * P.Y;
wA -= iA * (Vec2.Cross(RA, P) + impulse.Z);
vB.X += mB * P.X;
vB.Y += mB * P.Y;
wB += iB * (Vec2.Cross(RB, P) + impulse.Z);
Pool.PushVec2(2);
Pool.PushVec3(2);
}
else
{
// Solve point-to-point constraint
Vec2 Cdot = Pool.PopVec2();
Vec2 impulse = Pool.PopVec2();
Vec2.CrossToOutUnsafe(wA, RA, temp);
Vec2.CrossToOutUnsafe(wB, RB, Cdot);
Cdot.AddLocal(vB).SubLocal(vA).SubLocal(temp);
Mass.Solve22ToOut(Cdot.NegateLocal(), impulse); // just leave negated
Impulse.X += impulse.X;
Impulse.Y += impulse.Y;
vA.X -= mA * impulse.X;
vA.Y -= mA * impulse.Y;
wA -= iA * Vec2.Cross(RA, impulse);
vB.X += mB * impulse.X;
vB.Y += mB * impulse.Y;
wB += iB * Vec2.Cross(RB, impulse);
Pool.PushVec2(2);
}
data.Velocities[IndexA].V.Set(vA);
data.Velocities[IndexA].W = wA;
data.Velocities[IndexB].V.Set(vB);
data.Velocities[IndexB].W = wB;
Pool.PushVec2(1);
}
