public void SetupFrictionConstraint(ref SolverConstraint solverConstraint, ref Vector3 normalAxis, RigidBody solverBodyA, RigidBody solverBodyB,
ManifoldPoint cp, ref Vector3 rel_pos1, ref Vector3 rel_pos2,
CollisionObject colObj0, CollisionObject colObj1, float relaxation,
float desiredVelocity, float cfmSlip)
{
RigidBody body0 = RigidBody.Upcast(colObj0);
RigidBody body1 = RigidBody.Upcast(colObj1);
solverConstraint.m_contactNormal = normalAxis;
solverConstraint.m_solverBodyA = body0 != null ? body0 : GetFixedBody();
solverConstraint.m_solverBodyB = body1 != null ? body1 : GetFixedBody();
solverConstraint.m_friction = cp.GetCombinedFriction();
//solverConstraint.m_originalContactPoint = 0;
solverConstraint.m_appliedImpulse = 0f;
solverConstraint.m_appliedPushImpulse = 0f;
{
Vector3 ftorqueAxis1 = Vector3.Cross(rel_pos1, solverConstraint.m_contactNormal);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 != null ? Vector3.TransformNormal(ftorqueAxis1, body0.GetInvInertiaTensorWorld()) * body0.GetAngularFactor() : Vector3.Zero;
}
{
Vector3 ftorqueAxis1 = Vector3.Cross(rel_pos2, -solverConstraint.m_contactNormal);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 != null ? Vector3.TransformNormal(ftorqueAxis1, body1.GetInvInertiaTensorWorld()) * body1.GetAngularFactor() : Vector3.Zero;
}
#if COMPUTE_IMPULSE_DENOM
float denom0 = rb0.computeImpulseDenominator(pos1,solverConstraint.m_contactNormal);
float denom1 = rb1.computeImpulseDenominator(pos2,solverConstraint.m_contactNormal);
#else
Vector3 vec;
float denom0 = 0f;
float denom1 = 0f;
if (body0 != null)
{
vec = Vector3.Cross(solverConstraint.m_angularComponentA, rel_pos1);
denom0 = body0.GetInvMass() + Vector3.Dot(normalAxis, vec);
}
if (body1 != null)
{
vec = Vector3.Cross(-solverConstraint.m_angularComponentB, rel_pos2);
denom1 = body1.GetInvMass() + Vector3.Dot(normalAxis, vec);
}
#endif //COMPUTE_IMPULSE_DENOM
float denom = relaxation / (denom0 + denom1);
solverConstraint.m_jacDiagABInv = denom;
MathUtil.SanityCheckFloat(solverConstraint.m_jacDiagABInv);
#if _USE_JACOBIAN
solverConstraint.m_jac = new JacobianEntry (
ref rel_pos1,ref rel_pos2,ref solverConstraint.m_contactNormal,
body0.getInvInertiaDiagLocal(),
body0.getInvMass(),
body1.getInvInertiaDiagLocal(),
body1.getInvMass());
#endif //_USE_JACOBIAN
{
float rel_vel;
float vel1Dotn = Vector3.Dot(solverConstraint.m_contactNormal, body0 != null ? body0.GetLinearVelocity() : Vector3.Zero)
+ Vector3.Dot(solverConstraint.m_relpos1CrossNormal, body0 != null ? body0.GetAngularVelocity() : Vector3.Zero);
float vel2Dotn = -Vector3.Dot(solverConstraint.m_contactNormal, body1 != null ? body1.GetLinearVelocity() : Vector3.Zero)
+ Vector3.Dot(solverConstraint.m_relpos2CrossNormal, body1 != null ? body1.GetAngularVelocity() : Vector3.Zero);
rel_vel = vel1Dotn + vel2Dotn;
//float positionalError = 0f;
float velocityError = desiredVelocity - rel_vel;
float damper = 1f;
float velocityImpulse = (velocityError * solverConstraint.m_jacDiagABInv) * damper;
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_cfm = cfmSlip;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}
}
protected void SetupContactConstraint(ref SolverConstraint solverConstraint, CollisionObject colObj0, CollisionObject colObj1, ManifoldPoint cp,
ContactSolverInfo infoGlobal, ref Vector3 vel, ref float rel_vel, ref float relaxation,
ref Vector3 rel_pos1, ref Vector3 rel_pos2)
{
RigidBody rb0 = RigidBody.Upcast(colObj0);
RigidBody rb1 = RigidBody.Upcast(colObj1);
Vector3 pos1 = cp.GetPositionWorldOnA();
Vector3 pos2 = cp.GetPositionWorldOnB();
rel_pos1 = pos1 - colObj0.GetWorldTransform().Translation;
rel_pos2 = pos2 - colObj1.GetWorldTransform().Translation;
relaxation = 1f;
Vector3 torqueAxis0 = Vector3.Cross(rel_pos1, cp.m_normalWorldOnB);
solverConstraint.m_angularComponentA = rb0 != null ? Vector3.TransformNormal(torqueAxis0, rb0.GetInvInertiaTensorWorld()) * rb0.GetAngularFactor() : Vector3.Zero;
Vector3 torqueAxis1 = Vector3.Cross(rel_pos2, cp.GetNormalWorldOnB());
solverConstraint.m_angularComponentB = rb1 != null ? Vector3.TransformNormal(-torqueAxis1, rb1.GetInvInertiaTensorWorld()) * rb1.GetAngularFactor() : Vector3.Zero;
{
#if COMPUTE_IMPULSE_DENOM
float denom0 = rb0.computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
float denom1 = rb1.computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
#else
Vector3 vec;
float denom0 = 0f;
float denom1 = 0f;
if (rb0 != null)
{
vec = Vector3.Cross((solverConstraint.m_angularComponentA), rel_pos1);
denom0 = rb0.GetInvMass() + Vector3.Dot(cp.GetNormalWorldOnB(), vec);
}
if (rb1 != null)
{
vec = Vector3.Cross((-solverConstraint.m_angularComponentB), rel_pos2);
denom1 = rb1.GetInvMass() + Vector3.Dot(cp.GetNormalWorldOnB(), vec);
}
#endif //COMPUTE_IMPULSE_DENOM
float denom = relaxation / (denom0 + denom1);
MathUtil.SanityCheckFloat(denom);
solverConstraint.m_jacDiagABInv = denom;
}
solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
solverConstraint.m_relpos1CrossNormal = Vector3.Cross(rel_pos1, cp.m_normalWorldOnB);
solverConstraint.m_relpos2CrossNormal = Vector3.Cross(rel_pos2, -cp.m_normalWorldOnB);
Vector3 vel1 = rb0 != null ? rb0.GetVelocityInLocalPoint(ref rel_pos1) : Vector3.Zero;
Vector3 vel2 = rb1 != null ? rb1.GetVelocityInLocalPoint(ref rel_pos2) : Vector3.Zero;
vel = vel1 - vel2;
rel_vel = Vector3.Dot(cp.GetNormalWorldOnB(), vel);
float penetration = cp.GetDistance() + infoGlobal.m_linearSlop;
solverConstraint.m_friction = cp.GetCombinedFriction();
float restitution = 0f;
if (cp.GetLifeTime() > infoGlobal.m_restingContactRestitutionThreshold)
{
restitution = 0f;
}
else
{
restitution = RestitutionCurve(rel_vel, cp.GetCombinedResitution());
if (restitution <= 0f)
{
restitution = 0f;
}
}
///warm starting (or zero if disabled)
if (TestSolverMode(infoGlobal.m_solverMode, SolverMode.SOLVER_USE_WARMSTARTING))
{
solverConstraint.m_appliedImpulse = cp.GetAppliedImpulse() * infoGlobal.m_warmstartingFactor;
if (rb0 != null)
{
Vector3 contactNormalTemp = solverConstraint.m_contactNormal;
Vector3.Multiply(ref contactNormalTemp, rb0.GetInvMass(), out contactNormalTemp);
rb0.InternalApplyImpulse(ref contactNormalTemp, ref solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
}
if (rb1 != null)
{
Vector3 contactNormalTemp = solverConstraint.m_contactNormal;
Vector3.Multiply(ref contactNormalTemp, rb1.GetInvMass(), out contactNormalTemp);
Vector3 negAngular = -solverConstraint.m_angularComponentB;
rb1.InternalApplyImpulse(ref contactNormalTemp, ref negAngular, -solverConstraint.m_appliedImpulse);
}
}
else
{
solverConstraint.m_appliedImpulse = 0f;
}
solverConstraint.m_appliedPushImpulse = 0f;
{
float rel_vel2 = 0f;
float vel1Dotn = Vector3.Dot(solverConstraint.m_contactNormal, (rb0 != null ? rb0.GetLinearVelocity() : Vector3.Zero))
+ Vector3.Dot(solverConstraint.m_relpos1CrossNormal, (rb0 != null ? rb0.GetAngularVelocity() : Vector3.Zero));
float vel2Dotn = -Vector3.Dot(solverConstraint.m_contactNormal, (rb1 != null ? rb1.GetLinearVelocity() : Vector3.Zero))
+ Vector3.Dot(solverConstraint.m_relpos2CrossNormal, (rb1 != null ? rb1.GetAngularVelocity() : Vector3.Zero));
rel_vel2 = vel1Dotn + vel2Dotn;
float positionalError = 0f;
positionalError = -penetration * infoGlobal.m_erp / infoGlobal.m_timeStep;
float velocityError = restitution - rel_vel2;// * damping;
float penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
float velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
solverConstraint.m_rhsPenetration = 0f;
}
else
{
//split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse;
}
solverConstraint.m_cfm = 0f;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}
}