public void Execute(ref ModifiableContactHeader manifold, ref ModifiableContactPoint contact)
        {
            Entity entityA = manifold.EntityA;
            Entity entityB = manifold.EntityB;

            ModifyContactJacobians.ModificationType typeA = ModifyContactJacobians.ModificationType.None;
            if (modificationData.HasComponent(entityA))
            {
                typeA = modificationData[entityA].type;
            }

            ModifyContactJacobians.ModificationType typeB = ModifyContactJacobians.ModificationType.None;
            if (modificationData.HasComponent(entityB))
            {
                typeB = modificationData[entityB].type;
            }

            if (typeA == ModifyContactJacobians.ModificationType.SurfaceVelocity || typeB == ModifyContactJacobians.ModificationType.SurfaceVelocity)
            {
                manifold.JacobianFlags |= JacobianFlags.EnableSurfaceVelocity;
            }
            if (typeA == ModifyContactJacobians.ModificationType.InfiniteInertia || typeB == ModifyContactJacobians.ModificationType.InfiniteInertia)
            {
                manifold.JacobianFlags |= JacobianFlags.EnableMassFactors;
            }
        }
示例#2
0
        public void Execute(ref ModifiableContactHeader manifold, ref ModifiableContactPoint contact)
        {
            Entity entityA = manifold.Entities.EntityA;
            Entity entityB = manifold.Entities.EntityB;

            ModifyContactJacobians.ModificationType typeA = ModifyContactJacobians.ModificationType.None;
            if (modificationData.Exists(entityA))
            {
                typeA = modificationData[entityA].type;
            }

            ModifyContactJacobians.ModificationType typeB = ModifyContactJacobians.ModificationType.None;
            if (modificationData.Exists(entityB))
            {
                typeB = modificationData[entityB].type;
            }

            if (typeA == ModifyContactJacobians.ModificationType.SurfaceVelocity || typeB == ModifyContactJacobians.ModificationType.SurfaceVelocity)
            {
                manifold.JacobianFlags |= JacobianFlags.EnableSurfaceVelocity;
            }
            if (typeA == ModifyContactJacobians.ModificationType.InfiniteInertia || typeB == ModifyContactJacobians.ModificationType.InfiniteInertia)
            {
                manifold.JacobianFlags |= JacobianFlags.EnableMassFactors;
            }

            /*
             * if (typeA == ModifyContactJacobians.ModificationType.ClippedImpulse || typeB == ModifyContactJacobians.ModificationType.ClippedImpulse)
             * {
             *  //manifold.JacobianFlags |= JacobianFlags.EnableMaxImpulse;
             *  manifold.JacobianFlags |= JacobianFlags.
             * }
             */
        }
        public void Execute(ref ModifiableJacobianHeader jacHeader, ref ModifiableContactJacobian contactJacobian)
        {
            Entity entityA = jacHeader.EntityA;
            Entity entityB = jacHeader.EntityB;

            ModifyContactJacobians.ModificationType typeA = ModifyContactJacobians.ModificationType.None;
            if (modificationData.HasComponent(entityA))
            {
                typeA = modificationData[entityA].type;
            }

            ModifyContactJacobians.ModificationType typeB = ModifyContactJacobians.ModificationType.None;
            if (modificationData.HasComponent(entityB))
            {
                typeB = modificationData[entityB].type;
            }

            {
                // Check for jacobians we want to ignore:
                if (typeA == ModifyContactJacobians.ModificationType.DisabledContact || typeB == ModifyContactJacobians.ModificationType.DisabledContact)
                {
                    jacHeader.Flags = jacHeader.Flags | JacobianFlags.Disabled;
                }

                // Check if NoTorque modifier, or friction should be disabled through jacobian
                if (typeA == ModifyContactJacobians.ModificationType.NoAngularEffects || typeB == ModifyContactJacobians.ModificationType.NoAngularEffects ||
                    typeA == ModifyContactJacobians.ModificationType.DisabledAngularFriction || typeB == ModifyContactJacobians.ModificationType.DisabledAngularFriction)
                {
                    // Disable all friction angular effects
                    var friction0 = contactJacobian.Friction0;
                    friction0.AngularA        = 0.0f;
                    friction0.AngularB        = 0.0f;
                    contactJacobian.Friction0 = friction0;

                    var friction1 = contactJacobian.Friction1;
                    friction1.AngularA        = 0.0f;
                    friction1.AngularB        = 0.0f;
                    contactJacobian.Friction1 = friction1;

                    var angularFriction = contactJacobian.AngularFriction;
                    angularFriction.AngularA        = 0.0f;
                    angularFriction.AngularB        = 0.0f;
                    contactJacobian.AngularFriction = angularFriction;
                }

                // Check if SurfaceVelocity present
                if (jacHeader.HasSurfaceVelocity &&
                    (typeA == ModifyContactJacobians.ModificationType.SurfaceVelocity || typeB == ModifyContactJacobians.ModificationType.SurfaceVelocity))
                {
                    // Since surface normal can change, make sure angular velocity is always relative to it, not independent
                    jacHeader.SurfaceVelocity = new SurfaceVelocity
                    {
                        LinearVelocity  = float3.zero,
                        AngularVelocity = contactJacobian.Normal * (new float3(0.0f, 1.0f, 0.0f))
                    };
                }

                // Check if MassFactors present
                if (jacHeader.HasMassFactors &&
                    (typeA == ModifyContactJacobians.ModificationType.InfiniteInertia || typeB == ModifyContactJacobians.ModificationType.InfiniteInertia))
                {
                    // Give both bodies infinite inertia
                    jacHeader.MassFactors = new MassFactors
                    {
                        InverseInertiaFactorA = float3.zero,
                        InverseMassFactorA    = 1.0f,
                        InverseInertiaFactorB = float3.zero,
                        InverseMassFactorB    = 1.0f
                    };
                }
            }

            // Angular jacobian modifications
            for (int i = 0; i < contactJacobian.NumContacts; i++)
            {
                ContactJacAngAndVelToReachCp jacobianAngular = jacHeader.GetAngularJacobian(i);

                // Check if NoTorque modifier
                if (typeA == ModifyContactJacobians.ModificationType.NoAngularEffects || typeB == ModifyContactJacobians.ModificationType.NoAngularEffects)
                {
                    // Disable all angular effects
                    jacobianAngular.Jac.AngularA = 0.0f;
                    jacobianAngular.Jac.AngularB = 0.0f;
                }

                // Check if SoftContact modifier
                if (typeA == ModifyContactJacobians.ModificationType.SoftContact || typeB == ModifyContactJacobians.ModificationType.SoftContact)
                {
                    jacobianAngular.Jac.EffectiveMass *= 0.1f;
                    if (jacobianAngular.VelToReachCp > 0.0f)
                    {
                        jacobianAngular.VelToReachCp *= 0.5f;
                    }
                }

                jacHeader.SetAngularJacobian(i, jacobianAngular);
            }
        }
示例#4
0
 private static bool IsModificationType(ModifyContactJacobians.ModificationType typeToCheck,
                                        ModifyContactJacobians.ModificationType typeOfA, ModifyContactJacobians.ModificationType typeOfB) => typeOfA == typeToCheck || typeOfB == typeToCheck;
示例#5
0
        public void Execute(ref ModifiableJacobianHeader jacHeader, ref ModifiableContactJacobian contactJacobian)
        {
            Entity entityA = jacHeader.Entities.EntityA;
            Entity entityB = jacHeader.Entities.EntityB;

            ModifyContactJacobians.ModificationType typeA = ModifyContactJacobians.ModificationType.None;
            if (modificationData.Exists(entityA))
            {
                typeA = modificationData[entityA].type;
            }

            ModifyContactJacobians.ModificationType typeB = ModifyContactJacobians.ModificationType.None;
            if (modificationData.Exists(entityB))
            {
                typeB = modificationData[entityB].type;
            }

            {
                // Check for jacobians we want to ignore:
                if (typeA == ModifyContactJacobians.ModificationType.DisabledContact || typeB == ModifyContactJacobians.ModificationType.DisabledContact)
                {
                    jacHeader.Flags = jacHeader.Flags | JacobianFlags.Disabled;
                }

                // Check if NoTorque modifier
                if (typeA == ModifyContactJacobians.ModificationType.NoAngularEffects || typeB == ModifyContactJacobians.ModificationType.NoAngularEffects)
                {
                    // Disable all friction angular effects
                    var friction0 = contactJacobian.Friction0;
                    friction0.AngularA        = 0.0f;
                    friction0.AngularB        = 0.0f;
                    contactJacobian.Friction0 = friction0;

                    var friction1 = contactJacobian.Friction1;
                    friction1.AngularA        = 0.0f;
                    friction1.AngularB        = 0.0f;
                    contactJacobian.Friction1 = friction1;

                    var angularFriction = contactJacobian.AngularFriction;
                    angularFriction.AngularA        = 0.0f;
                    angularFriction.AngularB        = 0.0f;
                    contactJacobian.AngularFriction = angularFriction;
                }

                // Check if SurfaceVelocity present
                if (jacHeader.HasSurfaceVelocity &&
                    (typeA == ModifyContactJacobians.ModificationType.SurfaceVelocity || typeB == ModifyContactJacobians.ModificationType.SurfaceVelocity))
                {
                    // Since surface normal can change, make sure angular velocity is always relative to it, not independent
                    float3 angVel = contactJacobian.Normal * (new float3(0.0f, 1.0f, 0.0f));
                    float3 linVel = float3.zero;

                    Math.CalculatePerpendicularNormalized(contactJacobian.Normal, out float3 dir0, out float3 dir1);
                    float linVel0 = math.dot(linVel, dir0);
                    float linVel1 = math.dot(linVel, dir1);

                    float angVelProj = math.dot(angVel, contactJacobian.Normal);

                    //jacHeader.SurfaceVelocity = new SurfaceVelocity { ExtraFrictionDv = new float3(linVel0, linVel1, angVelProj) };
                }

                /*
                 * // Check if MaxImpulse present
                 * if (jacHeader.HasMaxImpulse &&
                 *  (typeA == ModifyContactJacobians.ModificationType.ClippedImpulse || typeB == ModifyContactJacobians.ModificationType.ClippedImpulse))
                 * {
                 *  // Max impulse in Ns (Newton-second)
                 *  jacHeader.MaxImpulse = 20.0f;
                 * }
                 */

                // Check if MassFactors present
                if (jacHeader.HasMassFactors &&
                    (typeA == ModifyContactJacobians.ModificationType.InfiniteInertia || typeB == ModifyContactJacobians.ModificationType.InfiniteInertia))
                {
                    // Give both bodies infinite inertia
                    jacHeader.MassFactors = new MassFactors
                    {
                        InvInertiaAndMassFactorA = new float4(0.0f, 0.0f, 0.0f, 1.0f),
                        InvInertiaAndMassFactorB = new float4(0.0f, 0.0f, 0.0f, 1.0f)
                    };
                }
            }

            // Angular jacobian modifications
            for (int i = 0; i < contactJacobian.NumContacts; i++)
            {
                ContactJacAngAndVelToReachCp jacobianAngular = jacHeader.GetAngularJacobian(i);

                // Check if NoTorque modifier
                if (typeA == ModifyContactJacobians.ModificationType.NoAngularEffects || typeB == ModifyContactJacobians.ModificationType.NoAngularEffects)
                {
                    // Disable all angular effects
                    jacobianAngular.Jac.AngularA = 0.0f;
                    jacobianAngular.Jac.AngularB = 0.0f;
                }

                // Check if SoftContact modifier
                if (typeA == ModifyContactJacobians.ModificationType.SoftContact || typeB == ModifyContactJacobians.ModificationType.SoftContact)
                {
                    jacobianAngular.Jac.EffectiveMass *= 0.1f;
                    if (jacobianAngular.VelToReachCp > 0.0f)
                    {
                        jacobianAngular.VelToReachCp *= 0.5f;
                    }
                }

                jacHeader.SetAngularJacobian(i, jacobianAngular);
            }
        }