// solve unilateral constraint (equality, direct method)
public void ResolveUnilateralPairConstraint(
RigidBody body1, RigidBody body2,
Matrix world2A,
Matrix world2B,
Vector3 invInertiaADiag,
float invMassA,
Vector3 linvelA, Vector3 angvelA,
Vector3 rel_posA1,
Vector3 invInertiaBDiag,
float invMassB,
Vector3 linvelB, Vector3 angvelB,
Vector3 rel_posA2,
float depthA, Vector3 normalA,
Vector3 rel_posB1, Vector3 rel_posB2,
float depthB, Vector3 normalB,
out float imp0, out float imp1)
{
imp0 = 0;
imp1 = 0;
float len = Math.Abs(normalA.Length()) - 1f;
if (Math.Abs(len) >= float.Epsilon)
{
return;
}
BulletDebug.Assert(len < float.Epsilon);
//this jacobian entry could be re-used for all iterations
JacobianEntry jacA = new JacobianEntry(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
invInertiaBDiag, invMassB);
JacobianEntry jacB = new JacobianEntry(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
invInertiaBDiag, invMassB);
float vel0 = Vector3.Dot(normalA, body1.GetVelocityInLocalPoint(rel_posA1) - body2.GetVelocityInLocalPoint(rel_posA1));
float vel1 = Vector3.Dot(normalB, body1.GetVelocityInLocalPoint(rel_posB1) - body2.GetVelocityInLocalPoint(rel_posB1));
// btScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
float massTerm = 1f / (invMassA + invMassB);
// calculate rhs (or error) terms
float dv0 = depthA * _tau * massTerm - vel0 * _damping;
float dv1 = depthB * _tau * massTerm - vel1 * _damping;
float nonDiag = jacA.GetNonDiagonal(jacB, invMassA, invMassB);
float invDet = 1.0f / (jacA.Diagonal * jacB.Diagonal - nonDiag * nonDiag);
imp0 = dv0 * jacA.Diagonal * invDet + dv1 * -nonDiag * invDet;
imp1 = dv1 * jacB.Diagonal * invDet + dv0 * -nonDiag * invDet;
}
// solve unilateral constraint (equality, direct method)
public void ResolveUnilateralPairConstraint(
RigidBody body1, RigidBody body2,
Matrix world2A,
Matrix world2B,
Vector3 invInertiaADiag,
float invMassA,
Vector3 linvelA, Vector3 angvelA,
Vector3 rel_posA1,
Vector3 invInertiaBDiag,
float invMassB,
Vector3 linvelB, Vector3 angvelB,
Vector3 rel_posA2,
float depthA, Vector3 normalA,
Vector3 rel_posB1, Vector3 rel_posB2,
float depthB, Vector3 normalB,
out float imp0, out float imp1)
{
imp0 = 0;
imp1 = 0;
float len = Math.Abs(normalA.Length()) - 1f;
if (Math.Abs(len) >= float.Epsilon)
return;
BulletDebug.Assert(len < float.Epsilon);
//this jacobian entry could be re-used for all iterations
JacobianEntry jacA = new JacobianEntry(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
invInertiaBDiag, invMassB);
JacobianEntry jacB = new JacobianEntry(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
invInertiaBDiag, invMassB);
float vel0 = Vector3.Dot(normalA, body1.GetVelocityInLocalPoint(rel_posA1) - body2.GetVelocityInLocalPoint(rel_posA1));
float vel1 = Vector3.Dot(normalB, body1.GetVelocityInLocalPoint(rel_posB1) - body2.GetVelocityInLocalPoint(rel_posB1));
// btScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
float massTerm = 1f / (invMassA + invMassB);
// calculate rhs (or error) terms
float dv0 = depthA * _tau * massTerm - vel0 * _damping;
float dv1 = depthB * _tau * massTerm - vel1 * _damping;
float nonDiag = jacA.GetNonDiagonal(jacB, invMassA, invMassB);
float invDet = 1.0f / (jacA.Diagonal * jacB.Diagonal - nonDiag * nonDiag);
imp0 = dv0 * jacA.Diagonal * invDet + dv1 * -nonDiag * invDet;
imp1 = dv1 * jacB.Diagonal * invDet + dv0 * -nonDiag * invDet;
}
// solving 2x2 lcp problem (inequality, direct solution )
public void ResolveBilateralPairConstraint(
RigidBody body1, RigidBody body2,
Matrix world2A, Matrix world2B,
Vector3 invInertiaADiag,
float invMassA,
Vector3 linvelA, Vector3 angvelA,
Vector3 rel_posA1,
Vector3 invInertiaBDiag,
float invMassB,
Vector3 linvelB, Vector3 angvelB,
Vector3 rel_posA2,
float depthA, Vector3 normalA,
Vector3 rel_posB1, Vector3 rel_posB2,
float depthB, Vector3 normalB,
out float imp0, out float imp1)
{
imp0 = 0f;
imp1 = 0f;
float len = Math.Abs(normalA.Length()) - 1f;
if (Math.Abs(len) >= float.Epsilon)
return;
BulletDebug.Assert(len < float.Epsilon);
JacobianEntry jacA = new JacobianEntry(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
invInertiaBDiag, invMassB);
JacobianEntry jacB = new JacobianEntry(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
invInertiaBDiag, invMassB);
float vel0 = Vector3.Dot(normalA, body1.GetVelocityInLocalPoint(rel_posA1) - body2.GetVelocityInLocalPoint(rel_posA1));
float vel1 = Vector3.Dot(normalB, body1.GetVelocityInLocalPoint(rel_posB1) - body2.GetVelocityInLocalPoint(rel_posB1));
// calculate rhs (or error) terms
float dv0 = depthA * _tau - vel0 * _damping;
float dv1 = depthB * _tau - vel1 * _damping;
float nonDiag = jacA.GetNonDiagonal(jacB, invMassA, invMassB);
float invDet = 1.0f / (jacA.Diagonal * jacB.Diagonal - nonDiag * nonDiag);
imp0 = dv0 * jacA.Diagonal * invDet + dv1 * -nonDiag * invDet;
imp1 = dv1 * jacB.Diagonal * invDet + dv0 * -nonDiag * invDet;
if (imp0 > 0.0f)
{
if (imp1 <= 0.0f)
{
imp1 = 0f;
// now imp0>0 imp1<0
imp0 = dv0 / jacA.Diagonal;
if (imp0 < 0.0f)
imp0 = 0f;
}
}
else
{
imp0 = 0f;
imp1 = dv1 / jacB.Diagonal;
if (imp1 <= 0.0f)
{
imp1 = 0f;
// now imp0>0 imp1<0
imp0 = dv0 / jacA.Diagonal;
if (imp0 > 0.0f)
{
}
else
{
imp0 = 0f;
}
}
}
}
// solving 2x2 lcp problem (inequality, direct solution )
public void ResolveBilateralPairConstraint(
RigidBody body1, RigidBody body2,
Matrix world2A, Matrix world2B,
Vector3 invInertiaADiag,
float invMassA,
Vector3 linvelA, Vector3 angvelA,
Vector3 rel_posA1,
Vector3 invInertiaBDiag,
float invMassB,
Vector3 linvelB, Vector3 angvelB,
Vector3 rel_posA2,
float depthA, Vector3 normalA,
Vector3 rel_posB1, Vector3 rel_posB2,
float depthB, Vector3 normalB,
out float imp0, out float imp1)
{
imp0 = 0f;
imp1 = 0f;
float len = Math.Abs(normalA.Length()) - 1f;
if (Math.Abs(len) >= float.Epsilon)
{
return;
}
BulletDebug.Assert(len < float.Epsilon);
JacobianEntry jacA = new JacobianEntry(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
invInertiaBDiag, invMassB);
JacobianEntry jacB = new JacobianEntry(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
invInertiaBDiag, invMassB);
float vel0 = Vector3.Dot(normalA, body1.GetVelocityInLocalPoint(rel_posA1) - body2.GetVelocityInLocalPoint(rel_posA1));
float vel1 = Vector3.Dot(normalB, body1.GetVelocityInLocalPoint(rel_posB1) - body2.GetVelocityInLocalPoint(rel_posB1));
// calculate rhs (or error) terms
float dv0 = depthA * _tau - vel0 * _damping;
float dv1 = depthB * _tau - vel1 * _damping;
float nonDiag = jacA.GetNonDiagonal(jacB, invMassA, invMassB);
float invDet = 1.0f / (jacA.Diagonal * jacB.Diagonal - nonDiag * nonDiag);
imp0 = dv0 * jacA.Diagonal * invDet + dv1 * -nonDiag * invDet;
imp1 = dv1 * jacB.Diagonal * invDet + dv0 * -nonDiag * invDet;
if (imp0 > 0.0f)
{
if (imp1 <= 0.0f)
{
imp1 = 0f;
// now imp0>0 imp1<0
imp0 = dv0 / jacA.Diagonal;
if (imp0 < 0.0f)
{
imp0 = 0f;
}
}
}
else
{
imp0 = 0f;
imp1 = dv1 / jacB.Diagonal;
if (imp1 <= 0.0f)
{
imp1 = 0f;
// now imp0>0 imp1<0
imp0 = dv0 / jacA.Diagonal;
if (imp0 > 0.0f)
{
}
else
{
imp0 = 0f;
}
}
}
}
