void CustomPulley::SubmitConstraints (dFloat timestep, int threadIndex)
{
dMatrix matrix0;
dMatrix matrix1;
dVector veloc0;
dVector veloc1;
dFloat jacobian0[6];
dFloat jacobian1[6];
// calculate the position of the pivot point and the Jacobian direction vectors, in global space.
CalculateGlobalMatrix (matrix0, matrix1);
// calculate the angular velocity for both bodies
NewtonBodyGetVelocity(m_body0, &veloc0[0]);
NewtonBodyGetVelocity(m_body1, &veloc1[0]);
// get angular velocity relative to the pin vector
dFloat w0 = veloc0 % matrix0.m_front;
dFloat w1 = veloc1 % matrix1.m_front;
// establish the gear equation.
dFloat relVeloc = w0 + m_gearRatio * w1;
if (m_gearRatio > dFloat(1.0f)) {
relVeloc = w0 / m_gearRatio + w1;
}
// calculate the relative angular acceleration by dividing by the time step
// ideally relative acceleration should be zero, but is practice there will always
// be a small difference in velocity that need to be compensated.
// using the full acceleration will make the to over show a oscillate
// so use only fraction of the acceleration
dFloat invTimestep = (timestep > 0.0f) ? 1.0f / timestep: 1.0f;
dFloat relAccel = - 0.3f * relVeloc * invTimestep;
// set the linear part of Jacobian 0 to translational pin vector
jacobian0[0] = matrix0.m_front[0];
jacobian0[1] = matrix0.m_front[1];
jacobian0[2] = matrix0.m_front[2];
// set the rotational part of Jacobian 0 to zero
jacobian0[3] = 0.0f;
jacobian0[4] = 0.0f;
jacobian0[5] = 0.0f;
// set the linear part of Jacobian 1 to translational pin vector
jacobian1[0] = matrix1.m_front[0];
jacobian1[1] = matrix1.m_front[1];
jacobian1[2] = matrix1.m_front[2];
// set the rotational part of Jacobian 1 to zero
jacobian1[3] = 0.0f;
jacobian1[4] = 0.0f;
jacobian1[5] = 0.0f;
// add a angular constraint
NewtonUserJointAddGeneralRow (m_joint, jacobian0, jacobian1);
// set the desired angular acceleration between the two bodies
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
}
void MSP::PointToPoint::submit_constraints(const NewtonJoint* joint, dFloat timestep, int thread_index) {
MSP::Joint::JointData* joint_data = reinterpret_cast<MSP::Joint::JointData*>(NewtonJointGetUserData(joint));
PointToPointData* cj_data = reinterpret_cast<PointToPointData*>(joint_data->m_cj_data);
dFloat inv_timestep = 1.0f / timestep;
dMatrix matrix0, matrix1;
MSP::Joint::c_calculate_global_matrix(joint_data, matrix0, matrix1);
dVector p0(matrix0.m_posit + matrix0.m_right.Scale(cj_data->m_start_distance));
const dVector& p1 = matrix1.m_posit;
dVector veloc0(0.0f);
dVector veloc1(0.0f);
NewtonBodyGetVelocity(joint_data->m_child, &veloc0[0]);
if (joint_data->m_parent != nullptr)
NewtonBodyGetVelocity(joint_data->m_parent, &veloc1[0]);
dVector rel_veloc(veloc0 - veloc1);
dFloat stiffness = 0.999f - (1.0f - joint_data->m_stiffness_ratio * cj_data->m_strength) * Joint::DEFAULT_STIFFNESS_RANGE;
if (cj_data->m_mode == 0) {
dVector dir(p0 - p1);
cj_data->m_cur_distance = Util::get_vector_magnitude(dir);
if (cj_data->m_cur_distance > M_EPSILON)
Util::scale_vector(dir, 1.0f / cj_data->m_cur_distance);
else {
dir.m_x = 0.0f;
dir.m_y = 0.0f;
dir.m_z = 1.0f;
}
dFloat offset = cj_data->m_cur_distance - cj_data->m_start_distance * cj_data->m_controller;
dFloat dir_veloc = rel_veloc.DotProduct3(dir);
dFloat des_accel = cj_data->m_accel * -offset - dir_veloc * inv_timestep * cj_data->m_damp;
NewtonUserJointAddLinearRow(joint, &p0[0], &p1[0], &dir[0]);
NewtonUserJointSetRowAcceleration(joint, des_accel);
NewtonUserJointSetRowStiffness(joint, stiffness);
}
else {
dVector offset(matrix1.UntransformVector(p0));
cj_data->m_cur_distance = Util::get_vector_magnitude(offset);
offset.m_z -= cj_data->m_start_distance * cj_data->m_controller;
dVector loc_vel(matrix1.UnrotateVector(rel_veloc));
dVector des_accel(offset.Scale(-cj_data->m_accel) - loc_vel.Scale(inv_timestep * cj_data->m_damp));
NewtonUserJointAddLinearRow(joint, &p0[0], &p1[0], &matrix1.m_front[0]);
NewtonUserJointSetRowAcceleration(joint, des_accel.m_x);
NewtonUserJointSetRowStiffness(joint, stiffness);
NewtonUserJointAddLinearRow(joint, &p0[0], &p1[0], &matrix1.m_up[0]);
NewtonUserJointSetRowAcceleration(joint, des_accel.m_y);
NewtonUserJointSetRowStiffness(joint, stiffness);
NewtonUserJointAddLinearRow(joint, &p0[0], &p1[0], &matrix1.m_right[0]);
NewtonUserJointSetRowAcceleration(joint, des_accel.m_z);
NewtonUserJointSetRowStiffness(joint, stiffness);
}
}
void CalculatePickForceAndTorque (const NewtonBody* const body, const dVector& pointOnBodyInGlobalSpace, const dVector& targetPositionInGlobalSpace, dFloat timestep)
{
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
const dFloat stiffness = 0.33f;
const dFloat damping = -0.05f;
NewtonBodyGetMass(body, &mass, &Ixx, &Iyy, &Izz);
// calculate the desired impulse
dVector posit(targetPositionInGlobalSpace - pointOnBodyInGlobalSpace);
dVector impulse(posit.Scale(stiffness * mass));
// apply linear impulse
NewtonBodyApplyImpulseArray(body, 1, sizeof (dVector), &impulse[0], &pointOnBodyInGlobalSpace[0], timestep);
// apply linear and angular damping
dMatrix inertia;
dVector linearMomentum(0.0f);
dVector angularMomentum(0.0f);
NewtonBodyGetOmega(body, &angularMomentum[0]);
NewtonBodyGetVelocity(body, &linearMomentum[0]);
NewtonBodyGetInertiaMatrix(body, &inertia[0][0]);
angularMomentum = inertia.RotateVector(angularMomentum);
angularMomentum = angularMomentum.Scale(damping);
linearMomentum = linearMomentum.Scale(mass * damping);
NewtonBodyApplyImpulsePair(body, &linearMomentum[0], &angularMomentum[0], timestep);
}
void RigidBodyData::Save(ISave* const isave)
{
ULONG nwrit;
int revision = D_FILE_REVISION;
dVector mass;
dVector com;
dVector veloc;
dVector omega;
dMatrix matrix;
RigidBodyWorldDesc& me = *(RigidBodyWorldDesc*) RigidBodyWorldDesc::GetDescriptor();
NewtonBodyGetMatrix(m_body, &matrix[0][0]);
NewtonBodyGetVelocity(m_body, &veloc[0]);
NewtonBodyGetOmega(m_body, &omega[0]);
NewtonCollision* const collision = NewtonBodyGetCollision(m_body);
isave->Write((const char*)&revision, sizeof (revision), &nwrit);
isave->Write((const char*)&m_oldControlerID, sizeof (m_oldControlerID), &nwrit);
isave->Write((const char*)&m_collisionShape, sizeof (m_collisionShape), &nwrit);
isave->Write((const char*)&m_hideGizmos, sizeof (m_hideGizmos), &nwrit);
isave->Write((const char*)&m_mass, sizeof (m_mass), &nwrit);
isave->Write((const char*)&m_inertia, sizeof (m_inertia), &nwrit);
isave->Write((const char*)&m_origin, sizeof (m_origin), &nwrit);
isave->Write((const char*)&matrix, sizeof (matrix), &nwrit);
isave->Write((const char*)&veloc, sizeof (veloc), &nwrit);
isave->Write((const char*)&omega, sizeof (omega), &nwrit);
NewtonCollisionSerialize (me.m_newton, collision, SaveCollision, isave);
}
NzVector3f NzPhysObject::GetVelocity() const
{
NzVector3f velocity;
NewtonBodyGetVelocity(m_body, velocity);
return velocity;
}
void dCustomPulley::SubmitConstraints (dFloat timestep, int threadIndex)
{
dMatrix matrix0;
dMatrix matrix1;
dVector veloc0(0.0f);
dVector veloc1(0.0f);
dFloat jacobian0[6];
dFloat jacobian1[6];
// calculate the position of the pivot point and the Jacobian direction vectors, in global space.
CalculateGlobalMatrix (matrix0, matrix1);
// set the linear part of Jacobian 0 to translational pin vector
dVector dir0 (matrix0.m_front.Scale (1.0f/m_gearRatio));
const dVector& dir1 = matrix1.m_front;
jacobian0[0] = dir0.m_x;
jacobian0[1] = dir0.m_y;
jacobian0[2] = dir0.m_z;
jacobian0[3] = 0.0f;
jacobian0[4] = 0.0f;
jacobian0[5] = 0.0f;
jacobian1[0] = dir1.m_x;
jacobian1[1] = dir1.m_y;
jacobian1[2] = dir1.m_z;
jacobian1[3] = 0.0f;
jacobian1[4] = 0.0f;
jacobian1[5] = 0.0f;
// calculate the angular velocity for both bodies
NewtonBodyGetVelocity(m_body0, &veloc0[0]);
NewtonBodyGetVelocity(m_body1, &veloc1[0]);
// get angular velocity relative to the pin vector
dFloat w0 = veloc0.DotProduct3(dir0);
dFloat w1 = veloc1.DotProduct3(dir1);
dFloat relVeloc = w0 + w1;
dFloat invTimestep = (timestep > 0.0f) ? 1.0f / timestep : 1.0f;
dFloat relAccel = -0.5f * relVeloc * invTimestep;
// add a angular constraint
NewtonUserJointAddGeneralRow (m_joint, jacobian0, jacobian1);
// set the desired angular acceleration between the two bodies
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
}
dVector CustomPlayerController::CalculateDesiredVelocity (dFloat forwardSpeed, dFloat lateralSpeed, dFloat verticalSpeed, const dVector& gravity, dFloat timestep) const
{
dMatrix matrix;
NewtonBodyGetMatrix(m_body, &matrix[0][0]);
dVector updir (matrix.RotateVector(m_upVector));
dVector frontDir (matrix.RotateVector(m_frontVector));
dVector rightDir (frontDir * updir);
dVector veloc (0.0f, 0.0f, 0.0f, 0.0f);
if ((verticalSpeed <= 0.0f) && (m_groundPlane % m_groundPlane) > 0.0f) {
// plane is supported by a ground plane, apply the player input velocity
if ((m_groundPlane % updir) >= m_maxSlope) {
// player is in a legal slope, he is in full control of his movement
dVector bodyVeloc;
NewtonBodyGetVelocity(m_body, &bodyVeloc[0]);
veloc = updir.Scale(bodyVeloc % updir) + gravity.Scale (timestep) + frontDir.Scale (forwardSpeed) + rightDir.Scale (lateralSpeed) + updir.Scale(verticalSpeed);
veloc += (m_groundVelocity - updir.Scale (updir % m_groundVelocity));
dFloat speedLimitMag2 = forwardSpeed * forwardSpeed + lateralSpeed * lateralSpeed + verticalSpeed * verticalSpeed + m_groundVelocity % m_groundVelocity + 0.1f;
dFloat speedMag2 = veloc % veloc;
if (speedMag2 > speedLimitMag2) {
veloc = veloc.Scale (dSqrt (speedLimitMag2 / speedMag2));
}
dFloat normalVeloc = m_groundPlane % (veloc - m_groundVelocity);
if (normalVeloc < 0.0f) {
veloc -= m_groundPlane.Scale (normalVeloc);
}
} else {
// player is in an illegal ramp, he slides down hill an loses control of his movement
NewtonBodyGetVelocity(m_body, &veloc[0]);
veloc += updir.Scale(verticalSpeed);
veloc += gravity.Scale (timestep);
dFloat normalVeloc = m_groundPlane % (veloc - m_groundVelocity);
if (normalVeloc < 0.0f) {
veloc -= m_groundPlane.Scale (normalVeloc);
}
}
} else {
// player is on free fall, only apply the gravity
NewtonBodyGetVelocity(m_body, &veloc[0]);
veloc += updir.Scale(verticalSpeed);
veloc += gravity.Scale (timestep);
}
return veloc;
}
dFloat CustomMultiBodyVehicle::GetSpeed() const
{
dVector veloc;
dMatrix chassisMatrix;
NewtonBodyGetMatrix (m_body0, &chassisMatrix[0][0]);
NewtonBodyGetVelocity(m_body0, &veloc[0]);
return veloc % chassisMatrix.m_front;
}
dVector BodyGetPointVelocity(const NewtonBody* const body, const dVector &point)
{
dVector v, w, c;
NewtonBodyGetVelocity(body, &v[0]);
NewtonBodyGetOmega(body, &w[0]);
dMatrix matrix;
NewtonBodyGetMatrix(body, &matrix[0][0]);
c = matrix.m_posit; // TODO: Does not handle COM offset !!!
return v + w * (point - c);
}
static void PhysicsApplyPickForce (const NewtonBody* body, dFloat timestep, int threadIndex)
{
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dVector com;
dVector veloc;
dVector omega;
dMatrix matrix;
// apply the thew body forces
if (chainForceCallback) {
chainForceCallback (body, timestep, threadIndex);
}
// add the mouse pick penalty force and torque
NewtonBodyGetVelocity(body, &veloc[0]);
NewtonBodyGetOmega(body, &omega[0]);
NewtonBodyGetVelocity(body, &veloc[0]);
NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);
dVector force (pickedForce.Scale (mass * MOUSE_PICK_STIFFNESS));
dVector dampForce (veloc.Scale (MOUSE_PICK_DAMP * mass));
force -= dampForce;
NewtonBodyGetMatrix(body, &matrix[0][0]);
NewtonBodyGetCentreOfMass (body, &com[0]);
// calculate local point relative to center of mass
dVector point (matrix.RotateVector (attachmentPoint - com));
dVector torque (point * force);
dVector torqueDamp (omega.Scale (mass * 0.1f));
NewtonBodyAddForce (body, &force.m_x);
NewtonBodyAddTorque (body, &torque.m_x);
// make sure the body is unfrozen, if it is picked
NewtonBodySetFreezeState (body, 0);
}
void SubmitConstraints (dFloat timestep, int threadIndex)
{
// calculate suspension bumpers and forces
dMatrix threadMatrix;
dMatrix parentMatrix;
dVector threadCOM;
dVector parentCOM;
dVector threadVeloc;
dVector parentVeloc;
dVector threadOmega;
dVector parentOmega;
// get the physics body state;
NewtonBodyGetOmega(m_body0, &threadOmega[0]);
NewtonBodyGetOmega(m_body1, &parentOmega[0]);
NewtonBodyGetVelocity(m_body0, &threadVeloc[0]);
NewtonBodyGetVelocity(m_body1, &parentVeloc[0]);
NewtonBodyGetCentreOfMass(m_body0, &threadCOM[0]);
NewtonBodyGetCentreOfMass(m_body1, &parentCOM[0]);
NewtonBodyGetMatrix(m_body0, &threadMatrix[0][0]);
NewtonBodyGetMatrix(m_body1, &parentMatrix[0][0]);
threadCOM = threadMatrix.TransformVector(threadCOM);
parentCOM = parentMatrix.TransformVector(parentCOM);
ApplySuspesionForce (timestep,
m_body0, m_rearHarpointOnThread, threadMatrix, threadCOM, threadVeloc, threadOmega,
m_body1, m_rearHarpointOnParent, parentMatrix, parentCOM, parentVeloc, parentOmega);
ApplySuspesionForce (timestep,
m_body0, m_frontHarpointOnThread, threadMatrix, threadCOM, threadVeloc, threadOmega,
m_body1, m_frontHarpointOnParent, parentMatrix, parentCOM, parentVeloc, parentOmega);
CustomSlidingContact::SubmitConstraints (timestep, threadIndex);
}
//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
// set the transformation of a rigid body
void
PhysicsActor::TransformCallback(const NewtonBody* _body, const Zen::Math::Real* _matrix)
{
void* pBody = NewtonBodyGetUserData(_body);
if (pBody != NULL)
{
PhysicsActor* pShape = static_cast<PhysicsActor*>(pBody);
// Only use the transform callback if the state is active
if (pShape->m_activationState != 0)
{
Math::Matrix4 transform;
for(int x = 0; x < 16; x++)
{
transform.m_array[x] = _matrix[x];
}
TransformEventData evenData(*pShape, transform);
pShape->onTransformEvent(evenData);
}
}
#if 0
// HACK Keep the object to a constant velocity
Math::Vector3 velocity;
NewtonBodyGetVelocity(_body, velocity.m_array);
velocity.normalize();
velocity = velocity * 50;
NewtonBodySetVelocity(_body, velocity.m_array);
#endif
//std::cout << "TransformCallback()" << std::endl;
#if 0
RenderPrimitive* primitive;
// get the graphic object form the rigid body
primitive = (RenderPrimitive*) NewtonBodyGetUserData (body);
// set the transformation matrix for this rigid body
dMatrix& mat = *((dMatrix*)matrix);
primitive->SetMatrix (mat);
#endif
}
dFloat ForceBodyAccelerationMichio (NewtonBody* const body)
{
dVector reactionforce (0.0f);
// calcualte accelration generate by all contacts
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body); joint; joint = NewtonBodyGetNextContactJoint(body, joint)) {
if (NewtonJointIsActive(joint)) {
for (void* contact = NewtonContactJointGetFirstContact(joint); contact; contact = NewtonContactJointGetNextContact(joint, contact)) {
dVector contactForce(0.0f);
NewtonMaterial* const material = NewtonContactGetMaterial(contact);
NewtonMaterialGetContactForce(material, body, &contactForce[0]);
reactionforce += contactForce;
}
}
}
dMatrix matrix;
dVector accel;
dVector veloc;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMass(body, &mass, &Ixx, &Iyy, &Izz);
NewtonBodyGetAcceleration(body, &accel[0]);
accel -= reactionforce.Scale (1.0f/mass);
//calculate centripetal acceleration here.
NewtonBodyGetMatrix(body, &matrix[0][0]);
dVector radius(matrix.m_posit.Scale(-1.0f));
radius.m_w = 0.0f;
dFloat radiusMag = dSqrt(radius.DotProduct3(radius));
dVector radiusDir (radius.Normalize());
NewtonBodyGetVelocity(body, &veloc[0]);
veloc += radiusDir.Scale(veloc.DotProduct3(radiusDir));
dVector centripetalAccel(veloc.DotProduct3(veloc) / radiusMag);
accel += centripetalAccel;
return dSqrt (accel.DotProduct3(accel));
}
void dCustomRackAndPinion::SubmitConstraints (dFloat timestep, int threadIndex)
{
dMatrix matrix0;
dMatrix matrix1;
dVector omega0(0.0f);
dVector veloc1(0.0f);
dFloat jacobian0[6];
dFloat jacobian1[6];
// calculate the position of the pivot point and the Jacobian direction vectors, in global space.
CalculateGlobalMatrix (matrix0, matrix1);
// calculate the angular velocity for both bodies
NewtonBodyGetOmega(m_body0, &omega0[0]);
NewtonBodyGetVelocity(m_body1, &veloc1[0]);
dVector dir0 (matrix0.m_front.Scale (m_gearRatio));
const dVector& dir1 = matrix1.m_front;
jacobian0[0] = dFloat(0.0f);
jacobian0[1] = dFloat(0.0f);
jacobian0[2] = dFloat(0.0f);
jacobian0[3] = dir0.m_x;
jacobian0[4] = dir0.m_y;
jacobian0[5] = dir0.m_z;
jacobian1[0] = dir1.m_x;
jacobian1[1] = dir1.m_y;
jacobian1[2] = dir1.m_z;
jacobian1[3] = dFloat(0.0f);
jacobian1[4] = dFloat(0.0f);
jacobian1[5] = dFloat(0.0f);
dFloat w0 = omega0.DotProduct3(dir0);
dFloat w1 = veloc1.DotProduct3(dir1);
dFloat relOmega = w0 + w1;
dFloat invTimestep = (timestep > 0.0f) ? 1.0f / timestep : 1.0f;
dFloat relAccel = -0.5f * relOmega * invTimestep;
NewtonUserJointAddGeneralRow (m_joint, jacobian0, jacobian1);
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
}
void PhysicMap::playerForceAndTorque(const NewtonBody* nBody)
{
int id = (int)(NewtonBodyGetUserData(nBody));
CompLocation* loc = CKernel::data()->getGameObjectLocation(id);
float fMasse, ixx, iyy, izz;
NewtonBodyGetMassMatrix(nBody, &fMasse, &ixx, &iyy, &izz);
// Apply gravity force
Triplet_f gravity(0, -fMasse * 9.81f, 0);
NewtonBodyAddForce(nBody, &gravity.x);
// Apply movment force
Triplet_f desiredVel = loc->desiredVel() * 20;
Triplet_f currentVel;
NewtonBodyGetVelocity(nBody,¤tVel.x);
Triplet_f forceApply = (desiredVel - currentVel) * fMasse * 10;
forceApply.y = 0;
NewtonBodyAddForce(nBody, &forceApply.x);
// Apply rotation
Matrix_f mat;
NewtonBodyGetMatrix(nBody, mat.raw());
mat.setRotationY(loc->desiredAngle());
NewtonBodySetMatrix(nBody, mat.raw());
// Apply shot recoil
if (loc->isImpact())
{
Triplet_f impact = loc->getNormal() * -3;
NewtonAddBodyImpulse(nBody, &impact.x, &mat.position().x);
}
// Update the game object
loc->setPosition(mat.position());
loc->setDirection(Triplet_f(loc->desiredAngle()));
loc->setVelocity(currentVel);
}
void dVehicleSingleBody::RigidBodyToStates()
{
dVector vector;
dMatrix matrix;
dComplementaritySolver::dBodyState* const chassisBody = GetBody();
// get data from engine rigid body and copied to the vehicle chassis body
NewtonBodyGetMatrix(m_newtonBody, &matrix[0][0]);
chassisBody->SetMatrix(matrix);
static int xxx;
xxx++;
if (xxx == 1500)
{
// NewtonBodyGetVelocity(m_newtonBody, &vector[0]);
// vector.m_x += 2.0f;
// NewtonBodySetVelocity(m_newtonBody, &vector[0]);
}
NewtonBodyGetVelocity(m_newtonBody, &vector[0]);
chassisBody->SetVeloc(vector);
NewtonBodyGetOmega(m_newtonBody, &vector[0]);
chassisBody->SetOmega(vector);
NewtonBodyGetForce(m_newtonBody, &vector[0]);
chassisBody->SetForce(vector);
NewtonBodyGetTorque(m_newtonBody, &vector[0]);
chassisBody->SetTorque(vector);
chassisBody->UpdateInertia();
dVehicleInterface::RigidBodyToStates();
}
cVector3f cPhysicsBodyNewton::GetLinearVelocity() const
{
cVector3f vVel;
NewtonBodyGetVelocity(m_pNewtonBody, vVel.v);
return vVel;
}
void CustomSlider::SubmitConstraints (dFloat timestep, int threadIndex)
{
dMatrix matrix0;
dMatrix matrix1;
// calculate the position of the pivot point and the Jacobian direction vectors, in global space.
CalculateGlobalMatrix (matrix0, matrix1);
// Restrict the movement on the pivot point along all two orthonormal axis direction perpendicular to the motion
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_up[0]);
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_right[0]);
// three rows to restrict rotation around around the parent coordinate system
dFloat sinAngle;
dFloat cosAngle;
CalculatePitchAngle(matrix0, matrix1, sinAngle, cosAngle);
NewtonUserJointAddAngularRow(m_joint, -dAtan2(sinAngle, cosAngle), &matrix1.m_front[0]);
CalculateYawAngle(matrix0, matrix1, sinAngle, cosAngle);
NewtonUserJointAddAngularRow(m_joint, -dAtan2(sinAngle, cosAngle), &matrix1.m_up[0]);
CalculateRollAngle(matrix0, matrix1, sinAngle, cosAngle);
NewtonUserJointAddAngularRow(m_joint, -dAtan2(sinAngle, cosAngle), &matrix1.m_right[0]);
// calculate position and speed
dVector veloc0(0.0f, 0.0f, 0.0f, 0.0f);
dVector veloc1(0.0f, 0.0f, 0.0f, 0.0f);
if (m_body0) {
NewtonBodyGetVelocity(m_body0, &veloc0[0]);
}
if (m_body1) {
NewtonBodyGetVelocity(m_body1, &veloc1[0]);
}
m_posit = (matrix0.m_posit - matrix1.m_posit) % matrix1.m_front;
m_speed = (veloc0 - veloc1) % matrix1.m_front;
// if limit are enable ...
m_hitLimitOnLastUpdate = false;
if (m_limitsOn) {
if (m_posit < m_minDist) {
// indicate that this row hit a limit
m_hitLimitOnLastUpdate = true;
// get a point along the up vector and set a constraint
const dVector& p0 = matrix0.m_posit;
dVector p1 (p0 + matrix0.m_front.Scale (m_minDist - m_posit));
NewtonUserJointAddLinearRow (m_joint, &p0[0], &p1[0], &matrix0.m_front[0]);
// allow the object to return but not to kick going forward
NewtonUserJointSetRowMinimumFriction (m_joint, 0.0f);
} else if (m_posit > m_maxDist) {
// indicate that this row hit a limit
m_hitLimitOnLastUpdate = true;
// get a point along the up vector and set a constraint
const dVector& p0 = matrix0.m_posit;
dVector p1 (p0 + matrix0.m_front.Scale (m_maxDist - m_posit));
NewtonUserJointAddLinearRow (m_joint, &p0[0], &p1[0], &matrix0.m_front[0]);
// allow the object to return but not to kick going forward
NewtonUserJointSetRowMaximumFriction (m_joint, 0.0f);
} else {
/*
// uncomment this for a slider with friction
// take any point on body0 (origin)
const dVector& p0 = matrix0.m_posit;
dVector veloc0;
dVector veloc1;
dVector omega1;
NewtonBodyGetVelocity(m_body0, &veloc0[0]);
NewtonBodyGetVelocity(m_body1, &veloc1[0]);
NewtonBodyGetOmega(m_body1, &omega1[0]);
// this assumes the origin of the bodies the matrix pivot are the same
veloc1 += omega1 * (matrix1.m_posit - p0);
dFloat relAccel;
relAccel = ((veloc1 - veloc0) % matrix0.m_front) / timestep;
#define MaxFriction 10.0f
NewtonUserJointAddLinearRow (m_joint, &p0[0], &p0[0], &matrix0.m_front[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
NewtonUserJointSetRowMinimumFriction (m_joint, -MaxFriction);
NewtonUserJointSetRowMaximumFriction(m_joint, MaxFriction);
*/
}
}
}
static void CreateDebriPiece (const NewtonBody* sourceBody, NewtonMesh* mesh, dFloat volume)
{
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
dFloat shapeVolume;
NewtonWorld* world;
NewtonBody* rigidBody;
NewtonCollision* collision;
OGLMesh* meshInstance;
SceneManager* system;
RenderPrimitive* primitive;
dVector inertia;
dVector origin;
dVector veloc;
dVector omega;
dMatrix matrix;
world = NewtonBodyGetWorld (sourceBody);
NewtonBodyGetMatrix (sourceBody, &matrix[0][0]);
NewtonBodyGetMassMatrix (sourceBody, &mass, &Ixx, &Iyy, &Izz);
// make a visual object
meshInstance = new OGLMesh();
meshInstance->BuildFromMesh (mesh);
// create a visual geometry
primitive = new RenderPrimitive (matrix, meshInstance);
meshInstance->Release();
// save the graphics system
system = (SceneManager*) NewtonWorldGetUserData(world);
system->AddModel (primitive);
collision = NewtonCreateConvexHullFromMesh (world, mesh, 0.1f, DEBRI_ID);
// calculate the moment of inertia and the relative center of mass of the solid
shapeVolume = NewtonConvexCollisionCalculateVolume (collision);
NewtonConvexCollisionCalculateInertialMatrix (collision, &inertia[0], &origin[0]);
mass = mass * shapeVolume / volume;
Ixx = mass * inertia[0];
Iyy = mass * inertia[1];
Izz = mass * inertia[2];
//create the rigid body
rigidBody = NewtonCreateBody (world, collision);
// set the correct center of gravity for this body
NewtonBodySetCentreOfMass (rigidBody, &origin[0]);
// set the mass matrix
NewtonBodySetMassMatrix (rigidBody, mass, Ixx, Iyy, Izz);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (rigidBody, primitive);
// assign the wood id
// NewtonBodySetMaterialGroupID (rigidBody, NewtonBodyGetMaterialGroupID(source));
// set continue collision mode
NewtonBodySetContinuousCollisionMode (rigidBody, 1);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback (rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback (rigidBody, PhysicsSetTransform);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback (rigidBody, PhysicsApplyGravityForce);
// set the matrix for both the rigid body and the graphic body
NewtonBodySetMatrix (rigidBody, &matrix[0][0]);
PhysicsSetTransform (rigidBody, &matrix[0][0], 0);
NewtonBodyGetVelocity(sourceBody, &veloc[0]);
NewtonBodyGetOmega(sourceBody, &omega[0]);
veloc += omega * matrix.RotateVector(origin);
// for now so that I can see the body
veloc = dVector (0, 0, 0, 0);
// omega = dVector (0, 0, 0, 0);
NewtonBodySetVelocity(rigidBody, &veloc[0]);
NewtonBodySetOmega(rigidBody, &omega[0]);
NewtonReleaseCollision(world, collision);
}
void ApplyTracktionForce (dFloat timestep, const NewtonBody* track)
{
dVector veloc;
dVector omega;
dMatrix matrix;
NewtonBodyGetOmega(m_body0, &omega[0]);
NewtonBodyGetVelocity(m_body0, &veloc[0]);
NewtonBodyGetMatrix (m_body0, &matrix[0][0]);
// itetate over the contact list and condition each contact direction anc contact acclerations
for (NewtonJoint* contactJoint = NewtonBodyGetFirstContactJoint (track); contactJoint; contactJoint = NewtonBodyGetNextContactJoint (track, contactJoint)) {
_ASSERTE ((NewtonJointGetBody0 (contactJoint) == track) || (NewtonJointGetBody1 (contactJoint) == track));
#ifdef REMOVE_REDUNDAT_CONTACT
int contactCount;
contactCount = NewtonContactJointGetContactCount(contactJoint);
if (contactCount > 2) {
// project the contact to the bounday of the conve hull o fteh trhread foot ptint
dFloat maxDist;
dFloat minDist;
void* minContact;
void* maxContact;
dMatrix matrix;
minContact = NULL;
maxContact = NULL;
NewtonBodyGetMatrix (track, &matrix[0][0]);
maxDist = -1.0e10f;
minDist = -1.0e10f;
//find the best two contacts and remove all others
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dFloat dist;
dVector point;
dVector normal;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactPositionAndNormal(material, &point[0], &normal[0]);
dist = matrix.m_front % point;
if (dist > maxDist) {
maxDist = dist;
maxContact = contact;
}
if (-dist > minDist) {
minDist = -dist;
minContact = contact;
}
}
// now delete all reduntact contacts
void* nextContact;
NewtonWorld* world;
world = NewtonBodyGetWorld (track);
NewtonWorldCriticalSectionLock(world);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = nextContact) {
nextContact = NewtonContactJointGetNextContact (contactJoint, contact);
if (!((contact == minContact) || (contact == maxContact))) {
NewtonContactJointRemoveContact (contactJoint, contact);
}
}
NewtonWorldCriticalSectionUnlock(world);
}
#endif
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dFloat speed;
dFloat accel;
dVector point;
dVector normal;
dVector dir0;
dVector dir1;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialContactRotateTangentDirections (material, &matrix.m_front[0]);
NewtonMaterialGetContactPositionAndNormal(material, &point[0], &normal[0]);
NewtonMaterialGetContactTangentDirections (material, &dir0[0], &dir1[0]);
dVector posit (point - matrix.m_posit);
veloc += omega * posit;
speed = veloc % dir0;
// accel = m_accel - 0.1f * speed + (((posit % m_matrix.m_right) > 0.0f) ? m_turnAccel : - m_turnAccel);
accel = m_veloc + (((posit % matrix.m_right) > 0.0f) ? m_turnVeloc : - m_turnVeloc);
accel = (accel - speed) * 0.5f / timestep;
// NewtonMaterialSetContactStaticFrictionCoef (material, 1.0f, 0);
// NewtonMaterialSetContactKineticFrictionCoef (material, 1.0f, 0);
NewtonMaterialSetContactFrictionCoef (material, 1.0f, 1.0f, 0);
// NewtonMaterialSetContactStaticFrictionCoef (material, 0.5f, 1);
// NewtonMaterialSetContactKineticFrictionCoef (material, 0.5f, 1);
NewtonMaterialSetContactFrictionCoef (material, 0.5f, 0.5f, 1);
NewtonMaterialSetContactTangentAcceleration (material, accel, 0);
}
// for debug purpose show the contact
ShowJointContacts (contactJoint);
}
}
void Debug () const
{
NewtonBody* const body = m_controller->GetBody();
const CustomVehicleControllerBodyStateChassis& chassis = m_controller->GetChassisState ();
dFloat scale = -4.0f / (chassis.GetMass() * DEMO_GRAVITY);
dVector p0 (chassis.GetCenterOfMass());
glDisable (GL_LIGHTING);
glDisable(GL_TEXTURE_2D);
glLineWidth(3.0f);
glBegin(GL_LINES);
// draw vehicle weight at the center of mass
dFloat lenght = scale * chassis.GetMass() * DEMO_GRAVITY;
glColor3f(0.0f, 0.0f, 1.0f);
glVertex3f (p0.m_x, p0.m_y, p0.m_z);
glVertex3f (p0.m_x, p0.m_y - lenght, p0.m_z);
// draw vehicle front dir
glColor3f(1.0f, 1.0f, 1.0f);
dVector r0 (p0 + chassis.GetMatrix()[1].Scale (0.5f));
dVector r1 (r0 + chassis.GetMatrix()[0].Scale (1.0f));
glVertex3f (r0.m_x, r0.m_y, r0.m_z);
glVertex3f (r1.m_x, r1.m_y, r1.m_z);
// draw the velocity vector, a little higher so that is not hidden by the vehicle mesh
dVector veloc;
NewtonBodyGetVelocity(body, &veloc[0]);
dVector q0 (p0 + chassis.GetMatrix()[1].Scale (1.0f));
dVector q1 (q0 + veloc.Scale (0.25f));
glColor3f(1.0f, 1.0f, 0.0f);
glVertex3f (q0.m_x, q0.m_y, q0.m_z);
glVertex3f (q1.m_x, q1.m_y, q1.m_z);
for (CustomVehicleControllerBodyStateTire* node = m_controller->GetFirstTire(); node; node = m_controller->GetNextTire(node)) {
const CustomVehicleControllerBodyStateTire& tire = *node;
dVector p0 (tire.GetCenterOfMass());
const dMatrix& tireMatrix = tire.GetLocalMatrix ();
p0 += chassis.GetMatrix()[2].Scale ((tireMatrix.m_posit.m_z > 0.0f ? 1.0f : -1.0f) * 0.25f);
// draw the tire load
dVector p1 (p0 + tire.GetTireLoad().Scale (scale));
glColor3f (0.0f, 0.0f, 1.0f);
glVertex3f (p0.m_x, p0.m_y, p0.m_z);
glVertex3f (p1.m_x, p1.m_y, p1.m_z);
// show tire lateral force
dVector p2 (p0 - tire.GetLateralForce().Scale (scale));
glColor3f(1.0f, 0.0f, 0.0f);
glVertex3f (p0.m_x, p0.m_y, p0.m_z);
glVertex3f (p2.m_x, p2.m_y, p2.m_z);
// show tire longitudinal force
dVector p3 (p0 - tire.GetLongitudinalForce().Scale (scale));
glColor3f (0.0f, 1.0f, 0.0f);
glVertex3f (p0.m_x, p0.m_y, p0.m_z);
glVertex3f (p3.m_x, p3.m_y, p3.m_z);
}
glEnd();
glLineWidth(1.0f);
}
void SimulationLister(DemoEntityManager* const scene, DemoEntityManager::dListNode* const mynode, dFloat timeStep)
{
m_delay --;
if (m_delay > 0) {
return;
}
// see if the net force on the body comes fr a high impact collision
dFloat maxInternalForce = 0.0f;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(m_myBody); joint; joint = NewtonBodyGetNextContactJoint(m_myBody, joint)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
//dVector point;
//dVector normal;
dVector contactForce;
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
//NewtonMaterialGetContactPositionAndNormal (material, &point.m_x, &normal.m_x);
NewtonMaterialGetContactForce(material, m_myBody, &contactForce[0]);
dFloat forceMag = contactForce % contactForce;
if (forceMag > maxInternalForce) {
maxInternalForce = forceMag;
}
}
}
// if the force is bigger than 4 Gravities, It is considered a collision force
dFloat maxForce = BREAK_FORCE_IN_GRAVITIES * m_myweight;
if (maxInternalForce > (maxForce * maxForce)) {
NewtonWorld* const world = NewtonBodyGetWorld(m_myBody);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMassMatrix(m_myBody, &mass, &Ixx, &Iyy, &Izz);
dVector com;
dVector veloc;
dVector omega;
dMatrix bodyMatrix;
NewtonBodyGetVelocity(m_myBody, &veloc[0]);
NewtonBodyGetOmega(m_myBody, &omega[0]);
NewtonBodyGetCentreOfMass(m_myBody, &com[0]);
NewtonBodyGetMatrix(m_myBody, &bodyMatrix[0][0]);
com = bodyMatrix.TransformVector (com);
dMatrix matrix (GetCurrentMatrix());
dQuaternion rotation (matrix);
for (ShatterEffect::dListNode* node = m_effect.GetFirst(); node; node = node->GetNext()) {
ShatterAtom& atom = node->GetInfo();
DemoEntity* const entity = new DemoEntity (NULL);
entity->SetMesh (atom.m_mesh);
entity->SetMatrix(*scene, rotation, matrix.m_posit);
entity->InterpolateMatrix (*scene, 1.0f);
scene->Append(entity);
int materialId = 0;
dFloat debriMass = mass * atom.m_massFraction;
dFloat Ixx = debriMass * atom.m_momentOfInirtia.m_x;
dFloat Iyy = debriMass * atom.m_momentOfInirtia.m_y;
dFloat Izz = debriMass * atom.m_momentOfInirtia.m_z;
//create the rigid body
NewtonBody* const rigidBody = NewtonCreateBody (world, atom.m_collision, &matrix[0][0]);
// set the correct center of gravity for this body
NewtonBodySetCentreOfMass (rigidBody, &atom.m_centerOfMass[0]);
// calculate the center of mas of the debris
dVector center (matrix.TransformVector(atom.m_centerOfMass));
// calculate debris initial velocity
dVector v (veloc + omega * (center - com));
// set initial velocity
NewtonBodySetVelocity(rigidBody, &v[0]);
NewtonBodySetOmega(rigidBody, &omega[0]);
// set the debrie center of mass
NewtonBodySetCentreOfMass (rigidBody, &atom.m_centerOfMass[0]);
// set the mass matrix
NewtonBodySetMassMatrix (rigidBody, debriMass, Ixx, Iyy, Izz);
// activate
// NewtonBodyCoriolisForcesMode (blockBoxBody, 1);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (rigidBody, entity);
// assign the wood id
NewtonBodySetMaterialGroupID (rigidBody, materialId);
// set continue collision mode
// NewtonBodySetContinuousCollisionMode (rigidBody, continueCollisionMode);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback (rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback (rigidBody, DemoEntity::SetTransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback (rigidBody, PhysicsApplyGravityForce);
}
NewtonDestroyBody(world, m_myBody);
scene->RemoveEntity (mynode);
}
};
void CustomKinematicController::SubmitConstraints (dFloat timestep, int threadIndex)
{
// check if this is an impulsive time step
if (timestep > 0.0f) {
dMatrix matrix0;
dVector v(0.0f);
dVector w(0.0f);
dVector cg(0.0f);
dFloat invTimestep = 1.0f / timestep;
// calculate the position of the pivot point and the Jacobian direction vectors, in global space.
NewtonBodyGetOmega (m_body0, &w[0]);
NewtonBodyGetVelocity (m_body0, &v[0]);
NewtonBodyGetCentreOfMass (m_body0, &cg[0]);
NewtonBodyGetMatrix (m_body0, &matrix0[0][0]);
dVector p0 (matrix0.TransformVector (m_localHandle));
dVector pointVeloc (v + w * matrix0.RotateVector (m_localHandle - cg));
dVector relPosit (m_targetPosit - p0);
dVector relVeloc (relPosit.Scale (invTimestep) - pointVeloc);
dVector relAccel (relVeloc.Scale (invTimestep * 0.3f));
// Restrict the movement on the pivot point along all tree orthonormal direction
NewtonUserJointAddLinearRow (m_joint, &p0[0], &m_targetPosit[0], &matrix0.m_front[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAccel % matrix0.m_front);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxLinearFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxLinearFriction);
NewtonUserJointAddLinearRow (m_joint, &p0[0], &m_targetPosit[0], &matrix0.m_up[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAccel % matrix0.m_up);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxLinearFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxLinearFriction);
NewtonUserJointAddLinearRow (m_joint, &p0[0], &m_targetPosit[0], &matrix0.m_right[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAccel % matrix0.m_right);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxLinearFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxLinearFriction);
if (m_pickMode) {
dQuaternion rotation;
NewtonBodyGetRotation (m_body0, &rotation.m_q0);
if (m_targetRot.DotProduct (rotation) < 0.0f) {
rotation.m_q0 *= -1.0f;
rotation.m_q1 *= -1.0f;
rotation.m_q2 *= -1.0f;
rotation.m_q3 *= -1.0f;
}
dVector relOmega (rotation.CalcAverageOmega (m_targetRot, invTimestep) - w);
dFloat mag = relOmega % relOmega;
if (mag > 1.0e-6f) {
dVector pin (relOmega.Scale (1.0f / mag));
dMatrix basis (dGrammSchmidt (pin));
dFloat relSpeed = dSqrt (relOmega % relOmega);
dFloat relAlpha = relSpeed * invTimestep;
NewtonUserJointAddAngularRow (m_joint, 0.0f, &basis.m_front[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAlpha);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxAngularFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxAngularFriction);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &basis.m_up[0]);
NewtonUserJointSetRowAcceleration (m_joint, 0.0f);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxAngularFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxAngularFriction);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &basis.m_right[0]);
NewtonUserJointSetRowAcceleration (m_joint, 0.0f);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxAngularFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxAngularFriction);
} else {
dVector relAlpha (w.Scale (-invTimestep));
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_front[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAlpha % matrix0.m_front);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxAngularFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxAngularFriction);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_up[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAlpha % matrix0.m_up);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxAngularFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxAngularFriction);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_right[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAlpha % matrix0.m_right);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxAngularFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxAngularFriction);
}
} else {
// this is the single handle pick mode, add some angular friction
dVector relAlpha = w.Scale (-invTimestep);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_front[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAlpha % matrix0.m_front);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxAngularFriction * 0.025f);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxAngularFriction * 0.025f);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_up[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAlpha % matrix0.m_up);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxAngularFriction * 0.025f);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxAngularFriction * 0.025f);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_right[0]);
NewtonUserJointSetRowAcceleration (m_joint, relAlpha % matrix0.m_right);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxAngularFriction * 0.025f);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxAngularFriction * 0.025f);
}
}
}
void CustomPlayerController::PostUpdate(dFloat timestep, int threadIndex)
{
dMatrix matrix;
dQuaternion bodyRotation;
dVector veloc(0.0f, 0.0f, 0.0f, 0.0f);
dVector omega(0.0f, 0.0f, 0.0f, 0.0f);
CustomPlayerControllerManager* const manager = (CustomPlayerControllerManager*) GetManager();
NewtonWorld* const world = manager->GetWorld();
// apply the player motion, by calculation the desired plane linear and angular velocity
manager->ApplyPlayerMove (this, timestep);
// get the body motion state
NewtonBodyGetMatrix(m_body, &matrix[0][0]);
NewtonBodyGetVelocity(m_body, &veloc[0]);
NewtonBodyGetOmega(m_body, &omega[0]);
// integrate body angular velocity
NewtonBodyGetRotation (m_body, &bodyRotation.m_q0);
bodyRotation = bodyRotation.IntegrateOmega(omega, timestep);
matrix = dMatrix (bodyRotation, matrix.m_posit);
// integrate linear velocity
dFloat normalizedTimeLeft = 1.0f;
dFloat step = timestep * dSqrt (veloc % veloc) ;
dFloat descreteTimeStep = timestep * (1.0f / D_DESCRETE_MOTION_STEPS);
int prevContactCount = 0;
CustomControllerConvexCastPreFilter castFilterData (m_body);
NewtonWorldConvexCastReturnInfo prevInfo[PLAYER_CONTROLLER_MAX_CONTACTS];
dVector updir (matrix.RotateVector(m_upVector));
dVector scale;
NewtonCollisionGetScale (m_upperBodyShape, &scale.m_x, &scale.m_y, &scale.m_z);
//const dFloat radio = m_outerRadio * 4.0f;
const dFloat radio = (m_outerRadio + m_restrainingDistance) * 4.0f;
NewtonCollisionSetScale (m_upperBodyShape, m_height - m_stairStep, radio, radio);
NewtonWorldConvexCastReturnInfo upConstratint;
memset (&upConstratint, 0, sizeof (upConstratint));
upConstratint.m_normal[0] = m_upVector.m_x;
upConstratint.m_normal[1] = m_upVector.m_y;
upConstratint.m_normal[2] = m_upVector.m_z;
upConstratint.m_normal[3] = m_upVector.m_w;
for (int j = 0; (j < D_PLAYER_MAX_INTERGRATION_STEPS) && (normalizedTimeLeft > 1.0e-5f); j ++ ) {
if ((veloc % veloc) < 1.0e-6f) {
break;
}
dFloat timetoImpact;
NewtonWorldConvexCastReturnInfo info[PLAYER_CONTROLLER_MAX_CONTACTS];
dVector destPosit (matrix.m_posit + veloc.Scale (timestep));
int contactCount = NewtonWorldConvexCast (world, &matrix[0][0], &destPosit[0], m_upperBodyShape, &timetoImpact, &castFilterData, CustomControllerConvexCastPreFilter::Prefilter, info, sizeof (info) / sizeof (info[0]), threadIndex);
if (contactCount) {
contactCount = manager->ProcessContacts (this, info, contactCount);
}
if (contactCount) {
matrix.m_posit += veloc.Scale (timetoImpact * timestep);
if (timetoImpact > 0.0f) {
matrix.m_posit -= veloc.Scale (D_PLAYER_CONTACT_SKIN_THICKNESS / dSqrt (veloc % veloc)) ;
}
normalizedTimeLeft -= timetoImpact;
dFloat speed[PLAYER_CONTROLLER_MAX_CONTACTS * 2];
dFloat bounceSpeed[PLAYER_CONTROLLER_MAX_CONTACTS * 2];
dVector bounceNormal[PLAYER_CONTROLLER_MAX_CONTACTS * 2];
for (int i = 1; i < contactCount; i ++) {
dVector n0 (info[i-1].m_normal);
for (int j = 0; j < i; j ++) {
dVector n1 (info[j].m_normal);
if ((n0 % n1) > 0.9999f) {
info[i] = info[contactCount - 1];
i --;
contactCount --;
break;
}
}
}
int count = 0;
if (!m_isJumping) {
upConstratint.m_point[0] = matrix.m_posit.m_x;
upConstratint.m_point[1] = matrix.m_posit.m_y;
upConstratint.m_point[2] = matrix.m_posit.m_z;
upConstratint.m_point[3] = matrix.m_posit.m_w;
speed[count] = 0.0f;
bounceNormal[count] = dVector (upConstratint.m_normal);
bounceSpeed[count] = CalculateContactKinematics(veloc, &upConstratint);
count ++;
}
for (int i = 0; i < contactCount; i ++) {
speed[count] = 0.0f;
bounceNormal[count] = dVector (info[i].m_normal);
bounceSpeed[count] = CalculateContactKinematics(veloc, &info[i]);
count ++;
}
for (int i = 0; i < prevContactCount; i ++) {
speed[count] = 0.0f;
bounceNormal[count] = dVector (prevInfo[i].m_normal);
bounceSpeed[count] = CalculateContactKinematics(veloc, &prevInfo[i]);
count ++;
}
dFloat residual = 10.0f;
dVector auxBounceVeloc (0.0f, 0.0f, 0.0f, 0.0f);
for (int i = 0; (i < D_PLAYER_MAX_SOLVER_ITERATIONS) && (residual > 1.0e-3f); i ++) {
residual = 0.0f;
for (int k = 0; k < count; k ++) {
dVector normal (bounceNormal[k]);
dFloat v = bounceSpeed[k] - normal % auxBounceVeloc;
dFloat x = speed[k] + v;
if (x < 0.0f) {
v = 0.0f;
x = 0.0f;
}
if (dAbs (v) > residual) {
residual = dAbs (v);
}
auxBounceVeloc += normal.Scale (x - speed[k]);
speed[k] = x;
}
}
dVector velocStep (0.0f, 0.0f, 0.0f, 0.0f);
for (int i = 0; i < count; i ++) {
dVector normal (bounceNormal[i]);
velocStep += normal.Scale (speed[i]);
}
veloc += velocStep;
dFloat velocMag2 = velocStep % velocStep;
if (velocMag2 < 1.0e-6f) {
dFloat advanceTime = dMin (descreteTimeStep, normalizedTimeLeft * timestep);
matrix.m_posit += veloc.Scale (advanceTime);
normalizedTimeLeft -= advanceTime / timestep;
}
prevContactCount = contactCount;
memcpy (prevInfo, info, prevContactCount * sizeof (NewtonWorldConvexCastReturnInfo));
} else {
matrix.m_posit = destPosit;
matrix.m_posit.m_w = 1.0f;
break;
}
}
NewtonCollisionSetScale (m_upperBodyShape, scale.m_x, scale.m_y, scale.m_z);
// determine if player is standing on some plane
dMatrix supportMatrix (matrix);
supportMatrix.m_posit += updir.Scale (m_sphereCastOrigin);
if (m_isJumping) {
dVector dst (matrix.m_posit);
UpdateGroundPlane (matrix, supportMatrix, dst, threadIndex);
} else {
step = dAbs (updir % veloc.Scale (timestep));
dFloat castDist = ((m_groundPlane % m_groundPlane) > 0.0f) ? m_stairStep : step;
dVector dst (matrix.m_posit - updir.Scale (castDist * 2.0f));
UpdateGroundPlane (matrix, supportMatrix, dst, threadIndex);
}
// set player velocity, position and orientation
NewtonBodySetVelocity(m_body, &veloc[0]);
NewtonBodySetMatrix (m_body, &matrix[0][0]);
}
void CustomDGRayCastCar::IntegrateTires (dFloat timestep, int threadIndex)
{
dMatrix bodyMatrix;
// get the vehicle global matrix, and use it in several calculations
NewtonBodyGetMatrix (m_body0, &bodyMatrix[0][0]);
dMatrix chassisMatrix (m_localFrame * bodyMatrix);
// get the chassis instantaneous linear and angular velocity in the local space of the chassis
dVector bodyOmega;
dVector bodyVelocity;
NewtonBodyGetVelocity (m_body0, &bodyVelocity[0]);
NewtonBodyGetOmega (m_body0, &bodyOmega[0]);
// set the current vehicle speed
m_curSpeed = bodyMatrix.m_front % bodyVelocity;
for (int i = 0; i < m_tiresCount; i ++ ) {
Tire& tire = m_tires[i];
/*
if (tire.m_tireIsConstrained) {
// the torqued generate by the tire can no be larger than the external torque on the tire
// when this happens ther tire is spinning unde contrained rotation
// V % dir + W * R % dir = 0
// where V is the tire Axel velocity
// W is the tire local angular velocity
// R is the tire radius
// dir is the longitudinal direction of of the tire.
dFloat contactRadius;
dFloat axelLinealSpeed;
dVector tireAxelPosit (chassisMatrix.TransformVector (tire.m_harpoint - m_localFrame.m_up.Scale (tire.m_posit)));
dVector tireAxelVeloc = bodyVelocity + bodyOmega * (tireAxelPosit - chassisMatrix.m_posit) - tire.m_hitBodyPointVelocity;
axelLinealSpeed = tireAxelVeloc % chassisMatrix.m_front;
dVector tireRadius (tire.m_contactPoint - tire.m_tireAxelPosit);
contactRadius = (tire.m_lateralPin * tireRadius) % tire.m_longitudinalPin;
tire.m_angularVelocity = - axelLinealSpeed / contactRadius ;
} else if (tire.m_tireIsOnAir) {
if (tire.m_breakForce > 1.0e-3f) {
tire.m_angularVelocity = 0.0f;
} else {
//the tire is on air, need to be integrate net toque and apply a drag coneficenct
// dFloat nettorque = tire.m_angularVelocity;
// // this checkup is suposed to fix a infinit division by zero...
// if ( dAbs(tireContactSpeed) > 1.0e-3) {
// nettorque = - (tireLinearSpeed) / (tireContactSpeed);
// }
//tire.m_angularVelocity = - tireLinearSpeed / tireContactSpeed;
dFloat torque;
torque = tire.m_torque - tire.m_angularVelocity * tire.m_Ixx * TIRE_VISCUOS_DAMP;
tire.m_angularVelocity += torque * tire.m_IxxInv * timestep;
}
} else {
// there is a next torque on the tire
dFloat torque;
torque = tire.m_torque - tire.m_angularVelocity * tire.m_Ixx * TIRE_VISCUOS_DAMP;
tire.m_angularVelocity += torque * tire.m_IxxInv * timestep;
}
*/
if (tire.m_tireIsOnAir) {
if (tire.m_breakForce > 1.0e-3f) {
tire.m_angularVelocity = 0.0f;
} else {
//the tire is on air, need to be integrate net toque and apply a drag coeficient
dFloat torque;
torque = tire.m_torque - tire.m_angularVelocity * tire.m_Ixx * TIRE_VISCUOS_DAMP;
tire.m_angularVelocity += torque * tire.m_IxxInv * timestep;
}
} else if (tire.m_tireIsConstrained) {
// the torqued generate by the tire can no be larger than the external torque on the tire
// when this happens there tire is spinning under constrained rotation
// V % dir + W * R % dir = 0
// where V is the tire Axel velocity
// W is the tire local angular velocity
// R is the tire radius
// dir is the longitudinal direction of of the tire.
dFloat contactRadius;
dFloat axelLinealSpeed;
dVector tireAxelPosit (chassisMatrix.TransformVector (tire.m_harpoint - m_localFrame.m_up.Scale (tire.m_posit)));
dVector tireAxelVeloc = bodyVelocity + bodyOmega * (tireAxelPosit - chassisMatrix.m_posit) - tire.m_hitBodyPointVelocity;
axelLinealSpeed = tireAxelVeloc % chassisMatrix.m_front;
dVector tireRadius (tire.m_contactPoint - tire.m_tireAxelPosit);
contactRadius = (tire.m_lateralPin * tireRadius) % tire.m_longitudinalPin;
tire.m_angularVelocity = - axelLinealSpeed / contactRadius ;
} else {
// there is a next torque on the tire
dFloat torque;
torque = tire.m_torque - tire.m_angularVelocity * tire.m_Ixx * TIRE_VISCUOS_DAMP;
tire.m_angularVelocity += torque * tire.m_IxxInv * timestep;
}
// spin the tire by the angular velocity
tire.m_spinAngle = dMod (tire.m_spinAngle + tire.m_angularVelocity * timestep, 3.14159265f * 2.0f);
// reset the tire torque
tire.m_torque = 0.0f;
tire.m_breakForce = 0.0f;
}
}
void CalculatePickForceAndTorque (const NewtonBody* const body, const dVector& pointOnBodyInGlobalSpace, const dVector& targetPositionInGlobalSpace, dFloat timestep)
{
dVector com;
dMatrix matrix;
dVector omega0;
dVector veloc0;
dVector omega1;
dVector veloc1;
dVector pointVeloc;
const dFloat stiffness = 0.3f;
const dFloat angularDamp = 0.95f;
dFloat invTimeStep = 1.0f / timestep;
NewtonWorld* const world = NewtonBodyGetWorld (body);
NewtonWorldCriticalSectionLock (world, 0);
// calculate the desired impulse
NewtonBodyGetMatrix(body, &matrix[0][0]);
NewtonBodyGetOmega (body, &omega0[0]);
NewtonBodyGetVelocity (body, &veloc0[0]);
NewtonBodyGetPointVelocity (body, &pointOnBodyInGlobalSpace[0], &pointVeloc[0]);
dVector deltaVeloc (targetPositionInGlobalSpace - pointOnBodyInGlobalSpace);
deltaVeloc = deltaVeloc.Scale (stiffness * invTimeStep) - pointVeloc;
for (int i = 0; i < 3; i ++) {
dVector veloc (0.0f, 0.0f, 0.0f, 0.0f);
veloc[i] = deltaVeloc[i];
NewtonBodyAddImpulse (body, &veloc[0], &pointOnBodyInGlobalSpace[0]);
}
// damp angular velocity
NewtonBodyGetOmega (body, &omega1[0]);
NewtonBodyGetVelocity (body, &veloc1[0]);
omega1 = omega1.Scale (angularDamp);
// restore body velocity and angular velocity
NewtonBodySetOmega (body, &omega0[0]);
NewtonBodySetVelocity(body, &veloc0[0]);
// convert the delta velocity change to a external force and torque
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);
dVector angularMomentum (Ixx, Iyy, Izz);
angularMomentum = matrix.RotateVector (angularMomentum.CompProduct(matrix.UnrotateVector(omega1 - omega0)));
dVector force ((veloc1 - veloc0).Scale (mass * invTimeStep));
dVector torque (angularMomentum.Scale(invTimeStep));
NewtonBodyAddForce(body, &force[0]);
NewtonBodyAddTorque(body, &torque[0]);
// make sure the body is unfrozen, if it is picked
NewtonBodySetSleepState (body, 0);
NewtonWorldCriticalSectionUnlock (world);
}
Ogre::Vector3 Body::getVelocity()
{
Ogre::Vector3 ret;
NewtonBodyGetVelocity( m_body, &ret.x );
return ret;
}
void CustomDGRayCastCar::SubmitConstraints (dFloat timestep, int threadIndex)
{
// get the simulation time
// dFloat invTimestep = 1.0f / timestep ;
// get the vehicle global matrix, and use it in several calculations
dMatrix bodyMatrix;
NewtonBodyGetMatrix (m_body0, &bodyMatrix[0][0]);
dMatrix chassisMatrix (m_localFrame * bodyMatrix);
// get the chassis instantaneous linear and angular velocity in the local space of the chassis
dVector bodyForce;
dVector bodyOmega;
dVector bodyVelocity;
NewtonBodyGetVelocity (m_body0, &bodyVelocity[0]);
NewtonBodyGetOmega (m_body0, &bodyOmega[0]);
//static int xxx;
//dTrace (("frame %d veloc(%f %f %f)\n", xxx, bodyVelocity[0], bodyVelocity[1], bodyVelocity[2]));
//xxx ++;
//if (xxx >= 210) {
//xxx *=1;
//bodyVelocity.m_x = 0;
//bodyVelocity.m_z = 10;
//NewtonBodySetVelocity (m_body0, &bodyVelocity[0]);
//}
// dVector normalForces (0.0f, 0.0f, 0.0f, 0.0f);
// all tire is on air check
m_vehicleOnAir = 0;
// int constraintIndex = 0;
for (int i = 0; i < m_tiresCount; i ++) {
// dTrace (("tire: %d ", i));
Tire& tire = m_tires[i];
tire.m_tireIsOnAir = 1;
// tire.m_tireIsConstrained = 0;
tire.m_tireForceAcc = dVector(0.0f, 0.0f, 0.0f, 0.0f);
// calculate all suspension matrices in global space and tire collision
dMatrix suspensionMatrix (CalculateSuspensionMatrix (i, 0.0f) * chassisMatrix);
// calculate the tire collision
CalculateTireCollision (tire, suspensionMatrix, threadIndex);
// calculate the linear velocity of the tire at the ground contact
tire.m_tireAxelPositGlobal = chassisMatrix.TransformVector (tire.m_harpointInJointSpace - m_localFrame.m_up.Scale (tire.m_posit));
tire.m_tireAxelVelocGlobal = bodyVelocity + bodyOmega * (tire.m_tireAxelPositGlobal - chassisMatrix.m_posit);
tire.m_lateralPinGlobal = chassisMatrix.RotateVector (tire.m_localAxisInJointSpace);
tire.m_longitudinalPinGlobal = chassisMatrix.m_up * tire.m_lateralPinGlobal;
if (tire.m_posit < tire.m_suspensionLenght ) {
tire.m_tireIsOnAir = 0;
tire.m_hitBodyPointVelocity = dVector (0.0f, 0.0f, 0.0f, 1.0f);
if (tire.m_HitBody){
dMatrix matrix;
dVector com;
dVector omega;
NewtonBodyGetOmega (tire.m_HitBody, &omega[0]);
NewtonBodyGetMatrix (tire.m_HitBody, &matrix[0][0]);
NewtonBodyGetCentreOfMass (tire.m_HitBody, &com[0]);
NewtonBodyGetVelocity (tire.m_HitBody, &tire.m_hitBodyPointVelocity[0]);
tire.m_hitBodyPointVelocity += (tire.m_contactPoint - matrix.TransformVector (com)) * omega;
}
// calculate the relative velocity
dVector tireHubVeloc (tire.m_tireAxelVelocGlobal - tire.m_hitBodyPointVelocity);
dFloat suspensionSpeed = - (tireHubVeloc % chassisMatrix.m_up);
// now calculate the tire load at the contact point
// Tire suspension distance and hard limit.
dFloat distance = tire.m_suspensionLenght - tire.m_posit;
_ASSERTE (distance <= tire.m_suspensionLenght);
tire.m_tireLoad = - NewtonCalculateSpringDamperAcceleration (timestep, tire.m_springConst, distance, tire.m_springDamper, suspensionSpeed );
if ( tire.m_tireLoad < 0.0f ) {
// since the tire is not a body with real mass it can only push the chassis.
tire.m_tireLoad = 0.0f;
}
//this suspension is applying a normalize force to the car chassis, need to scales by the mass of the car
tire.m_tireLoad *= (m_mass * 0.5f);
// dTrace (("(load = %f) ", tire.m_tireLoad));
//tire.m_tireIsConstrained = (dAbs (tire.m_torque) < 0.3f);
// convert the tire load force magnitude to a torque and force.
// accumulate the force doe to the suspension spring and damper
tire.m_tireForceAcc += chassisMatrix.m_up.Scale (tire.m_tireLoad);
// calculate relative velocity at the tire center
//dVector tireAxelRelativeVelocity (tire.m_tireAxelVeloc - tire.m_hitBodyPointVelocity);
// axle linear speed
//axelLinealSpeed = tireAxelRelativeVelocity % chassisMatrix.m_front;
dFloat axelLinearSpeed = tireHubVeloc % chassisMatrix.m_front;
// calculate tire rotation velocity at the tire radio
//dVector tireAngularVelocity (tire.m_lateralPinGlobal.Scale (tire.m_angularVelocity));
//dVector tireRadius (tire.m_contactPoint - tire.m_tireAxelPositGlobal);
//dVector tireRotationalVelocityAtContact (tireAngularVelocity * tireRadius);
// calculate slip ratio and max longitudinal force
//dFloat tireRotationSpeed = -(tireRotationalVelocityAtContact % tire.m_longitudinalPinGlobal);
//dFloat slipRatioCoef = (dAbs (axelLinearSpeed) > 1.e-3f) ? ((tireRotationSpeed - axelLinearSpeed) / dAbs (axelLinearSpeed)) : 0.0f;
//dTrace (("(slipRatio = %f) ", slipRatioCoef));
// calculate the formal longitudinal force the tire apply to the chassis
//dFloat longitudinalForceMag = m_normalizedLongitudinalForce.GetValue (slipRatioCoef) * tire.m_tireLoad * tire.m_groundFriction;
dFloat longitudinalForceMag = CalculateLongitudinalForce (i, axelLinearSpeed, tire.m_tireLoad * tire.m_groundFriction);
// dTrace (("(longForce = %f) ", longitudinalForceMag));
#if 0
// now calculate relative velocity a velocity at contact point
//dVector tireContactRelativeVelocity (tireAxelRelativeVelocity + tireRotationalVelocityAtContact);
//dVector tireContactAbsoluteVelocity (tireHubVeloc + tireRotationalVelocityAtContact);
// calculate the side slip as the angle between the tire lateral speed and longitudinal speed
//dFloat lateralSpeed = tireContactRelativeVelocity % tire.m_lateralPin;
dFloat lateralSpeed = tireHubVeloc % tire.m_lateralPinGlobal;
dFloat sideSlipCoef = dAtan2 (dAbs (lateralSpeed), dAbs (axelLinearSpeed));
dFloat lateralFrictionForceMag = m_normalizedLateralForce.GetValue (sideSlipCoef) * tire.m_tireLoad * tire.m_groundFriction;
// Apply brake, need some little fix here.
// The fix is need to generate axial force when the brake is apply when the vehicle turn from the steer or on sliding.
if ( tire.m_breakForce > 1.0e-3f ) {
_ASSERTE (0);
/*
// row constrained force is save for later determine the dynamic state of this tire
tire.m_isBrakingForceIndex = constraintIndex;
constraintIndex ++;
frictionCircleMag = tire.m_tireLoad * tire.m_groundFriction;
if (tire.m_breakForce > frictionCircleMag) {
tire.m_breakForce = frictionCircleMag;
}
//NewtonUserJointAddLinearRow ( m_joint, &tire.m_tireAxelPosit[0], &tire.m_tireAxelPosit[0], &chassisMatrix.m_front.m_x );
NewtonUserJointAddLinearRow (m_joint, &tire.m_tireAxelPosit[0], &tire.m_tireAxelPosit[0], &tire.m_longitudinalPin.m_x);
NewtonUserJointSetRowMaximumFriction( m_joint, tire.m_breakForce);
NewtonUserJointSetRowMinimumFriction( m_joint, -tire.m_breakForce);
// there is a longitudinal force that will reduce the lateral force, we need to recalculate the lateral force
tireForceMag = lateralFrictionForceMag * lateralFrictionForceMag + tire.m_breakForce * tire.m_breakForce;
if (tireForceMag > (frictionCircleMag * frictionCircleMag)) {
lateralFrictionForceMag *= 0.25f * frictionCircleMag / dSqrt (tireForceMag);
}
*/
}
//project the longitudinal and lateral forces over the circle of friction for this tire;
dFloat frictionCircleMag = tire.m_tireLoad * tire.m_groundFriction;
dFloat tireForceMag = lateralFrictionForceMag * lateralFrictionForceMag + longitudinalForceMag * longitudinalForceMag;
if (tireForceMag > (frictionCircleMag * frictionCircleMag)) {
dFloat invMag2;
invMag2 = frictionCircleMag / dSqrt (tireForceMag);
longitudinalForceMag *= invMag2;
lateralFrictionForceMag *= invMag2;
}
// submit this constraint for calculation of side slip forces
lateralFrictionForceMag = dAbs (lateralFrictionForceMag);
tire.m_lateralForceIndex = constraintIndex;
constraintIndex ++;
NewtonUserJointAddLinearRow (m_joint, &tire.m_tireAxelPositGlobal[0], &tire.m_tireAxelPositGlobal[0], &tire.m_lateralPinGlobal[0]);
NewtonUserJointSetRowMaximumFriction (m_joint, lateralFrictionForceMag);
NewtonUserJointSetRowMinimumFriction (m_joint, -lateralFrictionForceMag);
#endif
// accumulate the longitudinal force
dVector tireForce (tire.m_longitudinalPinGlobal.Scale (longitudinalForceMag));
tire.m_tireForceAcc += tireForce;
// now we apply the combined tire force generated by this tire, to the car chassis
dVector r (tire.m_tireAxelPositGlobal - chassisMatrix.m_posit);
// add the toque the tire asserts on the car body (principle of action reaction)
dVector torque (r * tire.m_tireForceAcc - tire.m_lateralPinGlobal.Scale (tire.m_torque));
NewtonBodyAddForce (m_body0, &tire.m_tireForceAcc[0]);
NewtonBodyAddTorque( m_body0, &torque[0] );
/*
// calculate the net torque on the tire
dFloat tireTorqueMag = -((tireRadius * tireForce) % tire.m_lateralPinGlobal);
if (dAbs (tireTorqueMag) > dAbs (tire.m_torque)) {
// the tire reaction force cannot be larger than the applied engine torque
// when this happens the net torque is zero and the tire is constrained to the vehicle linear motion
tire.m_tireIsConstrained = 1;
tireTorqueMag = tire.m_torque;
}
tire.m_torque -= tireTorqueMag;
*/
// normalForces += tire.m_tireForceAcc;
} else {
// there is a next torque on the tire
tire.m_torque -= tire.m_angularVelocity * tire.m_Ixx * DG_TIRE_VISCUOS_DAMP;
tire.m_angularVelocity += tire.m_torque * tire.m_IxxInv * timestep;
if (m_tires[i].m_breakForce > dFloat (0.1f)) {
tire.m_angularVelocity = 0.0f;
}
}
// dTrace (("(tireTorque = %f) ", tire.m_torque));
// spin the tire by the angular velocity
tire.m_spinAngle = dMod (tire.m_spinAngle + tire.m_angularVelocity * timestep, 3.14159265f * 2.0f);
// reset the tire torque
tire.m_torque = 0.0f;
tire.m_breakForce = 0.0f;
// dTrace (("\n"));
}
// add a row to simulate the engine rolling resistance
// float bodyWeight = dAbs (normalForces % chassisMatrix.m_up) * m_rollingResistance;
// if (bodyWeight > (1.0e-3f) * m_mass) {
// NewtonUserJointAddLinearRow (m_joint, &chassisMatrix.m_posit[0], &chassisMatrix.m_posit[0], &chassisMatrix.m_front[0]);
// NewtonUserJointSetRowMaximumFriction( m_joint, bodyWeight);
// NewtonUserJointSetRowMinimumFriction( m_joint, -bodyWeight);
// }
}
void CustomDGRayCastCar::SubmitConstraints (dFloat timestep, int threadIndex)
{
int constraintIndex;
dFloat invTimestep;
dMatrix bodyMatrix;
// get the simulation time
invTimestep = 1.0f / timestep ;
// get the vehicle global matrix, and use it in several calculations
NewtonBodyGetMatrix (m_body0, &bodyMatrix[0][0]);
dMatrix chassisMatrix (m_localFrame * bodyMatrix);
// get the chassis instantaneous linear and angular velocity in the local space of the chassis
dVector bodyOmega;
dVector bodyVelocity;
NewtonBodyGetVelocity (m_body0, &bodyVelocity[0]);
NewtonBodyGetOmega (m_body0, &bodyOmega[0]);
// all tire is on air check
m_vehicleOnAir = 0;
constraintIndex = 0;
for ( int i = 0; i < m_tiresCount; i ++ ) {
Tire& tire = m_tires[i];
tire.m_tireIsOnAir = 1;
tire.m_tireIsConstrained = 0;
tire.m_tireForceAcc = dVector(0.0f, 0.0f, 0.0f, 0.0f);
// calculate all suspension matrices in global space and tire collision
dMatrix suspensionMatrix (CalculateSuspensionMatrix (i, 0.0f) * chassisMatrix);
// calculate the tire collision
CalculateTireCollision (tire, suspensionMatrix, threadIndex);
// calculate the linear velocity of the tire at the ground contact
tire.m_tireAxelPosit = chassisMatrix.TransformVector( tire.m_harpoint - m_localFrame.m_up.Scale (tire.m_posit));
tire.m_tireAxelVeloc = bodyVelocity + bodyOmega * (tire.m_tireAxelPosit - chassisMatrix.m_posit);
tire.m_lateralPin = ( chassisMatrix.RotateVector ( tire.m_localAxis ) );
tire.m_longitudinalPin = ( chassisMatrix.m_up * tire.m_lateralPin );
if (tire.m_posit < tire.m_suspensionLenght ) {
dFloat distance;
dFloat sideSlipCoef;
dFloat slipRatioCoef;
dFloat tireForceMag;
dFloat tireTorqueMag;
dFloat suspensionSpeed;
dFloat axelLinealSpeed;
dFloat tireRotationSpeed;
dFloat frictionCircleMag;
dFloat longitudinalForceMag;
dFloat lateralFrictionForceMag;
tire.m_tireIsOnAir = 0;
tire.m_hitBodyPointVelocity = dVector (0.0f, 0.0f, 0.0f, 1.0f);
if (tire.m_HitBody){
dMatrix matrix;
dVector com;
dVector omega;
NewtonBodyGetOmega (tire.m_HitBody, &omega[0]);
NewtonBodyGetMatrix (tire.m_HitBody, &matrix[0][0]);
NewtonBodyGetCentreOfMass (tire.m_HitBody, &com[0]);
NewtonBodyGetVelocity (tire.m_HitBody, &tire.m_hitBodyPointVelocity[0]);
tire.m_hitBodyPointVelocity += (tire.m_contactPoint - matrix.TransformVector (com)) * omega;
}
// calculate the relative velocity
dVector relVeloc (tire.m_tireAxelVeloc - tire.m_hitBodyPointVelocity);
suspensionSpeed = - (relVeloc % chassisMatrix.m_up);
// now calculate the tire load at the contact point
// Tire suspension distance and hard limit.
distance = tire.m_suspensionLenght - tire.m_posit;
_ASSERTE (distance <= tire.m_suspensionLenght);
tire.m_tireLoad = - NewtonCalculateSpringDamperAcceleration (timestep, tire.m_springConst, distance, tire.m_springDamper, suspensionSpeed );
if ( tire.m_tireLoad < 0.0f ) {
// since the tire is not a body with real mass it can only push the chassis.
tire.m_tireLoad = 0.0f;
}
//this suspension is applying a normalize force to the car chassis, need to scales by the mass of the car
tire.m_tireLoad *= (m_mass * 0.5f);
tire.m_tireIsConstrained = (dAbs (tire.m_torque) < 0.3f);
// convert the tire load force magnitude to a torque and force.
// accumulate the force doe to the suspension spring and damper
tire.m_tireForceAcc += chassisMatrix.m_up.Scale (tire.m_tireLoad);
// calculate relative velocity at the tire center
dVector tireAxelRelativeVelocity (tire.m_tireAxelVeloc - tire.m_hitBodyPointVelocity);
// axle linear speed
axelLinealSpeed = tireAxelRelativeVelocity % chassisMatrix.m_front;
// calculate tire rotation velocity at the tire radio
dVector tireAngularVelocity (tire.m_lateralPin.Scale (tire.m_angularVelocity));
dVector tireRadius (tire.m_contactPoint - tire.m_tireAxelPosit);
dVector tireRotationalVelocityAtContact (tireAngularVelocity * tireRadius);
longitudinalForceMag = 0.0f;
// if (!tire.m_tireIsConstrained) {
// calculate slip ratio and max longitudinal force
tireRotationSpeed = tireRotationalVelocityAtContact % tire.m_longitudinalPin;
slipRatioCoef = (dAbs (axelLinealSpeed) > 1.e-3f) ? ((-tireRotationSpeed - axelLinealSpeed) / dAbs (axelLinealSpeed)) : 0.0f;
// calculate the formal longitudinal force the tire apply to the chassis
longitudinalForceMag = m_normalizedLongitudinalForce.GetValue (slipRatioCoef) * tire.m_tireLoad * tire.m_groundFriction;
// }
// now calculate relative velocity a velocity at contact point
dVector tireContactRelativeVelocity (tireAxelRelativeVelocity + tireRotationalVelocityAtContact);
// calculate the sideslip as the angle between the tire lateral speed and longitudila speed
sideSlipCoef = dAtan2 (dAbs (tireContactRelativeVelocity % tire.m_lateralPin), dAbs (axelLinealSpeed));
lateralFrictionForceMag = m_normalizedLateralForce.GetValue (sideSlipCoef) * tire.m_tireLoad * tire.m_groundFriction;
// Apply brake, need some little fix here.
// The fix is need to generate axial force when the brake is apply when the vehicle turn from the steer or on sliding.
if ( tire.m_breakForce > 1.0e-3f ) {
// row constrained force is save for later determine the dynamic state of this tire
tire.m_isBrakingForceIndex = constraintIndex;
constraintIndex ++;
frictionCircleMag = tire.m_tireLoad * tire.m_groundFriction;
if (tire.m_breakForce > frictionCircleMag) {
tire.m_breakForce = frictionCircleMag;
}
//NewtonUserJointAddLinearRow ( m_joint, &tire.m_tireAxelPosit[0], &tire.m_tireAxelPosit[0], &chassisMatrix.m_front.m_x );
NewtonUserJointAddLinearRow (m_joint, &tire.m_tireAxelPosit[0], &tire.m_tireAxelPosit[0], &tire.m_longitudinalPin.m_x);
NewtonUserJointSetRowMaximumFriction( m_joint, tire.m_breakForce);
NewtonUserJointSetRowMinimumFriction( m_joint, -tire.m_breakForce);
// there is a longitudinal force that will reduce the lateral force, we need to recalculate the lateral force
tireForceMag = lateralFrictionForceMag * lateralFrictionForceMag + tire.m_breakForce * tire.m_breakForce;
if (tireForceMag > (frictionCircleMag * frictionCircleMag)) {
lateralFrictionForceMag *= 0.25f * frictionCircleMag / dSqrt (tireForceMag);
}
}
//project the longitudinal and lateral forces over the circle of friction for this tire;
frictionCircleMag = tire.m_tireLoad * tire.m_groundFriction;
tireForceMag = lateralFrictionForceMag * lateralFrictionForceMag + longitudinalForceMag * longitudinalForceMag;
if (tireForceMag > (frictionCircleMag * frictionCircleMag)) {
dFloat invMag2;
invMag2 = frictionCircleMag / dSqrt (tireForceMag);
longitudinalForceMag *= invMag2;
lateralFrictionForceMag *= invMag2;
}
// submit this constraint for calculation of side slip forces
lateralFrictionForceMag = dAbs (lateralFrictionForceMag);
tire.m_lateralForceIndex = constraintIndex;
constraintIndex ++;
NewtonUserJointAddLinearRow (m_joint, &tire.m_tireAxelPosit[0], &tire.m_tireAxelPosit[0], &tire.m_lateralPin[0]);
NewtonUserJointSetRowMaximumFriction (m_joint, lateralFrictionForceMag);
NewtonUserJointSetRowMinimumFriction (m_joint, -lateralFrictionForceMag);
// accumulate the longitudinal force
dVector tireForce (tire.m_longitudinalPin.Scale (longitudinalForceMag));
tire.m_tireForceAcc += tireForce;
// now we apply the combined tire force generated by this tire, to the car chassis
dVector torque ((tire.m_tireAxelPosit - chassisMatrix.m_posit) * tire.m_tireForceAcc);
NewtonBodyAddForce (m_body0, &tire.m_tireForceAcc[0]);
NewtonBodyAddTorque( m_body0, &torque[0] );
// calculate the net torque on the tire
tireTorqueMag = -((tireRadius * tireForce) % tire.m_lateralPin);
if (dAbs (tireTorqueMag) > dAbs (tire.m_torque)) {
// the tire reaction force can no be larger than the applied engine torque
// when this happens the net torque is zero and the tire is constrained to the vehicle linear motion
tire.m_tireIsConstrained = 1;
tireTorqueMag = tire.m_torque;
}
tire.m_torque -= tireTorqueMag;
}
}
}
void* dNewtonBody::GetVelocity()
{
NewtonBodyGetVelocity(m_body, &m_velocity.m_x);
return &m_velocity;
}