Foam::tmp<Foam::scalarField> Foam::lduMatrix::residual
(
const scalarField& psi,
const scalarField& source,
const FieldField<Field, scalar>& interfaceBouCoeffs,
const lduInterfaceFieldPtrsList& interfaces,
const direction cmpt
) const
{
tmp<scalarField> trA(new scalarField(psi.size()));
residual(trA.ref(), psi, source, interfaceBouCoeffs, interfaces, cmpt);
return trA;
}
void detectCollisionSpherePlane(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
plContactCache* contactCache)
{
const b3Transform& trA = world->m_collidableTransforms[colA];
const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
b3Vector3 spherePosAWorld = trA(sphereALocalPos);
int planeFaceIndex = world->m_childShapes[shapeIndexB].m_shapeIndex;
b3Vector3 planeNormal = world->m_planeFaces[planeFaceIndex].m_plane;
b3Scalar planeConstant = planeNormal[3];
planeNormal[3] = 0.f;
ComputeClosestPointsPlaneSphere(planeNormal, planeConstant, spherePosAWorld, world->m_childShapes[shapeIndexA].m_radius, contactCache);
}
B3_FORCE_INLINE void detectCollisionSphereSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
plContactCache* contactCache)
{
const b3Scalar radiusA = world->m_childShapes[shapeIndexA].m_radius;
const b3Scalar radiusB = world->m_childShapes[shapeIndexB].m_radius;
const b3Transform& trA = world->m_collidableTransforms[colA];
const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
b3Vector3 spherePosAWorld = trA(sphereALocalPos);
//b3Vector3 spherePosAWorld = b3QuatRotate( world->m_collidableOrientations[colA], sphereALocalPos ) + (world->m_collidablePositions[colA]);
const b3Transform& trB = world->m_collidableTransforms[colB];
const b3Vector3& sphereBLocalPos = world->m_childShapes[shapeIndexB].m_childPosition;
b3Vector3 spherePosBWorld = trB(sphereBLocalPos);
//b3Vector3 spherePosBWorld = b3QuatRotate( world->m_collidableOrientations[colB], sphereBLocalPos ) + (world->m_collidablePositions[colB]);
ComputeClosestPointsSphereSphere(radiusA, spherePosAWorld, radiusB, spherePosBWorld, contactCache);
}
PfxInt32 BulletSetupContactConstraints(PfxSetupContactConstraintsParam ¶m)
{
// PfxInt32 ret = pfxCheckParamOfSetupContactConstraints(param);
//if(ret != SCE_PFX_OK) return ret;
SCE_PFX_PUSH_MARKER("pfxSetupContactConstraints");
PfxConstraintPair *contactPairs = param.contactPairs;
PfxUInt32 numContactPairs = param.numContactPairs;
PfxContactManifold *offsetContactManifolds = param.offsetContactManifolds;
PfxRigidState *offsetRigidStates = param.offsetRigidStates;
PfxRigidBody *offsetRigidBodies = param.offsetRigidBodies;
PfxSolverBody *offsetSolverBodies = param.offsetSolverBodies;
manifolds.resize(0);
for(PfxUInt32 i=0;i<numContactPairs;i++) {
PfxConstraintPair &pair = contactPairs[i];
// if(!sce::PhysicsEffects::pfxCheckSolver(pair)) {
// continue;
//}
PfxUInt16 iA = pfxGetObjectIdA(pair);
PfxUInt16 iB = pfxGetObjectIdB(pair);
PfxUInt32 iConstraint = pfxGetConstraintId(pair);
PfxContactManifold &contact = offsetContactManifolds[iConstraint];
btPersistentManifold& manifold = manifolds.expand();
memset(&manifold,0xff,sizeof(btPersistentManifold));
manifold.m_body0 = &rbs[iA];
manifold.m_body1 = &rbs[iB];
manifold.m_cachedPoints = contact.getNumContacts();
if (!contact.getNumContacts())
continue;
SCE_PFX_ALWAYS_ASSERT(iA==contact.getRigidBodyIdA());
SCE_PFX_ALWAYS_ASSERT(iB==contact.getRigidBodyIdB());
PfxRigidState &stateA = offsetRigidStates[iA];
PfxRigidBody &bodyA = offsetRigidBodies[iA];
PfxSolverBody &solverBodyA = offsetSolverBodies[iA];
PfxRigidState &stateB = offsetRigidStates[iB];
PfxRigidBody &bodyB = offsetRigidBodies[iB];
PfxSolverBody &solverBodyB = offsetSolverBodies[iB];
contact.setInternalFlag(0);
PfxFloat restitution = 0.5f * (bodyA.getRestitution() + bodyB.getRestitution());
if(contact.getDuration() > 1) restitution = 0.0f;
PfxFloat friction = sqrtf(bodyA.getFriction() * bodyB.getFriction());
manifold.m_cachedPoints = contact.getNumContacts();
manifold.m_contactProcessingThreshold = 0.01f;//SCE_PFX_CONTACT_THRESHOLD_NORMAL;
manifold.m_contactBreakingThreshold = 0.01f;
for(int j=0;j<contact.getNumContacts();j++) {
PfxContactPoint &cp = contact.getContactPoint(j);
PfxVector3 ptA = pfxReadVector3(cp.m_localPointA);
manifold.m_pointCache[j].m_localPointA.setValue(ptA.getX(),ptA.getY(),ptA.getZ());
PfxVector3 ptB = pfxReadVector3(cp.m_localPointB);
manifold.m_pointCache[j].m_localPointB.setValue(ptB.getX(),ptB.getY(),ptB.getZ());
manifold.m_pointCache[j].m_normalWorldOnB.setValue(
cp.m_constraintRow[0].m_normal[0],
cp.m_constraintRow[0].m_normal[1],
cp.m_constraintRow[0].m_normal[2]);
manifold.m_pointCache[j].m_distance1 = cp.m_distance1;
manifold.m_pointCache[j].m_combinedFriction = friction;
manifold.m_pointCache[j].m_combinedRestitution = restitution;
manifold.m_pointCache[j].m_appliedImpulse = cp.m_constraintRow[0].m_accumImpulse;
manifold.m_pointCache[j].m_lateralFrictionDir1.setValue(
cp.m_constraintRow[1].m_normal[0],
cp.m_constraintRow[1].m_normal[1],
cp.m_constraintRow[1].m_normal[2]);
manifold.m_pointCache[j].m_appliedImpulseLateral1 = cp.m_constraintRow[1].m_accumImpulse;
manifold.m_pointCache[j].m_lateralFrictionDir2.setValue(
cp.m_constraintRow[2].m_normal[0],
cp.m_constraintRow[2].m_normal[1],
cp.m_constraintRow[2].m_normal[2]);
manifold.m_pointCache[j].m_appliedImpulseLateral2 = cp.m_constraintRow[2].m_accumImpulse;
manifold.m_pointCache[j].m_lateralFrictionInitialized = true;
manifold.m_pointCache[j].m_lifeTime = cp.m_duration;
btTransform trA = manifold.m_body0->getWorldTransform();
btTransform trB = manifold.m_body1->getWorldTransform();
manifold.m_pointCache[j].m_positionWorldOnA = trA( manifold.m_pointCache[j].m_localPointA );
manifold.m_pointCache[j].m_positionWorldOnB = trB( manifold.m_pointCache[j].m_localPointB );
//btVector3 m_localPointA;
//btVector3 m_localPointB;
//btVector3 m_positionWorldOnB;
//m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
//btVector3 m_positionWorldOnA;
/*
pfxSetupContactConstraint(
cp.m_constraintRow[0],
cp.m_constraintRow[1],
cp.m_constraintRow[2],
cp.m_distance,
restitution,
friction,
pfxReadVector3(cp.m_constraintRow[0].m_normal),
pfxReadVector3(cp.m_localPointA),
pfxReadVector3(cp.m_localPointB),
stateA,
stateB,
solverBodyA,
solverBodyB,
param.separateBias,
param.timeStep
);
*/
}
contact.setCompositeFriction(friction);
}
SCE_PFX_POP_MARKER();
return SCE_PFX_OK;
}
