void dCustomHinge::SubmitConstraintsFrictionAndLimit(const dMatrix& matrix0, const dMatrix& matrix1, dFloat timestep)
{
dFloat angle = GetPitch();
if (angle < m_minAngle) {
dFloat relAngle = m_minAngle - angle;
NewtonUserJointAddAngularRow(m_joint, relAngle, &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_friction);
// m_lastRowWasUsed = true;
} else if (angle > m_maxAngle) {
dFloat relAngle = m_maxAngle - angle;
NewtonUserJointAddAngularRow(m_joint, relAngle, &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMaximumFriction(m_joint, m_friction);
// m_lastRowWasUsed = true;
} else {
// friction but not limits
dFloat alpha = m_jointOmega / timestep;
NewtonUserJointAddAngularRow(m_joint, 0, &matrix1.m_front[0]);
NewtonUserJointSetRowAcceleration(m_joint, -alpha);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_friction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_friction);
// m_lastRowWasUsed = true;
}
}
void dCustomCorkScrew::SubmitConstraintLimitSpringDamper(const dMatrix& matrix0, const dMatrix& matrix1, dFloat timestep)
{
dFloat angle = m_curJointAngle.GetAngle() + m_angularOmega * timestep;
if (angle < m_minAngle) {
NewtonUserJointAddAngularRow(m_joint, 0.0f, &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_angularFriction);
const dFloat invtimestep = 1.0f / timestep;
const dFloat speed = 0.5f * (m_minAngle - m_curJointAngle.GetAngle()) * invtimestep;
const dFloat springAccel = NewtonCalculateSpringDamperAcceleration(timestep, m_angularSpring, m_curJointAngle.GetAngle(), m_angularDamper, m_angularOmega);
const dFloat stopAccel = NewtonUserJointCalculateRowZeroAccelaration(m_joint) + speed * invtimestep + springAccel;
NewtonUserJointSetRowAcceleration(m_joint, stopAccel);
} else if (angle > m_maxAngle) {
NewtonUserJointAddAngularRow(m_joint, 0.0f, &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMaximumFriction(m_joint, m_angularFriction);
const dFloat invtimestep = 1.0f / timestep;
const dFloat speed = 0.5f * (m_maxAngle - m_curJointAngle.GetAngle()) * invtimestep;
const dFloat springAccel = NewtonCalculateSpringDamperAcceleration(timestep, m_angularSpring, m_curJointAngle.GetAngle(), m_angularDamper, m_angularOmega);
const dFloat stopAccel = NewtonUserJointCalculateRowZeroAccelaration(m_joint) + speed * invtimestep + springAccel;
NewtonUserJointSetRowAcceleration(m_joint, stopAccel);
} else {
dCustomCorkScrew::SubmitConstraintSpringDamper(matrix0, matrix1, timestep);
}
}
void dCustomBallAndSocket::SubmitConstraintTwistLimits(const dMatrix& matrix0, const dMatrix& matrix1, const dVector& relOmega, dFloat timestep)
{
dFloat jointOmega = relOmega.DotProduct3(matrix0.m_front);
dFloat twistAngle = m_twistAngle.GetAngle() + jointOmega * timestep;
if (twistAngle < m_minTwistAngle) {
NewtonUserJointAddAngularRow(m_joint, 0.0f, &matrix0.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_twistFriction);
const dFloat invtimestep = 1.0f / timestep;
const dFloat speed = 0.5f * (m_minTwistAngle - m_twistAngle.GetAngle()) * invtimestep;
const dFloat stopAccel = NewtonUserJointCalculateRowZeroAccelaration(m_joint) + speed * invtimestep;
NewtonUserJointSetRowAcceleration(m_joint, stopAccel);
} else if (twistAngle > m_maxTwistAngle) {
NewtonUserJointAddAngularRow(m_joint, 0.0f, &matrix0.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMaximumFriction(m_joint, m_twistFriction);
const dFloat invtimestep = 1.0f / timestep;
const dFloat speed = 0.5f * (m_maxTwistAngle - m_twistAngle.GetAngle()) * invtimestep;
const dFloat stopAccel = NewtonUserJointCalculateRowZeroAccelaration(m_joint) + speed * invtimestep;
NewtonUserJointSetRowAcceleration(m_joint, stopAccel);
} else if (m_twistFriction > 0.0f) {
NewtonUserJointAddAngularRow(m_joint, 0, &matrix0.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
dFloat accel = NewtonUserJointCalculateRowZeroAccelaration(m_joint);
NewtonUserJointSetRowAcceleration(m_joint, accel);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_twistFriction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_twistFriction);
}
}
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
dVector p0(matrix0.m_posit);
dVector p1(matrix1.m_posit + matrix1.m_front.Scale((p0 - matrix1.m_posit) % matrix1.m_front));
NewtonUserJointAddLinearRow (m_joint, &p0[0], &p1[0], &matrix1.m_up[0]);
NewtonUserJointAddLinearRow (m_joint, &p0[0], &p1[0], &matrix1.m_right[0]);
// three rows to restrict rotation around around the parent coordinate system
NewtonUserJointAddAngularRow(m_joint, CalculateAngle (matrix0.m_up, matrix1.m_up, matrix1.m_front), &matrix1.m_front[0]);
NewtonUserJointAddAngularRow(m_joint, CalculateAngle (matrix0.m_front, matrix1.m_front, matrix1.m_up), &matrix1.m_up[0]);
NewtonUserJointAddAngularRow(m_joint, CalculateAngle (matrix0.m_front, matrix1.m_front, matrix1.m_right), &matrix1.m_right[0]);
// calculate position and speed
dVector veloc0(0.0f);
dVector veloc1(0.0f);
dAssert (m_body0);
NewtonBodyGetPointVelocity(m_body0, &matrix0.m_posit[0], &veloc0[0]);
if (m_body1) {
NewtonBodyGetPointVelocity(m_body1, &matrix1.m_posit[0], &veloc1[0]);
}
m_posit = (matrix0.m_posit - matrix1.m_posit) % matrix1.m_front;
m_speed = (veloc0 - veloc1) % matrix1.m_front;
m_lastRowWasUsed = false;
SubmitConstraintsFreeDof (timestep, matrix0, matrix1);
}
void dCustomUpVector::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);
// if the body ha rotated by some amount, the there will be a plane of rotation
dVector lateralDir (matrix0.m_front.CrossProduct(matrix1.m_front));
dFloat mag = lateralDir.DotProduct3(lateralDir);
if (mag > 1.0e-6f) {
// if the side vector is not zero, it means the body has rotated
mag = dSqrt (mag);
lateralDir = lateralDir.Scale (1.0f / mag);
dFloat angle = dAsin (mag);
// add an angular constraint to correct the error angle
NewtonUserJointAddAngularRow (m_joint, angle, &lateralDir[0]);
// in theory only one correction is needed, but this produces instability as the body may move sideway.
// a lateral correction prevent this from happening.
dVector frontDir (lateralDir.CrossProduct(matrix1.m_front));
NewtonUserJointAddAngularRow (m_joint, 0.0f, &frontDir[0]);
} else {
// if the angle error is very small then two angular correction along the plane axis do the trick
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_up[0]);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_right[0]);
}
}
// rolling friction works as follow: the idealization of the contact of a spherical object
// with a another surface is a point that pass by the center of the sphere.
// in most cases this is enough to model the collision but in insufficient for modeling
// the rolling friction. In reality contact with the sphere with the other surface is not
// a point but a contact patch. A contact patch has the property the it generates a fix
// constant rolling torque that opposes the movement of the sphere.
// we can model this torque by adding a clamped torque aligned to the instantaneously axis
// of rotation of the ball. and with a magnitude of the stopping angular acceleration.
void CustomDryRollingFriction::SubmitConstrainst (dFloat timestep, int threadIndex)
{
dVector omega;
dFloat omegaMag;
dFloat torqueFriction;
// get the omega vector
NewtonBodyGetOmega(m_body0, &omega[0]);
omegaMag = dSqrt (omega % omega);
if (omegaMag > 0.1f) {
// tell newton to used this the friction of the omega vector to apply the rolling friction
dVector pin (omega.Scale (1.0f / omegaMag));
NewtonUserJointAddAngularRow (m_joint, 0.0f, &pin[0]);
// calculate the acceleration to stop the ball in one time step
NewtonUserJointSetRowAcceleration (m_joint, -omegaMag / timestep);
// set the friction limit proportional the sphere Inertia
torqueFriction = m_frictionTorque * m_frictionCoef;
NewtonUserJointSetRowMinimumFriction (m_joint, -torqueFriction);
NewtonUserJointSetRowMaximumFriction (m_joint, torqueFriction);
} else {
// when omega is too low sheath a little bit and damp the omega directly
omega = omega.Scale (0.2f);
NewtonBodySetOmega(m_body0, &omega[0]);
}
}
void dCustomCorkScrew::SubmitAngularRow(const dMatrix& matrix0, const dMatrix& matrix1, dFloat timestep)
{
const dFloat angleError = GetMaxAngleError();
dFloat angle0 = CalculateAngle(matrix0.m_front, matrix1.m_front, matrix1.m_up);
NewtonUserJointAddAngularRow(m_joint, angle0, &matrix1.m_up[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
if (dAbs(angle0) > angleError) {
const dFloat alpha = NewtonUserJointCalculateRowZeroAcceleration(m_joint) + dFloat(0.25f) * angle0 / (timestep * timestep);
NewtonUserJointSetRowAcceleration(m_joint, alpha);
}
dFloat angle1 = CalculateAngle(matrix0.m_front, matrix1.m_front, matrix1.m_right);
NewtonUserJointAddAngularRow(m_joint, angle1, &matrix1.m_right[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
if (dAbs(angle1) > angleError) {
const dFloat alpha = NewtonUserJointCalculateRowZeroAcceleration(m_joint) + dFloat(0.25f) * angle1 / (timestep * timestep);
NewtonUserJointSetRowAcceleration(m_joint, alpha);
}
// the joint angle can be determined by getting the angle between any two non parallel vectors
m_curJointAngle.Update(-CalculateAngle(matrix0.m_up, matrix1.m_up, matrix1.m_front));
// save the current joint Omega
dVector omega0(0.0f);
dVector omega1(0.0f);
NewtonBodyGetOmega(m_body0, &omega0[0]);
if (m_body1) {
NewtonBodyGetOmega(m_body1, &omega1[0]);
}
m_angularOmega = (omega0 - omega1).DotProduct3(matrix1.m_front);
if (m_options.m_option2) {
if (m_options.m_option3) {
dCustomCorkScrew::SubmitConstraintLimitSpringDamper(matrix0, matrix1, timestep);
} else {
dCustomCorkScrew::SubmitConstraintLimits(matrix0, matrix1, timestep);
}
} else if (m_options.m_option3) {
dCustomCorkScrew::SubmitConstraintSpringDamper(matrix0, matrix1, timestep);
} else if (m_angularFriction != 0.0f) {
NewtonUserJointAddAngularRow(m_joint, 0, &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowAcceleration(m_joint, -m_angularOmega / timestep);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_angularFriction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_angularFriction);
}
}
void SubmitConstraints(dFloat timestep, int threadIndex)
{
CustomBallAndSocket::SubmitConstraints(timestep, threadIndex);
float invTimestep = 1.0f / timestep;
dMatrix matrix0;
dMatrix matrix1;
CalculateGlobalMatrix(matrix0, matrix1);
if (m_anim_speed != 0.0f) // some animation to illustrate purpose
{
m_anim_time += timestep * m_anim_speed;
float a0 = sin(m_anim_time);
float a1 = m_anim_offset * 3.14f;
dVector axis(sin(a1), 0.0f, cos(a1));
//dVector axis (1,0,0);
m_target = dQuaternion(axis, a0 * 0.5f);
}
// measure error
dQuaternion q0(matrix0);
dQuaternion q1(matrix1);
dQuaternion qt0 = m_target * q1;
dQuaternion qErr = ((q0.DotProduct(qt0) < 0.0f) ? dQuaternion(-q0.m_q0, q0.m_q1, q0.m_q2, q0.m_q3) : dQuaternion(q0.m_q0, -q0.m_q1, -q0.m_q2, -q0.m_q3)) * qt0;
float errorAngle = 2.0f * acos(dMax(-1.0f, dMin(1.0f, qErr.m_q0)));
dVector errorAngVel(0, 0, 0);
dMatrix basis;
if (errorAngle > 1.0e-10f) {
dVector errorAxis(qErr.m_q1, qErr.m_q2, qErr.m_q3, 0.0f);
errorAxis = errorAxis.Scale(1.0f / dSqrt(errorAxis % errorAxis));
errorAngVel = errorAxis.Scale(errorAngle * invTimestep);
basis = dGrammSchmidt(errorAxis);
} else {
basis = dMatrix(qt0, dVector(0.0f, 0.0f, 0.0f, 1.0f));
}
dVector angVel0, angVel1;
NewtonBodyGetOmega(m_body0, (float*)&angVel0);
NewtonBodyGetOmega(m_body1, (float*)&angVel1);
dVector angAcc = (errorAngVel.Scale(m_reduceError) - (angVel0 - angVel1)).Scale(invTimestep);
// motor
for (int n = 0; n < 3; n++) {
// calculate the desired acceleration
dVector &axis = basis[n];
float relAccel = angAcc % axis;
NewtonUserJointAddAngularRow(m_joint, 0.0f, &axis[0]);
NewtonUserJointSetRowAcceleration(m_joint, relAccel);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_angularFriction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_angularFriction);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
}
}
void dCustomHinge::SubmitConstraintsLimitsOnly(const dMatrix& matrix0, const dMatrix& matrix1, dFloat timestep)
{
dFloat angle = GetPitch();
if (angle < m_minAngle) {
dFloat relAngle = m_minAngle - angle;
NewtonUserJointAddAngularRow(m_joint, relAngle, &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMinimumFriction(m_joint, 0.0f);
// m_lastRowWasUsed = true;
} else if (angle > m_maxAngle) {
dFloat relAngle = m_maxAngle - angle;
NewtonUserJointAddAngularRow(m_joint, relAngle, &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMaximumFriction(m_joint, 0.0f);
// m_lastRowWasUsed = true;
}
}
void dCustomHinge::SubmitConstraintsFrictionOnly(const dMatrix& matrix0, const dMatrix& matrix1, dFloat timestep)
{
dFloat alpha = m_jointOmega / timestep;
NewtonUserJointAddAngularRow(m_joint, 0, &matrix1.m_front[0]);
NewtonUserJointSetRowAcceleration(m_joint, -alpha);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_friction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_friction);
}
void dCustomHinge::SubmitConstraints(dFloat timestep, int threadIndex)
{
dMatrix matrix0;
dMatrix matrix1;
dFloat sinAngle;
dFloat cosAngle;
// 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 tree orthonormal direction
NewtonUserJointAddLinearRow(m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointAddLinearRow(m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_up[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointAddLinearRow(m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_right[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
// two rows to restrict rotation around around the parent coordinate system
NewtonUserJointAddAngularRow(m_joint, CalculateAngle(matrix0.m_front, matrix1.m_front, matrix1.m_up), &matrix1.m_up[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointAddAngularRow(m_joint, CalculateAngle(matrix0.m_front, matrix1.m_front, matrix1.m_right), &matrix1.m_right[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
// the joint angle can be determined by getting the angle between any two non parallel vectors
CalculateAngle (matrix1.m_up, matrix0.m_up, matrix1.m_front, sinAngle, cosAngle);
m_curJointAngle.Update(cosAngle, sinAngle);
// save the current joint Omega
dVector omega0(0.0f);
dVector omega1(0.0f);
NewtonBodyGetOmega(m_body0, &omega0[0]);
if (m_body1) {
NewtonBodyGetOmega(m_body1, &omega1[0]);
}
m_jointOmega = (omega0 - omega1).DotProduct3(matrix1.m_front);
m_lastRowWasUsed = false;
if (m_setAsSpringDamper) {
ApplySpringDamper (timestep, matrix0, matrix1);
} else {
SubmitConstraintsFreeDof (timestep, matrix0, matrix1);
}
}
void dCustomCorkScrew::SubmitAngularRow(const dMatrix& matrix0, const dMatrix& matrix1, dFloat timestep)
{
dMatrix localMatrix(matrix0 * matrix1.Inverse());
dVector euler0;
dVector euler1;
localMatrix.GetEulerAngles(euler0, euler1, m_pitchRollYaw);
dVector rollPin(dSin(euler0[1]), dFloat(0.0f), dCos(euler0[1]), dFloat(0.0f));
rollPin = matrix1.RotateVector(rollPin);
NewtonUserJointAddAngularRow(m_joint, -euler0[1], &matrix1[1][0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointAddAngularRow(m_joint, -euler0[2], &rollPin[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
// the joint angle can be determined by getting the angle between any two non parallel vectors
m_curJointAngle.Update(euler0.m_x);
// save the current joint Omega
dVector omega0(0.0f);
dVector omega1(0.0f);
NewtonBodyGetOmega(m_body0, &omega0[0]);
if (m_body1) {
NewtonBodyGetOmega(m_body1, &omega1[0]);
}
m_angularOmega = (omega0 - omega1).DotProduct3(matrix1.m_front);
if (m_options.m_option2) {
if (m_options.m_option3) {
dCustomCorkScrew::SubmitConstraintLimitSpringDamper(matrix0, matrix1, timestep);
} else {
dCustomCorkScrew::SubmitConstraintLimits(matrix0, matrix1, timestep);
}
} else if (m_options.m_option3) {
dCustomCorkScrew::SubmitConstraintSpringDamper(matrix0, matrix1, timestep);
} else if (m_angularFriction != 0.0f) {
NewtonUserJointAddAngularRow(m_joint, 0, &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, m_stiffness);
NewtonUserJointSetRowAcceleration(m_joint, -m_angularOmega / timestep);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_angularFriction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_angularFriction);
}
}
void CustomHinge::SubmitConstrainst ()
{
dFloat angle;
dFloat sinAngle;
dFloat cosAngle;
dMatrix matrix0;
dMatrix matrix1;
// calculate the position of the pivot point and the jacobian direction vectors, in global space.
CalculateGlobalMatrix (m_localMatrix0, m_localMatrix1, matrix0, matrix1);
// Restrict the movemenet on the pivot point along all tree orthonormal direction
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix0.m_front[0]);
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix0.m_up[0]);
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix0.m_right[0]);
// get a point along the pin axis at some resonable large distance from the pivot
dVector q0 (matrix0.m_posit + matrix0.m_front.Scale(MIN_JOINT_PIN_LENGTH));
dVector q1 (matrix1.m_posit + matrix1.m_front.Scale(MIN_JOINT_PIN_LENGTH));
// two contraints row perpendicular to the pin vector
NewtonUserJointAddLinearRow (m_joint, &q0[0], &q1[0], &matrix0.m_up[0]);
NewtonUserJointAddLinearRow (m_joint, &q0[0], &q1[0], &matrix0.m_right[0]);
// if limit are enable ...
if (m_limitsOn) {
// the joint angle can be determine by getting the angle between any two non parallel vectors
sinAngle = (matrix0.m_up * matrix1.m_up) % matrix0.m_front;
cosAngle = matrix0.m_up % matrix1.m_up;
angle = atan2f (sinAngle, cosAngle);
if (angle < m_minAngle) {
// get a point along the up vector and set a constraint
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_front[0]);
NewtonUserJointSetRowMaximunFriction (m_joint, 0.0f);
} else if (angle > m_maxAngle) {
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_front[0]);
NewtonUserJointSetRowMinimunFriction (m_joint, 0.0f);
}
}
}
void CustomUniversalActuator::SubmitConstraints (dFloat timestep, int threadIndex)
{
CustomUniversal::SubmitConstraints (timestep, threadIndex);
if (m_flag0 | m_flag1){
dMatrix matrix0;
dMatrix matrix1;
CalculateGlobalMatrix (matrix0, matrix1);
if (m_flag0) {
dFloat jointAngle = GetJointAngle_0();
dFloat relAngle = jointAngle - m_angle0;
NewtonUserJointAddAngularRow (m_joint, -relAngle, &matrix0.m_front[0]);
dFloat step = m_angularRate0 * timestep;
if (dAbs (relAngle) > 2.0f * dAbs (step)) {
dFloat desiredSpeed = dSign(relAngle) * m_angularRate0;
dFloat currentSpeed = GetJointOmega_0 ();
dFloat accel = (desiredSpeed - currentSpeed) / timestep;
NewtonUserJointSetRowAcceleration (m_joint, accel);
}
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxForce0);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxForce0);
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
}
if (m_flag1) {
dFloat jointAngle = GetJointAngle_1();
dFloat relAngle = jointAngle - m_angle1;
NewtonUserJointAddAngularRow (m_joint, -relAngle, &matrix1.m_up[0]);
dFloat step = m_angularRate1 * timestep;
if (dAbs (relAngle) > 2.0f * dAbs (step)) {
dFloat desiredSpeed = dSign(relAngle) * m_angularRate1;
dFloat currentSpeed = GetJointOmega_1 ();
dFloat accel = (desiredSpeed - currentSpeed) / timestep;
NewtonUserJointSetRowAcceleration (m_joint, accel);
}
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxForce1);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxForce1);
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
}
}
}
void CustomBallAndSocketWithFriction::SubmitConstraints(dFloat timestep, int threadIndex)
{
CustomBallAndSocket::SubmitConstraints(timestep, threadIndex);
dVector omega0(0.0f, 0.0f, 0.0f, 0.0f);
dVector omega1(0.0f, 0.0f, 0.0f, 0.0f);
// get the omega vector
NewtonBodyGetOmega(m_body0, &omega0[0]);
if (m_body1) {
NewtonBodyGetOmega(m_body1, &omega1[0]);
}
dVector relOmega(omega0 - omega1);
dFloat omegaMag = dSqrt(relOmega % relOmega);
if (omegaMag > 0.1f) {
// tell newton to used this the friction of the omega vector to apply the rolling friction
dMatrix basis(dGrammSchmidt(relOmega));
NewtonUserJointAddAngularRow(m_joint, 0.0f, &basis[2][0]);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_dryFriction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_dryFriction);
NewtonUserJointAddAngularRow(m_joint, 0.0f, &basis[1][0]);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_dryFriction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_dryFriction);
// calculate the acceleration to stop the ball in one time step
dFloat invTimestep = (timestep > 0.0f) ? 1.0f / timestep : 1.0f;
NewtonUserJointAddAngularRow(m_joint, 0.0f, &basis[0][0]);
NewtonUserJointSetRowAcceleration(m_joint, -omegaMag * invTimestep);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_dryFriction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_dryFriction);
} else {
// when omega is too low this is correct but the small angle approximation theorem.
dMatrix basis(dGetIdentityMatrix());
for (int i = 0; i < 3; i++) {
NewtonUserJointAddAngularRow(m_joint, 0.0f, &basis[i][0]);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_dryFriction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_dryFriction);
}
}
}
void PhyFixed::updateJoint(real timestep)
{
// If the joint is disabled, we don't do anything here
if (!m_shared->enabled) {
return;
}
// Updating the global matrices and the dof
updateJointInfo();
#ifdef WORLDSIM_USE_NEWTON
UNUSED_PARAM( timestep );
//--- Restrict the movement on the centre of the joint along all tree orthonormal direction
NewtonUserJointAddLinearRow( m_priv->joint, &m_shared->globalMatrixChild.w_pos[0], &m_shared->globalMatrixParent.w_pos[0], &m_shared->globalMatrixParent.x_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0f );
NewtonUserJointAddLinearRow( m_priv->joint, &m_shared->globalMatrixChild.w_pos[0], &m_shared->globalMatrixParent.w_pos[0], &m_shared->globalMatrixParent.y_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0f );
NewtonUserJointAddLinearRow( m_priv->joint, &m_shared->globalMatrixChild.w_pos[0], &m_shared->globalMatrixParent.w_pos[0], &m_shared->globalMatrixParent.z_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0f );
//--- In order to constraint the rotation about X and Y axis of the joint
//--- we use LinearRow (that are stronger) getting a point far from objects along
//--- the Z axis. Doing this if the two object rotates about X or Y axes then
//--- the difference between qChild and qParent augments and then Newton Engine will apply
//--- a corresponding force (that applyied outside the centre of the object will become
//--- a torque) that will blocks any rotation about X and Y axis
real len = 5000.0;
wVector qChild( m_shared->globalMatrixChild.w_pos + m_shared->globalMatrixChild.z_ax.scale(len) );
wVector qParent( m_shared->globalMatrixParent.w_pos + m_shared->globalMatrixParent.z_ax.scale(len) );
NewtonUserJointAddLinearRow( m_priv->joint, &qChild[0], &qParent[0], &m_shared->globalMatrixParent.x_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0 );
NewtonUserJointAddLinearRow( m_priv->joint, &qChild[0], &qParent[0], &m_shared->globalMatrixParent.y_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0 );
NewtonUserJointAddAngularRow( m_priv->joint, 0.0f, &m_shared->globalMatrixParent.z_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0f );
//--- In order to do the same with third axis (Z), I need others point along different axis
/* qChild = wVector( m_shared->globalMatrixChild.w_pos + m_shared->globalMatrixChild.y_ax.scale(len) );
qParent = wVector( m_shared->globalMatrixParent.w_pos + m_shared->globalMatrixParent.y_ax.scale(len) );
NewtonUserJointAddLinearRow( m_priv->joint, &qChild[0], &qParent[0], &m_shared->globalMatrixParent.z_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0 );*/
//--- Retrive forces applied to the joint by the constraints
Shared* const d = m_shared.getModifiableShared();
d->forceOnJoint.x = NewtonUserJointGetRowForce (m_priv->joint, 0);
d->forceOnJoint.y = NewtonUserJointGetRowForce (m_priv->joint, 1);
d->forceOnJoint.z = NewtonUserJointGetRowForce (m_priv->joint, 2);
#endif
}
void dCustomHingeActuator::SubmitConstraintsFreeDof (dFloat timestep, const dMatrix& matrix0, const dMatrix& matrix1)
{
if (m_actuatorFlag) {
dFloat jointangle = GetActuatorAngle();
dFloat relAngle = jointangle - m_angle;
dFloat currentSpeed = GetJointOmega();
dFloat step = dFloat(2.0f) * m_angularRate * timestep;
dFloat desiredSpeed = (dAbs(relAngle) > dAbs(step)) ? -dSign(relAngle) * m_angularRate : -dFloat(0.1f) * relAngle / timestep;
dFloat accel = (desiredSpeed - currentSpeed) / timestep;
NewtonUserJointAddAngularRow(m_joint, relAngle, &matrix0.m_front[0]);
NewtonUserJointSetRowAcceleration(m_joint, accel);
NewtonUserJointSetRowMinimumFriction (m_joint, -m_maxForce);
NewtonUserJointSetRowMaximumFriction (m_joint, m_maxForce);
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
} else {
dCustomHinge::SubmitConstraintsFreeDof (timestep, matrix0, matrix1);
}
}
void dCustomTireSpringDG::TireBreakAction(NewtonBody* const attBody, dFloat steptime)
{
dMatrix tireMatrix;
//
NewtonBodyGetMatrix(attBody, &tireMatrix[0][0]);
//
if ((mUseBreak) || (mUseHardBreak)) {
if (dAbs(mBrakeTorque) > VEHICLE_BREAK_CHECK) {
NewtonUserJointAddAngularRow(m_joint, 0.0, &tireMatrix.m_front[0]);
//dFloat relOmega = mRealOmega / steptime;
// D.G: I get a error when I enable this newton function.
// D.G: Maybe my mRealOmega calcul is wrong.
// D.G: The error happen at the begin if you break or randomly, most of time the vehicle is in air when it happen.
// D.G: I'm not sure if the function is really needed here.
//NewtonUserJointSetRowAcceleration(m_joint, relOmega);
//
NewtonUserJointSetRowMinimumFriction(m_joint, -mBrakeTorque);
NewtonUserJointSetRowMaximumFriction(m_joint, mBrakeTorque);
}
mBrakeTorque = 0.0;
}
}
void dCustomHinge::SubmitConstraintsFreeDof(int freeDof, const dMatrix& matrix0, const dMatrix& matrix1, dFloat timestep, int threadIndex)
{
dAssert (freeDof == 1);
dVector omega0(0.0f);
dVector omega1(0.0f);
NewtonBodyGetOmega(m_body0, &omega0[0]);
if (m_body1) {
NewtonBodyGetOmega(m_body1, &omega1[0]);
}
m_jointOmega = (omega0 - omega1).DotProduct3(matrix1.m_front);
//m_friction = 0;
//m_limitsOn = false;
//m_setAsSpringDamper = 1;
//m_spring = 1000;
//m_damper = 10.0f;
//m_springDamperRelaxation = 0.97f;
if (m_setAsSpringDamper) {
//m_lastRowWasUsed = true;
NewtonUserJointAddAngularRow(m_joint, -GetPitch(), &matrix0.m_front[0]);
NewtonUserJointSetRowSpringDamperAcceleration(m_joint, m_springDamperRelaxation, m_spring, m_damper);
} else {
if (m_limitsOn) {
if (m_friction != 0.0f) {
SubmitConstraintsFrictionAndLimit(matrix0, matrix1, timestep);
} else {
SubmitConstraintsLimitsOnly(matrix0, matrix1, timestep);
}
} else {
if (m_friction != 0.0f) {
SubmitConstraintsFrictionOnly(matrix0, matrix1, timestep);
}
}
}
}
void CustomCorkScrew::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], &matrix0.m_up[0]);
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix0.m_right[0]);
// two rows to restrict rotation around around the parent coordinate system
dFloat sinAngle;
dFloat cosAngle;
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]);
// if limit are enable ...
if (m_limitsLinearOn) {
dFloat dist = (matrix0.m_posit - matrix1.m_posit) % matrix0.m_front;
if (dist < m_minLinearDist) {
// get a point along the up vector and set a constraint
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &matrix0.m_posit[0], &matrix0.m_front[0]);
// allow the object to return but not to kick going forward
NewtonUserJointSetRowMinimumFriction (m_joint, 0.0f);
} else if (dist > m_maxLinearDist) {
// get a point along the up vector and set a constraint
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &matrix0.m_posit[0], &matrix0.m_front[0]);
// allow the object to return but not to kick going forward
NewtonUserJointSetRowMaximumFriction (m_joint, 0.0f);
}
}
CalculatePitchAngle (matrix0, matrix1, sinAngle, cosAngle);
dFloat angle = -m_curJointAngle.Update (cosAngle, sinAngle);
if (m_limitsAngularOn) {
// the joint angle can be determine by getting the angle between any two non parallel vectors
if (angle < m_minAngularDist) {
dFloat relAngle = angle - m_minAngularDist;
// the angle was clipped save the new clip limit
//m_curJointAngle.m_angle = m_minAngularDist;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix0.m_front[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMaximumFriction (m_joint, 0.0f);
} else if (angle > m_maxAngularDist) {
dFloat relAngle = angle - m_maxAngularDist;
// the angle was clipped save the new clip limit
//m_curJointAngle.m_angle = m_maxAngularDist;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix0.m_front[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMinimumFriction (m_joint, 0.0f);
}
}
if (m_angularmotorOn) {
dVector omega0 (0.0f, 0.0f, 0.0f);
dVector omega1 (0.0f, 0.0f, 0.0f);
// get relative angular velocity
NewtonBodyGetOmega(m_body0, &omega0[0]);
if (m_body1) {
NewtonBodyGetOmega(m_body1, &omega1[0]);
}
// calculate the desired acceleration
dFloat relOmega = (omega0 - omega1) % matrix0.m_front;
dFloat relAccel = m_angularAccel - m_angularDamp * relOmega;
// if the motor capability is on, then set angular acceleration with zero angular correction
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_front[0]);
// override the angular acceleration for this Jacobian to the desired acceleration
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
}
}
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 MSP::BallAndSocket::submit_constraints(const NewtonJoint* joint, dFloat timestep, int thread_index) {
MSP::Joint::JointData* joint_data = reinterpret_cast<MSP::Joint::JointData*>(NewtonJointGetUserData(joint));
BallAndSocketData* cj_data = reinterpret_cast<BallAndSocketData*>(joint_data->m_cj_data);
dFloat inv_timestep = 1.0f / timestep;
// Calculate the position of the pivot point and the Jacobian direction vectors, in global space.
dMatrix matrix0, matrix1;
MSP::Joint::c_calculate_global_matrix(joint_data, matrix0, matrix1);
dFloat last_cone_angle = cj_data->m_cur_cone_angle;
// Calculate current cone angle
dFloat cur_cone_angle_cos = matrix0.m_right.DotProduct3(matrix1.m_right);
cj_data->m_cur_cone_angle = dAcos(Util::clamp_float(cur_cone_angle_cos, -1.0f, 1.0f));
// Calculate current twist angle, omega, and acceleration.
if (cur_cone_angle_cos < -0.999999f) {
cj_data->m_cur_twist_omega = 0.0f;
cj_data->m_cur_twist_alpha = 0.0f;
}
else {
dFloat last_twist_angle = cj_data->m_twist_ai->get_angle();
dFloat last_twist_omega = cj_data->m_cur_twist_omega;
dMatrix rot_matrix0;
Util::rotate_matrix_to_dir(matrix0, matrix1.m_right, rot_matrix0);
dFloat sin_angle;
dFloat cos_angle;
MSP::Joint::c_calculate_angle(matrix1.m_front, rot_matrix0.m_front, matrix1.m_right, sin_angle, cos_angle);
cj_data->m_twist_ai->update(cos_angle, sin_angle);
cj_data->m_cur_twist_omega = (cj_data->m_twist_ai->get_angle() - last_twist_angle) * inv_timestep;
cj_data->m_cur_twist_alpha = (cj_data->m_cur_twist_omega - last_twist_omega) * inv_timestep;
}
// Get the current lateral and tangent dir
dVector lateral_dir;
dVector front_dir;
if (dAbs(cur_cone_angle_cos) > 0.999999f) {
lateral_dir = matrix1.m_front;
front_dir = matrix1.m_up;
}
else {
lateral_dir = matrix1.m_right.CrossProduct(matrix0.m_right);
front_dir = matrix1.m_right.CrossProduct(lateral_dir);
}
// Restrict the movement on the pivot point along all tree orthonormal directions.
NewtonUserJointAddLinearRow(joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
NewtonUserJointAddLinearRow(joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_up[0]);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
NewtonUserJointAddLinearRow(joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_right[0]);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
// Calculate friction
dFloat power = cj_data->m_friction * dAbs(cj_data->m_controller);
// Handle cone angle
if (cj_data->m_cone_limits_enabled && cj_data->m_max_cone_angle < Joint::ANGULAR_LIMIT_EPSILON2) {
// Handle in case joint being a hinge; max cone angle is near zero.
NewtonUserJointAddAngularRow(joint, MSP::Joint::c_calculate_angle2(matrix0.m_right, matrix1.m_right, matrix1.m_front), &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
NewtonUserJointAddAngularRow(joint, MSP::Joint::c_calculate_angle2(matrix0.m_right, matrix1.m_right, matrix1.m_up), &matrix1.m_up[0]);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
}
else if (cj_data->m_cone_limits_enabled && cj_data->m_cur_cone_angle > cj_data->m_max_cone_angle) {
// Handle in case current cone angle is greater than max cone angle
dFloat dangle = cj_data->m_cur_cone_angle - cj_data->m_max_cone_angle;
NewtonUserJointAddAngularRow(joint, dangle, &lateral_dir[0]);
NewtonUserJointSetRowMaximumFriction(joint, 0.0f);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
NewtonUserJointAddAngularRow(joint, 0.0f, &front_dir[0]);
NewtonUserJointSetRowMinimumFriction(joint, -power);
NewtonUserJointSetRowMaximumFriction(joint, power);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
}
else {
// Handle in case limits are not necessary
dFloat cur_cone_omega = (cj_data->m_cur_cone_angle - last_cone_angle) * inv_timestep;
dFloat des_cone_accel = -cur_cone_omega * inv_timestep;
NewtonUserJointAddAngularRow(joint, 0.0f, &lateral_dir[0]);
NewtonUserJointSetRowAcceleration(joint, des_cone_accel);
NewtonUserJointSetRowMinimumFriction(joint, -power);
NewtonUserJointSetRowMaximumFriction(joint, power);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
NewtonUserJointAddAngularRow(joint, 0.0f, &front_dir[0]);
NewtonUserJointSetRowMinimumFriction(joint, -power);
NewtonUserJointSetRowMaximumFriction(joint, power);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
}
// Handle twist angle
bool bcontinue = false;
if (cj_data->m_twist_limits_enabled) {
if (cj_data->m_min_twist_angle > cj_data->m_max_twist_angle) {
// Handle in case min angle is greater than max
NewtonUserJointAddAngularRow(joint, (cj_data->m_min_twist_angle + cj_data->m_max_twist_angle) * 0.5f - cj_data->m_twist_ai->get_angle(), &matrix0.m_right[0]);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
}
else if (cj_data->m_max_twist_angle - cj_data->m_min_twist_angle < Joint::ANGULAR_LIMIT_EPSILON2) {
// Handle in case min angle is almost equal to max
NewtonUserJointAddAngularRow(joint, cj_data->m_max_twist_angle - cj_data->m_twist_ai->get_angle(), &matrix0.m_right[0]);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
}
else if (cj_data->m_twist_ai->get_angle() < cj_data->m_min_twist_angle) {
// Handle in case current twist angle is less than min
NewtonUserJointAddAngularRow(joint, cj_data->m_min_twist_angle - cj_data->m_twist_ai->get_angle() + Joint::ANGULAR_LIMIT_EPSILON, &matrix0.m_right[0]);
NewtonUserJointSetRowMinimumFriction(joint, 0.0f);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
}
else if (cj_data->m_twist_ai->get_angle() > cj_data->m_max_twist_angle) {
// Handle in case current twist angle is greater than max
NewtonUserJointAddAngularRow(joint, cj_data->m_max_twist_angle - cj_data->m_twist_ai->get_angle() - Joint::ANGULAR_LIMIT_EPSILON, &matrix0.m_right[0]);
NewtonUserJointSetRowMaximumFriction(joint, 0.0f);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
}
else
bcontinue = true;
}
else
bcontinue = true;
if (bcontinue) {
// Handle in case limits are not necessary
NewtonUserJointAddAngularRow(joint, 0.0f, &matrix0.m_right[0]);
NewtonUserJointSetRowAcceleration(joint, -cj_data->m_cur_twist_omega * inv_timestep);
NewtonUserJointSetRowMinimumFriction(joint, -power);
NewtonUserJointSetRowMaximumFriction(joint, power);
NewtonUserJointSetRowStiffness(joint, joint_data->m_stiffness);
}
}
void CustomHinge::SubmitConstraintsFreeDof(dFloat timestep, const dMatrix& matrix0, const dMatrix& matrix1)
{
// four possibilities
dFloat angle = m_curJointAngle.GetAngle();
if (m_friction != 0.0f) {
if (m_limitsOn) {
// friction and limits at the same time
if (angle < m_minAngle) {
dFloat relAngle = angle - m_minAngle;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow(m_joint, -relAngle, &matrix1.m_front[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness(m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMinimumFriction(m_joint, 0.0f);
m_lastRowWasUsed = true;
} else if (angle > m_maxAngle) {
dFloat relAngle = angle - m_maxAngle;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow(m_joint, -relAngle, &matrix1.m_front[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness(m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMaximumFriction(m_joint, 0.0f);
m_lastRowWasUsed = true;
} else {
// friction but not limits
dFloat alpha = m_jointOmega / timestep;
NewtonUserJointAddAngularRow(m_joint, 0, &matrix1.m_front[0]);
NewtonUserJointSetRowAcceleration(m_joint, -alpha);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_friction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_friction);
NewtonUserJointSetRowStiffness(m_joint, 1.0f);
m_lastRowWasUsed = true;
}
} else {
// friction but not limits
dFloat alpha = m_jointOmega / timestep;
NewtonUserJointAddAngularRow(m_joint, 0, &matrix1.m_front[0]);
NewtonUserJointSetRowAcceleration(m_joint, -alpha);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_friction);
NewtonUserJointSetRowMaximumFriction(m_joint, m_friction);
NewtonUserJointSetRowStiffness(m_joint, 1.0f);
m_lastRowWasUsed = true;
}
} else if (m_limitsOn) {
// only limit are on
// the joint angle can be determine by getting the angle between any two non parallel vectors
if ((m_minAngle > -1.e-4f) && (m_maxAngle < 1.e-4f)) {
NewtonUserJointAddAngularRow(m_joint, -angle, &matrix1.m_front[0]);
NewtonUserJointSetRowStiffness(m_joint, 1.0f);
m_lastRowWasUsed = true;
} else if (angle < m_minAngle) {
dFloat relAngle = angle - m_minAngle;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow(m_joint, -relAngle, &matrix1.m_front[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness(m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMinimumFriction(m_joint, 0.0f);
m_lastRowWasUsed = true;
} else if (angle > m_maxAngle) {
dFloat relAngle = angle - m_maxAngle;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow(m_joint, -relAngle, &matrix1.m_front[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness(m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMaximumFriction(m_joint, 0.0f);
m_lastRowWasUsed = true;
}
}
}
void CustomControlledBallAndSocket::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 tree orthonormal direction
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_front[0]);
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]);
#if 0
dVector euler0;
dVector euler1;
dMatrix localMatrix (matrix0 * matrix1.Inverse());
localMatrix.GetEulerAngles(euler0, euler1);
AngularIntegration pitchStep0 (AngularIntegration (euler0.m_x) - m_pitch);
AngularIntegration pitchStep1 (AngularIntegration (euler1.m_x) - m_pitch);
if (dAbs (pitchStep0.GetAngle()) > dAbs (pitchStep1.GetAngle())) {
euler0 = euler1;
}
dVector euler (m_pitch.Update (euler0.m_x), m_yaw.Update (euler0.m_y), m_roll.Update (euler0.m_z), 0.0f);
for (int i = 0; i < 3; i ++) {
dFloat error = m_targetAngles[i] - euler[i];
if (dAbs (error) > (0.125f * 3.14159213f / 180.0f) ) {
dFloat angularStep = dSign(error) * m_angulaSpeed * timestep;
if (angularStep > 0.0f) {
if (angularStep > error) {
angularStep = error * 0.5f;
}
} else {
if (angularStep < error) {
angularStep = error * 0.5f;
}
}
euler[i] = euler[i] + angularStep;
}
}
dMatrix p0y0r0 (dPitchMatrix(euler[0]) * dYawMatrix(euler[1]) * dRollMatrix(euler[2]));
dMatrix baseMatrix (p0y0r0 * matrix1);
dMatrix rotation (matrix0.Inverse() * baseMatrix);
dQuaternion quat (rotation);
if (quat.m_q0 > dFloat (0.99995f)) {
dVector euler0;
dVector euler1;
rotation.GetEulerAngles(euler0, euler1);
NewtonUserJointAddAngularRow(m_joint, euler0[0], &rotation[0][0]);
NewtonUserJointAddAngularRow(m_joint, euler0[1], &rotation[1][0]);
NewtonUserJointAddAngularRow(m_joint, euler0[2], &rotation[2][0]);
} else {
dMatrix basis (dGrammSchmidt (dVector (quat.m_q1, quat.m_q2, quat.m_q3, 0.0f)));
NewtonUserJointAddAngularRow (m_joint, 2.0f * dAcos (quat.m_q0), &basis[0][0]);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &basis[1][0]);
NewtonUserJointAddAngularRow (m_joint, 0.0f, &basis[2][0]);
}
#else
matrix1 = m_targetRotation * matrix1;
dQuaternion localRotation(matrix1 * matrix0.Inverse());
if (localRotation.DotProduct(m_targetRotation) < 0.0f) {
localRotation.Scale(-1.0f);
}
dFloat angle = 2.0f * dAcos(localRotation.m_q0);
dFloat angleStep = m_angulaSpeed * timestep;
if (angleStep < angle) {
dVector axis(dVector(localRotation.m_q1, localRotation.m_q2, localRotation.m_q3, 0.0f));
axis = axis.Scale(1.0f / dSqrt(axis % axis));
// localRotation = dQuaternion(axis, angleStep);
}
dVector axis (matrix1.m_front * matrix1.m_front);
dVector axis1 (matrix1.m_front * matrix1.m_front);
//dFloat sinAngle;
//dFloat cosAngle;
//CalculatePitchAngle (matrix0, matrix1, sinAngle, cosAngle);
//float xxxx = dAtan2(sinAngle, cosAngle);
//float xxxx1 = dAtan2(sinAngle, cosAngle);
dQuaternion quat(localRotation);
if (quat.m_q0 > dFloat(0.99995f)) {
// dAssert (0);
/*
dVector euler0;
dVector euler1;
rotation.GetEulerAngles(euler0, euler1);
NewtonUserJointAddAngularRow(m_joint, euler0[0], &rotation[0][0]);
NewtonUserJointAddAngularRow(m_joint, euler0[1], &rotation[1][0]);
NewtonUserJointAddAngularRow(m_joint, euler0[2], &rotation[2][0]);
*/
} else {
dMatrix basis(dGrammSchmidt(dVector(quat.m_q1, quat.m_q2, quat.m_q3, 0.0f)));
NewtonUserJointAddAngularRow(m_joint, -2.0f * dAcos(quat.m_q0), &basis[0][0]);
NewtonUserJointAddAngularRow(m_joint, 0.0f, &basis[1][0]);
NewtonUserJointAddAngularRow(m_joint, 0.0f, &basis[2][0]);
}
#endif
}
void CustomLimitBallAndSocket::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);
const dVector& p0 = matrix0.m_posit;
const dVector& p1 = matrix1.m_posit;
// Restrict the movement on the pivot point along all tree orthonormal direction
NewtonUserJointAddLinearRow(m_joint, &p0[0], &p1[0], &matrix1.m_front[0]);
NewtonUserJointAddLinearRow(m_joint, &p0[0], &p1[0], &matrix1.m_up[0]);
NewtonUserJointAddLinearRow(m_joint, &p0[0], &p1[0], &matrix1.m_right[0]);
matrix1 = m_rotationOffset * matrix1;
// handle special case of the joint being a hinge
if (m_coneAngleCos > 0.9999f) {
NewtonUserJointAddAngularRow(m_joint, CalculateAngle (matrix0.m_front, matrix1.m_front, matrix1.m_up), &matrix1.m_up[0]);
NewtonUserJointAddAngularRow(m_joint, CalculateAngle(matrix0.m_front, matrix1.m_front, matrix1.m_right), &matrix1.m_right[0]);
// the joint angle can be determined by getting the angle between any two non parallel vectors
dFloat pitchAngle = CalculateAngle (matrix0.m_up, matrix1.m_up, matrix1.m_front);
if ((m_maxTwistAngle - m_minTwistAngle) < 1.0e-4f) {
NewtonUserJointAddAngularRow(m_joint, pitchAngle, &matrix1.m_front[0]);
} else {
if (pitchAngle > m_maxTwistAngle) {
pitchAngle -= m_maxTwistAngle;
NewtonUserJointAddAngularRow(m_joint, pitchAngle, &matrix0.m_front[0]);
NewtonUserJointSetRowMinimumFriction(m_joint, -0.0f);
} else if (pitchAngle < m_minTwistAngle) {
pitchAngle -= m_minTwistAngle;
NewtonUserJointAddAngularRow(m_joint, pitchAngle, &matrix0.m_front[0]);
NewtonUserJointSetRowMaximumFriction(m_joint, 0.0f);
}
}
} else {
const dVector& coneDir0 = matrix0.m_front;
const dVector& coneDir1 = matrix1.m_front;
dFloat cosAngle = coneDir0 % coneDir1;
if (cosAngle <= m_coneAngleCos) {
dVector lateralDir(coneDir0 * coneDir1);
dFloat mag2 = lateralDir % lateralDir;
dAssert(mag2 > 1.0e-4f);
lateralDir = lateralDir.Scale(1.0f / dSqrt(mag2));
dQuaternion rot(m_coneAngleHalfCos, lateralDir.m_x * m_coneAngleHalfSin, lateralDir.m_y * m_coneAngleHalfSin, lateralDir.m_z * m_coneAngleHalfSin);
dVector frontDir(rot.UnrotateVector(coneDir1));
dVector upDir(lateralDir * frontDir);
NewtonUserJointAddAngularRow(m_joint, 0.0f, &upDir[0]);
NewtonUserJointAddAngularRow(m_joint, CalculateAngle(coneDir0, frontDir, lateralDir), &lateralDir[0]);
NewtonUserJointSetRowMinimumFriction(m_joint, 0.0f);
}
//handle twist angle
dFloat pitchAngle = CalculateAngle (matrix0.m_up, matrix1.m_up, matrix1.m_front);
if ((m_maxTwistAngle - m_minTwistAngle) < 1.0e-4f) {
NewtonUserJointAddAngularRow(m_joint, pitchAngle, &matrix1.m_front[0]);
} else {
if (pitchAngle > m_maxTwistAngle) {
pitchAngle -= m_maxTwistAngle;
NewtonUserJointAddAngularRow(m_joint, pitchAngle, &matrix0.m_front[0]);
NewtonUserJointSetRowMinimumFriction(m_joint, -0.0f);
} else if (pitchAngle < m_minTwistAngle) {
pitchAngle -= m_minTwistAngle;
NewtonUserJointAddAngularRow(m_joint, pitchAngle, &matrix0.m_front[0]);
NewtonUserJointSetRowMaximumFriction(m_joint, 0.0f);
}
}
}
}
void CustomUniversal::SubmitConstraints (dFloat timestep, int threadIndex)
{
dFloat angle;
dFloat sinAngle;
dFloat cosAngle;
dMatrix matrix0;
dMatrix matrix1;
// calculate the position of the pivot point and the Jacobian direction vectors, in global space.
CalculateGlobalMatrix (m_localMatrix0, m_localMatrix1, matrix0, matrix1);
// get the pin fixed to the first body
const dVector& dir0 = matrix0.m_front;
// get the pin fixed to the second body
const dVector& dir1 = matrix1.m_up;
// construct an orthogonal coordinate system with these two vectors
dVector dir2 (dir0 * dir1);
dir2 = dir2.Scale (1.0f / dSqrt (dir2 % dir2));
const dVector& p0 = matrix0.m_posit;
const dVector& p1 = matrix1.m_posit;
NewtonUserJointAddLinearRow (m_joint, &p0[0], &p1[0], &dir0[0]);
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
NewtonUserJointAddLinearRow (m_joint, &p0[0], &p1[0], &dir1[0]);
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
NewtonUserJointAddLinearRow (m_joint, &p0[0], &p1[0], &dir2[0]);
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
dVector dir3 (dir2 * dir0);
dVector q0 (p0 + dir3.Scale(MIN_JOINT_PIN_LENGTH));
dVector q1 (p1 + dir1.Scale(MIN_JOINT_PIN_LENGTH));
NewtonUserJointAddLinearRow (m_joint, &q0[0], &q1[0], &dir0[0]);
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// check is the joint limit are enable
if (m_limit_0_On) {
sinAngle = (matrix0.m_up * matrix1.m_up) % matrix0.m_front;
cosAngle = matrix0.m_up % matrix1.m_up;
angle = dAtan2 (sinAngle, cosAngle);
if (angle < m_minAngle_0) {
dFloat relAngle;
relAngle = angle - m_minAngle_0;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix0.m_front[0]);
// need high stiffeners here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMaximumFriction (m_joint, 0.0f);
} else if (angle > m_maxAngle_0) {
dFloat relAngle;
relAngle = angle - m_maxAngle_0;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix0.m_front[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMinimumFriction (m_joint, 0.0f);
}
// check is the joint limit motor is enable
} else if (m_angularMotor_0_On) {
dFloat relOmega;
dFloat relAccel;
dVector omega0 (0.0f, 0.0f, 0.0f);
dVector omega1 (0.0f, 0.0f, 0.0f);
// get relative angular velocity
NewtonBodyGetOmega(m_body0, &omega0[0]);
if (m_body1) {
NewtonBodyGetOmega(m_body1, &omega1[0]);
}
// calculate the desired acceleration
relOmega = (omega0 - omega1) % matrix0.m_front;
relAccel = m_angularAccel_0 - m_angularDamp_0 * relOmega;
// add and angular constraint row to that will set the relative acceleration to zero
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_front[0]);
// override the joint acceleration.
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
}
// if limit are enable ...
if (m_limit_1_On) {
sinAngle = (matrix0.m_front * matrix1.m_front) % matrix1.m_up;
cosAngle = matrix0.m_front % matrix1.m_front;
angle = dAtan2 (sinAngle, cosAngle);
if (angle < m_minAngle_1) {
dFloat relAngle;
relAngle = angle - m_minAngle_1;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix1.m_up[0]);
// need high stiffeners here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMaximumFriction (m_joint, 0.0f);
} else if (angle > m_maxAngle_1) {
dFloat relAngle;
relAngle = angle - m_maxAngle_1;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix1.m_up[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMinimumFriction (m_joint, 0.0f);
}
} else if (m_angularMotor_1_On) {
dFloat relOmega;
dFloat relAccel;
dVector omega0 (0.0f, 0.0f, 0.0f);
dVector omega1 (0.0f, 0.0f, 0.0f);
// get relative angular velocity
NewtonBodyGetOmega(m_body0, &omega0[0]);
if (m_body1) {
NewtonBodyGetOmega(m_body1, &omega1[0]);
}
// calculate the desired acceleration
relOmega = (omega0 - omega1) % matrix1.m_up;
relAccel = m_angularAccel_1 - m_angularDamp_1 * relOmega;
// add and angular constraint row to that will set the relative acceleration to zero
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix1.m_up[0]);
// override the joint acceleration.
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
}
}
void dCustomCorkScrew::SubmitConstraintSpringDamper(const dMatrix& matrix0, const dMatrix& matrix1, dFloat timestep)
{
NewtonUserJointAddAngularRow(m_joint, -m_curJointAngle.GetAngle(), &matrix1.m_front[0]);
NewtonUserJointSetRowSpringDamperAcceleration(m_joint, m_angularSpringDamperRelaxation, m_angularSpring, m_angularDamper);
}
void CustomSlidingContact::SubmitConstraints (dFloat timestep, int threadIndex)
{
dMatrix matrix0;
dMatrix matrix1;
dFloat sinAngle;
dFloat cosAngle;
// 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
dVector p0(matrix0.m_posit);
dVector p1(matrix1.m_posit + matrix1.m_front.Scale((p0 - matrix1.m_posit) % matrix1.m_front));
NewtonUserJointAddLinearRow(m_joint, &p0[0], &p1[0], &matrix1.m_up[0]);
NewtonUserJointAddLinearRow(m_joint, &p0[0], &p1[0], &matrix1.m_right[0]);
// construct an orthogonal coordinate system with these two vectors
dMatrix matrix1_1;
matrix1_1.m_up = matrix1.m_up;
matrix1_1.m_right = matrix0.m_front * matrix1.m_up;
matrix1_1.m_right = matrix1_1.m_right.Scale(1.0f / dSqrt(matrix1_1.m_right % matrix1_1.m_right));
matrix1_1.m_front = matrix1_1.m_up * matrix1_1.m_right;
NewtonUserJointAddAngularRow(m_joint, CalculateAngle(matrix0.m_up, matrix1_1.m_up, matrix1_1.m_front), &matrix1_1.m_front[0]);
NewtonUserJointAddAngularRow(m_joint, CalculateAngle(matrix0.m_up, matrix1_1.m_up, matrix1_1.m_right), &matrix1_1.m_right[0]);
// the joint angle can be determined by getting the angle between any two non parallel vectors
CalculateAngle(matrix1_1.m_front, matrix1.m_front, matrix1.m_up, sinAngle, cosAngle);
m_curJointAngle.Update(cosAngle, sinAngle);
dVector veloc0(0.0f, 0.0f, 0.0f, 0.0f);
dVector veloc1(0.0f, 0.0f, 0.0f, 0.0f);
dAssert(m_body0);
NewtonBodyGetPointVelocity(m_body0, &matrix0.m_posit[0], &veloc0[0]);
if (m_body1) {
NewtonBodyGetPointVelocity(m_body1, &matrix1.m_posit[0], &veloc1[0]);
}
m_posit = (matrix0.m_posit - matrix1.m_posit) % matrix1.m_front;
m_speed = (veloc0 - veloc1) % matrix1.m_front;
// if limit are enable ...
if (m_limitsLinearOn) {
if (m_posit < m_minLinearDist) {
// get a point along the up vector and set a constraint
dVector p (matrix1.m_posit + matrix1.m_front.Scale(m_minLinearDist));
NewtonUserJointAddLinearRow (m_joint, &matrix0.m_posit[0], &p[0], &matrix1.m_front[0]);
// allow the object to return but not to kick going forward
NewtonUserJointSetRowMinimumFriction (m_joint, 0.0f);
} else if (m_posit > m_maxLinearDist) {
dVector p(matrix1.m_posit + matrix1.m_front.Scale(m_maxLinearDist));
NewtonUserJointAddLinearRow(m_joint, &matrix0.m_posit[0], &p[0], &matrix1.m_front[0]);
// allow the object to return but not to kick going forward
NewtonUserJointSetRowMaximumFriction(m_joint, 0.0f);
}
}
if (m_limitsAngularOn) {
dFloat angle1 = m_curJointAngle.GetAngle();
if (angle1 < m_minAngularDist) {
dFloat relAngle = angle1 - m_minAngularDist;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow(m_joint, relAngle, &matrix1.m_up[0]);
// need high stiffeners here
NewtonUserJointSetRowStiffness(m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMaximumFriction(m_joint, 0.0f);
}
else if (angle1 > m_maxAngularDist) {
dFloat relAngle = angle1 - m_maxAngularDist;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow(m_joint, relAngle, &matrix1.m_up[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness(m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMinimumFriction(m_joint, 0.0f);
}
}
}
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);
*/
}
}
}
void CustomUniversal::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 tree orthonormal direction
NewtonUserJointAddLinearRow(m_joint, &matrix0.m_posit[0], &matrix1.m_posit[0], &matrix1.m_front[0]);
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]);
// construct an orthogonal coordinate system with these two vectors
dMatrix matrix1_1;
matrix1_1.m_up = matrix1.m_up;
matrix1_1.m_right = matrix0.m_front * matrix1.m_up;
matrix1_1.m_right = matrix1_1.m_right.Scale (1.0f / dSqrt (matrix1_1.m_right % matrix1_1.m_right));
matrix1_1.m_front = matrix1_1.m_up * matrix1_1.m_right;
NewtonUserJointAddAngularRow (m_joint, CalculateAngle (matrix0.m_front, matrix1_1.m_front, matrix1_1.m_right), &matrix1_1.m_right[0]);
dFloat sinAngle_0;
dFloat cosAngle_0;
CalculateAngle (matrix1_1.m_up, matrix0.m_up, matrix1_1.m_front, sinAngle_0, cosAngle_0);
dFloat angle0 = -m_curJointAngle_0.Update (cosAngle_0, sinAngle_0);
dFloat sinAngle_1;
dFloat cosAngle_1;
CalculateAngle(matrix1.m_front, matrix1_1.m_front, matrix1_1.m_up, sinAngle_1, cosAngle_1);
dFloat angle1 = -m_curJointAngle_1.Update (cosAngle_1, sinAngle_1);
dVector omega0 (0.0f, 0.0f, 0.0f, 0.0f);
dVector omega1 (0.0f, 0.0f, 0.0f, 0.0f);
NewtonBodyGetOmega(m_body0, &omega0[0]);
if (m_body1) {
NewtonBodyGetOmega(m_body1, &omega1[0]);
}
// calculate the desired acceleration
dVector relOmega (omega0 - omega1);
m_jointOmega_0 = relOmega % matrix0.m_front;
m_jointOmega_1 = relOmega % matrix1.m_up;
// check is the joint limit are enable
if (m_limit_0_On) {
if (angle0 < m_minAngle_0) {
dFloat relAngle = angle0 - m_minAngle_0;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix0.m_front[0]);
// need high stiffeners here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMaximumFriction (m_joint, 0.0f);
} else if (angle0 > m_maxAngle_0) {
dFloat relAngle = angle0 - m_maxAngle_0;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix0.m_front[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMinimumFriction (m_joint, 0.0f);
}
// check is the joint limit motor is enable
} else if (m_angularMotor_0_On) {
// calculate the desired acceleration
// dFloat relOmega = (omega0 - omega1) % matrix0.m_front;
dFloat relAccel = m_angularAccel_0 - m_angularDamp_0 * m_jointOmega_0;
// add and angular constraint row to that will set the relative acceleration to zero
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix0.m_front[0]);
// override the joint acceleration.
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
}
// if limit are enable ...
if (m_limit_1_On) {
if (angle1 < m_minAngle_1) {
dFloat relAngle = angle1 - m_minAngle_1;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix1.m_up[0]);
// need high stiffeners here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMaximumFriction (m_joint, 0.0f);
} else if (angle1 > m_maxAngle_1) {
dFloat relAngle = angle1 - m_maxAngle_1;
// tell joint error will minimize the exceeded angle error
NewtonUserJointAddAngularRow (m_joint, relAngle, &matrix1.m_up[0]);
// need high stiffness here
NewtonUserJointSetRowStiffness (m_joint, 1.0f);
// allow the joint to move back freely
NewtonUserJointSetRowMinimumFriction (m_joint, 0.0f);
}
} else if (m_angularMotor_1_On) {
// calculate the desired acceleration
dFloat relAccel = m_angularAccel_1 - m_angularDamp_1 * m_jointOmega_1;
// add and angular constraint row to that will set the relative acceleration to zero
NewtonUserJointAddAngularRow (m_joint, 0.0f, &matrix1.m_up[0]);
// override the joint acceleration.
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
}
}
