void
dxJointDBall::updateTargetDistance()
{
dVector3 p1, p2;
if (node[0].body)
dBodyGetRelPointPos(node[0].body, anchor1[0], anchor1[1], anchor1[2], p1);
else
dCopyVector3(p1, anchor1);
if (node[1].body)
dBodyGetRelPointPos(node[1].body, anchor2[0], anchor2[1], anchor2[2], p2);
else
dCopyVector3(p2, anchor2);
targetDistance = dCalcPointsDistance3(p1, p2);
}
void
dxJointDBall::getInfo2( dxJoint::Info2 *info )
{
info->erp = erp;
info->cfm[0] = cfm;
dVector3 globalA1, globalA2;
dBodyGetRelPointPos(node[0].body, anchor1[0], anchor1[1], anchor1[2], globalA1);
if (node[1].body)
dBodyGetRelPointPos(node[1].body, anchor2[0], anchor2[1], anchor2[2], globalA2);
else
dCopyVector3(globalA2, anchor2);
dVector3 q;
dSubtractVectors3(q, globalA1, globalA2);
#ifdef dSINGLE
const dReal MIN_LENGTH = REAL(1e-7);
#else
const dReal MIN_LENGTH = REAL(1e-12);
#endif
if (dCalcVectorLength3(q) < MIN_LENGTH) {
// too small, let's choose an arbitrary direction
// heuristic: difference in velocities at anchors
dVector3 v1, v2;
dBodyGetPointVel(node[0].body, globalA1[0], globalA1[1], globalA1[2], v1);
if (node[1].body)
dBodyGetPointVel(node[1].body, globalA2[0], globalA2[1], globalA2[2], v2);
else
dSetZero(v2, 3);
dSubtractVectors3(q, v1, v2);
if (dCalcVectorLength3(q) < MIN_LENGTH) {
// this direction is as good as any
q[0] = 1;
q[1] = 0;
q[2] = 0;
}
}
dNormalize3(q);
info->J1l[0] = q[0];
info->J1l[1] = q[1];
info->J1l[2] = q[2];
dVector3 relA1;
dBodyVectorToWorld(node[0].body,
anchor1[0], anchor1[1], anchor1[2],
relA1);
dMatrix3 a1m;
dSetZero(a1m, 12);
dSetCrossMatrixMinus(a1m, relA1, 4);
dMultiply1_331(info->J1a, a1m, q);
if (node[1].body) {
info->J2l[0] = -q[0];
info->J2l[1] = -q[1];
info->J2l[2] = -q[2];
dVector3 relA2;
dBodyVectorToWorld(node[1].body,
anchor2[0], anchor2[1], anchor2[2],
relA2);
dMatrix3 a2m;
dSetZero(a2m, 12);
dSetCrossMatrixPlus(a2m, relA2, 4);
dMultiply1_331(info->J2a, a2m, q);
}
const dReal k = info->fps * info->erp;
info->c[0] = k * (targetDistance - dCalcPointsDistance3(globalA1, globalA2));
}
void nearCallback(void *, dGeomID a, dGeomID b)
{
const unsigned max_contacts = 8;
dContact contacts[max_contacts];
if (!dGeomGetBody(a) && !dGeomGetBody(b))
return; // don't handle static geom collisions
int n = dCollide(a, b, max_contacts, &contacts[0].geom, sizeof(dContact));
//clog << "got " << n << " contacts" << endl;
/* Simple contact merging:
* If we have contacts that are too close with the same normal, keep only
* the one with maximum depth.
* The epsilon that defines what "too close" means can be a heuristic.
*/
int new_n = 0;
dReal epsilon = 1e-1; // default
/* If we know one of the geoms is a sphere, we can base the epsilon on the
* sphere's radius.
*/
dGeomID s = 0;
if ((dGeomGetClass(a) == dSphereClass && (s = a)) ||
(dGeomGetClass(b) == dSphereClass && (s = b))) {
epsilon = dGeomSphereGetRadius(s) * 0.3;
}
for (int i=0; i<n; ++i) {
// this block draws the contact points before merging, in red
dMatrix3 r;
dRSetIdentity(r);
dsSetColor(1, 0, 0);
dsSetTexture(DS_NONE);
dsDrawSphere(contacts[i].geom.pos, r, 0.008);
// let's offset the line a bit to avoid drawing overlap issues
float xyzf[3], hprf[3];
dsGetViewpoint(xyzf, hprf);
dVector3 xyz = {dReal(xyzf[0]), dReal(xyzf[1]), dReal(xyzf[2])};
dVector3 v;
dSubtractVectors3(v, contacts[i].geom.pos, xyz);
dVector3 c;
dCalcVectorCross3(c, v, contacts[i].geom.pos);
dSafeNormalize3(c);
dVector3 pos1;
dAddScaledVectors3(pos1, contacts[i].geom.pos, c, 1, 0.005);
dVector3 pos2;
dAddScaledVectors3(pos2, pos1, contacts[i].geom.normal, 1, 0.05);
dsDrawLine(pos1, pos2);
// end of contacts drawing code
int closest_point = i;
for (int j=0; j<new_n; ++j) {
dReal alignment = dCalcVectorDot3(contacts[i].geom.normal, contacts[j].geom.normal);
if (alignment > 0.99 // about 8 degrees of difference
&&
dCalcPointsDistance3(contacts[i].geom.pos, contacts[j].geom.pos) < epsilon) {
// they are too close
closest_point = j;
//clog << "found close points: " << j << " and " << i << endl;
break;
}
}
if (closest_point != i) {
// we discard one of the points
if (contacts[i].geom.depth > contacts[closest_point].geom.depth)
// the new point is deeper, copy it over closest_point
contacts[closest_point] = contacts[i];
} else
contacts[new_n++] = contacts[i]; // the point is preserved
}
//clog << "reduced from " << n << " to " << new_n << endl;
n = new_n;
for (int i=0; i<n; ++i) {
contacts[i].surface.mode = dContactBounce | dContactApprox1 | dContactSoftERP;
contacts[i].surface.mu = 10;
contacts[i].surface.bounce = 0.2;
contacts[i].surface.bounce_vel = 0;
contacts[i].surface.soft_erp = 1e-3;
//clog << "depth: " << contacts[i].geom.depth << endl;
dJointID contact = dJointCreateContact(world, contact_group, &contacts[i]);
dJointAttach(contact, dGeomGetBody(a), dGeomGetBody(b));
dMatrix3 r;
dRSetIdentity(r);
dsSetColor(0, 0, 1);
dsSetTexture(DS_NONE);
dsDrawSphere(contacts[i].geom.pos, r, 0.01);
dsSetColor(0, 1, 0);
dVector3 pos2;
dAddScaledVectors3(pos2, contacts[i].geom.pos, contacts[i].geom.normal, 1, 0.1);
dsDrawLine(contacts[i].geom.pos, pos2);
}
//clog << "----" << endl;
}
int test_ray_and_ccylinder()
{
int j;
dContactGeom contact;
dVector3 p,a,b,n;
dMatrix3 R;
dReal r,l,k,x,y;
dSimpleSpace space(0);
dGeomID ray = dCreateRay (0,0);
dGeomID ccyl = dCreateCapsule (0,1,1);
dSpaceAdd (space,ray);
dSpaceAdd (space,ccyl);
// ********** make a random capped cylinder
r = dRandReal()*0.5 + 0.01;
l = dRandReal()*1 + 0.01;
dGeomCapsuleSetParams (ccyl,r,l);
dMakeRandomVector (p,3,1.0);
dGeomSetPosition (ccyl,p[0],p[1],p[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ccyl,R);
// ********** test ray completely within ccyl
for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
dNormalize3 (a);
k = (dRandReal()-0.5)*l;
for (j=0; j<3; j++) a[j] = p[j] + r*0.99*a[j] + k*0.99*R[j*4+2];
for (j=0; j<3; j++) b[j] = dRandReal()-0.5;
dNormalize3 (b);
k = (dRandReal()-0.5)*l;
for (j=0; j<3; j++) b[j] = p[j] + r*0.99*b[j] + k*0.99*R[j*4+2];
dGeomRaySetLength (ray,dCalcPointsDistance3(a,b));
for (j=0; j<3; j++) b[j] -= a[j];
dNormalize3 (b);
dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray outside ccyl that just misses (between caps)
k = dRandReal()*2*M_PI;
x = sin(k);
y = cos(k);
for (j=0; j<3; j++) a[j] = x*R[j*4+0] + y*R[j*4+1];
k = (dRandReal()-0.5)*l;
for (j=0; j<3; j++) b[j] = -a[j]*r*2 + k*R[j*4+2] + p[j];
dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]);
dGeomRaySetLength (ray,r*0.99);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray outside ccyl that just hits (between caps)
dGeomRaySetLength (ray,r*1.01);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
// check depth of contact point
if (dFabs (dGeomCapsulePointDepth
(ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
// ********** test ray outside ccyl that just misses (caps)
for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
dNormalize3 (a);
if (dCalcVectorDot3_14(a,R+2) < 0) {
for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r + l*0.5*R[j*4+2];
}
else {
for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r - l*0.5*R[j*4+2];
}
dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]);
dGeomRaySetLength (ray,r*0.99);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray outside ccyl that just hits (caps)
dGeomRaySetLength (ray,r*1.01);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
// check depth of contact point
if (dFabs (dGeomCapsulePointDepth
(ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
// ********** test random rays
for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
for (j=0; j<3; j++) n[j] = dRandReal()-0.5;
dNormalize3 (n);
dGeomRaySet (ray,a[0],a[1],a[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,10);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom))) {
// check depth of contact point
if (dFabs (dGeomCapsulePointDepth
(ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
// check normal signs
if (dCalcVectorDot3 (n,contact.normal) > 0) FAILED();
draw_all_objects (space);
}
PASSED();
}
int test_ray_and_box()
{
int i,j;
dContactGeom contact;
dVector3 s,p,q,n,q2,q3,q4; // s = box sides
dMatrix3 R;
dReal k;
dSimpleSpace space(0);
dGeomID ray = dCreateRay (0,0);
dGeomID box = dCreateBox (0,1,1,1);
dSpaceAdd (space,ray);
dSpaceAdd (space,box);
// ********** make a random box
for (j=0; j<3; j++) s[j] = dRandReal() + 0.1;
dGeomBoxSetLengths (box,s[0],s[1],s[2]);
dMakeRandomVector (p,3,1.0);
dGeomSetPosition (box,p[0],p[1],p[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (box,R);
// ********** test zero length ray just inside box
dGeomRaySetLength (ray,0);
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
i = dRandInt (3);
if (dRandReal() > 0.5) q[i] = 0.99*0.5*s[i]; else q[i] = -0.99*0.5*s[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
dGeomSetPosition (ray,q2[0],q2[1],q2[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ray,R);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test zero length ray just outside box
dGeomRaySetLength (ray,0);
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
i = dRandInt (3);
if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
dGeomSetPosition (ray,q2[0],q2[1],q2[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ray,R);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test finite length ray totally contained inside the box
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*0.99*s[j];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
for (j=0; j<3; j++) q3[j] = (dRandReal()-0.5)*0.99*s[j];
dMultiply0 (q4,dGeomGetRotation(box),q3,3,3,1);
for (j=0; j<3; j++) q4[j] += p[j];
for (j=0; j<3; j++) n[j] = q4[j] - q2[j];
dNormalize3 (n);
dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,dCalcPointsDistance3(q2,q4));
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test finite length ray totally outside the box
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
i = dRandInt (3);
if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q3[j] = q2[j] + p[j];
dNormalize3 (q2);
dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]);
dGeomRaySetLength (ray,10);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray from outside to just above surface
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
i = dRandInt (3);
if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q3[j] = 2*q2[j] + p[j];
k = dSqrt(q2[0]*q2[0] + q2[1]*q2[1] + q2[2]*q2[2]);
for (j=0; j<3; j++) q2[j] = -q2[j];
dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]);
dGeomRaySetLength (ray,k*0.99);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray from outside to just below surface
dGeomRaySetLength (ray,k*1.01);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
// ********** test contact point position for random rays
for (j=0; j<3; j++) q[j] = dRandReal()*s[j];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
for (j=0; j<3; j++) q3[j] = dRandReal()-0.5;
dNormalize3 (q3);
dGeomRaySet (ray,q2[0],q2[1],q2[2],q3[0],q3[1],q3[2]);
dGeomRaySetLength (ray,10);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom))) {
// check depth of contact point
if (dFabs (dGeomBoxPointDepth
(box,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
// check position of contact point
for (j=0; j<3; j++) contact.pos[j] -= p[j];
dMultiply1 (q,dGeomGetRotation(box),contact.pos,3,3,1);
if ( dFabs(dFabs (q[0]) - 0.5*s[0]) > tol &&
dFabs(dFabs (q[1]) - 0.5*s[1]) > tol &&
dFabs(dFabs (q[2]) - 0.5*s[2]) > tol) {
FAILED();
}
// also check normal signs
if (dCalcVectorDot3 (q3,contact.normal) > 0) FAILED();
draw_all_objects (space);
}
PASSED();
}
int test_ray_and_sphere()
{
int j;
dContactGeom contact;
dVector3 p,q,q2,n,v1;
dMatrix3 R;
dReal r,k;
dSimpleSpace space(0);
dGeomID ray = dCreateRay (0,0);
dGeomID sphere = dCreateSphere (0,1);
dSpaceAdd (space,ray);
dSpaceAdd (space,sphere);
// ********** make a random sphere of radius r at position p
r = dRandReal()+0.1;
dGeomSphereSetRadius (sphere,r);
dMakeRandomVector (p,3,1.0);
dGeomSetPosition (sphere,p[0],p[1],p[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (sphere,R);
// ********** test zero length ray just inside sphere
dGeomRaySetLength (ray,0);
dMakeRandomVector (q,3,1.0);
dNormalize3 (q);
for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j];
dGeomSetPosition (ray,q[0],q[1],q[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ray,R);
if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test zero length ray just outside that sphere
dGeomRaySetLength (ray,0);
dMakeRandomVector (q,3,1.0);
dNormalize3 (q);
for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j];
dGeomSetPosition (ray,q[0],q[1],q[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ray,R);
if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test finite length ray totally contained inside the sphere
dMakeRandomVector (q,3,1.0);
dNormalize3 (q);
k = dRandReal();
for (j=0; j<3; j++) q[j] = k*r*0.99 * q[j] + p[j];
dMakeRandomVector (q2,3,1.0);
dNormalize3 (q2);
k = dRandReal();
for (j=0; j<3; j++) q2[j] = k*r*0.99 * q2[j] + p[j];
for (j=0; j<3; j++) n[j] = q2[j] - q[j];
dNormalize3 (n);
dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,dCalcPointsDistance3(q,q2));
if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test finite length ray totally outside the sphere
dMakeRandomVector (q,3,1.0);
dNormalize3 (q);
do {
dMakeRandomVector (n,3,1.0);
dNormalize3 (n);
}
while (dCalcVectorDot3(n,q) < 0); // make sure normal goes away from sphere
for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j];
dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,100);
if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray from outside to just above surface
dMakeRandomVector (q,3,1.0);
dNormalize3 (q);
for (j=0; j<3; j++) n[j] = -q[j];
for (j=0; j<3; j++) q2[j] = 2*r * q[j] + p[j];
dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,0.99*r);
if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray from outside to just below surface
dGeomRaySetLength (ray,1.01*r);
if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
for (j=0; j<3; j++) q2[j] = r * q[j] + p[j];
if (dCalcPointsDistance3 (contact.pos,q2) > tol) FAILED();
// ********** test contact point distance for random rays
dMakeRandomVector (q,3,1.0);
dNormalize3 (q);
k = dRandReal()+0.5;
for (j=0; j<3; j++) q[j] = k*r * q[j] + p[j];
dMakeRandomVector (n,3,1.0);
dNormalize3 (n);
dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,100);
if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom))) {
k = dCalcPointsDistance3 (contact.pos,dGeomGetPosition(sphere));
if (dFabs(k - r) > tol) FAILED();
// also check normal signs
if (dCalcVectorDot3 (n,contact.normal) > 0) FAILED();
// also check depth of contact point
if (dFabs (dGeomSpherePointDepth
(sphere,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
draw_all_objects (space);
}
// ********** test tangential grazing - miss
dMakeRandomVector (q,3,1.0);
dNormalize3 (q);
dPlaneSpace (q,n,v1);
for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j];
for (j=0; j<3; j++) q[j] -= n[j];
dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,2);
if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test tangential grazing - hit
dMakeRandomVector (q,3,1.0);
dNormalize3 (q);
dPlaneSpace (q,n,v1);
for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j];
for (j=0; j<3; j++) q[j] -= n[j];
dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,2);
if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
PASSED();
}
