Esempi in C++ (Cpp) per PfxRigidState::getLinearVelocity

Esempio n. 1

File: pfx_joint_ball.cpp Progetto: NetjerDjehuty/INFOMGP

void pfxSetupBallJoint(
	PfxJoint &joint,
	const PfxRigidState &stateA,
	const PfxRigidState &stateB,
	PfxSolverBody &solverBodyA,
	PfxSolverBody &solverBodyB,
	PfxFloat timeStep
	)
{
	PfxVector3 rA = rotate(solverBodyA.m_orientation,joint.m_anchorA);
	PfxVector3 rB = rotate(solverBodyB.m_orientation,joint.m_anchorB);

	PfxVector3 vA = stateA.getLinearVelocity() + cross(stateA.getAngularVelocity(),rA);
	PfxVector3 vB = stateB.getLinearVelocity() + cross(stateB.getAngularVelocity(),rB);
	PfxVector3 vAB = vA-vB;

	PfxVector3 distance = (stateA.getPosition() + rA) - (stateB.getPosition() + rB);

	PfxMatrix3 worldFrameA,worldFrameB;
	worldFrameA = PfxMatrix3(solverBodyA.m_orientation) * joint.m_frameA;
	worldFrameB = PfxMatrix3(solverBodyB.m_orientation) * joint.m_frameB;
	
	// Linear Constraint
	PfxMatrix3 K = PfxMatrix3::scale(PfxVector3(solverBodyA.m_massInv + solverBodyB.m_massInv)) - 
			crossMatrix(rA) * solverBodyA.m_inertiaInv * crossMatrix(rA) - 
			crossMatrix(rB) * solverBodyB.m_inertiaInv * crossMatrix(rB);
	
	for(int c=0;c<3;c++) {
		PfxJointConstraint &jointConstraint = joint.m_constraints[c];
		PfxConstraintRow &constraint = jointConstraint.m_constraintRow;

		PfxVector3 normal = worldFrameA[c];
		
		PfxFloat posErr = dot(distance,-normal);
		PfxFloat lowerLimit = -jointConstraint.m_maxImpulse;
		PfxFloat upperLimit =  jointConstraint.m_maxImpulse;
		PfxFloat velocityAmp = 1.0f;
		
		pfxCalcLinearLimit(jointConstraint,posErr,velocityAmp,lowerLimit,upperLimit);

		PfxFloat denom = dot(K*normal,normal);
		
		constraint.m_rhs = -velocityAmp*dot(vAB,normal);
		constraint.m_rhs -= (jointConstraint.m_bias * (-posErr)) / timeStep;
		constraint.m_rhs *= jointConstraint.m_weight/denom;
		constraint.m_jacDiagInv = jointConstraint.m_weight*velocityAmp/denom;
		constraint.m_lowerLimit = lowerLimit;
		constraint.m_upperLimit = upperLimit;
		pfxStoreVector3(normal,constraint.m_normal);
	}
}

Esempio n. 2

File: pfx_contact_constraint.cpp Progetto: Kelloggs/experiments

void pfxSetupContactConstraint(
	PfxConstraintRow &constraintResponse,
	PfxConstraintRow &constraintFriction1,
	PfxConstraintRow &constraintFriction2,
	PfxFloat penetrationDepth,
	PfxFloat restitution,
	PfxFloat friction,
	const PfxVector3 &contactNormal,
	const PfxVector3 &contactPointA,
	const PfxVector3 &contactPointB,
	const PfxRigidState &stateA,
	const PfxRigidState &stateB,
	PfxSolverBody &solverBodyA,
	PfxSolverBody &solverBodyB,
	PfxFloat separateBias,
	PfxFloat timeStep
	)
{
	(void)friction;

	PfxVector3 rA = rotate(solverBodyA.m_orientation,contactPointA);
	PfxVector3 rB = rotate(solverBodyB.m_orientation,contactPointB);

	PfxFloat massInvA = solverBodyA.m_massInv;
	PfxFloat massInvB = solverBodyB.m_massInv;
	PfxMatrix3 inertiaInvA = solverBodyA.m_inertiaInv;
	PfxMatrix3 inertiaInvB = solverBodyB.m_inertiaInv;

	if(solverBodyA.m_motionType == kPfxMotionTypeOneWay) {
		massInvB = 0.0f;
		inertiaInvB = PfxMatrix3(0.0f);
	}
	if(solverBodyB.m_motionType == kPfxMotionTypeOneWay) {
		massInvA = 0.0f;
		inertiaInvA = PfxMatrix3(0.0f);
	}

	PfxMatrix3 K = PfxMatrix3::scale(PfxVector3(massInvA + massInvB)) - 
			crossMatrix(rA) * inertiaInvA * crossMatrix(rA) - 
			crossMatrix(rB) * inertiaInvB * crossMatrix(rB);

	PfxVector3 vA = stateA.getLinearVelocity() + cross(stateA.getAngularVelocity(),rA);
	PfxVector3 vB = stateB.getLinearVelocity() + cross(stateB.getAngularVelocity(),rB);
	PfxVector3 vAB = vA-vB;

	PfxVector3 tangent1,tangent2;
	pfxGetPlaneSpace(contactNormal,tangent1,tangent2);

	// Contact Constraint
	{
		PfxVector3 normal = contactNormal;

		PfxFloat denom = dot(K*normal,normal);

		constraintResponse.m_rhs = -(1.0f+restitution)*dot(vAB,normal); // velocity error
		constraintResponse.m_rhs -= (separateBias * SCE_PFX_MIN(0.0f,penetrationDepth+SCE_PFX_CONTACT_SLOP)) / timeStep; // position error
		constraintResponse.m_rhs /= denom;
		constraintResponse.m_jacDiagInv = 1.0f/denom;
		constraintResponse.m_lowerLimit = 0.0f;
		constraintResponse.m_upperLimit = SCE_PFX_FLT_MAX;
		pfxStoreVector3(normal,constraintResponse.m_normal);
	}

	// Friction Constraint 1
	{
		PfxVector3 normal = tangent1;

		PfxFloat denom = dot(K*normal,normal);

		constraintFriction1.m_jacDiagInv = 1.0f/denom;
		constraintFriction1.m_rhs = -dot(vAB,normal);
		constraintFriction1.m_rhs *= constraintFriction1.m_jacDiagInv;
		constraintFriction1.m_lowerLimit = 0.0f;
		constraintFriction1.m_upperLimit = SCE_PFX_FLT_MAX;
		pfxStoreVector3(normal,constraintFriction1.m_normal);
	}
	
	// Friction Constraint 2
	{
		PfxVector3 normal = tangent2;

		PfxFloat denom = dot(K*normal,normal);

		constraintFriction2.m_jacDiagInv = 1.0f/denom;
		constraintFriction2.m_rhs = -dot(vAB,normal);
		constraintFriction2.m_rhs *= constraintFriction2.m_jacDiagInv;
		constraintFriction2.m_lowerLimit = 0.0f;
		constraintFriction2.m_upperLimit = SCE_PFX_FLT_MAX;
		pfxStoreVector3(normal,constraintFriction2.m_normal);
	}
}