static bool computeGeometryAndCollisions_proxy(const ModelHandler & model,
DataHandler & data,
const GeometryModelHandler & model_geom,
GeometryDataHandler & data_geom,
const VectorXd_fx & q,
const bool stopAtFirstCollision)
{
return computeCollisions(*model,*data,*model_geom, *data_geom, q, stopAtFirstCollision);
}
void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
++_frameCount;
if (!_ragdoll) {
return;
}
quint64 now = usecTimestampNow();
quint64 startTime = now;
quint64 expiry = startTime + maxUsec;
moveRagdolls(deltaTime);
enforceContacts();
int numDolls = _otherRagdolls.size();
{
PerformanceTimer perfTimer("enforce");
_ragdoll->enforceConstraints();
for (int i = 0; i < numDolls; ++i) {
_otherRagdolls[i]->enforceConstraints();
}
}
bool collidedWithOtherRagdoll = false;
int iterations = 0;
float error = 0.0f;
do {
collidedWithOtherRagdoll = computeCollisions() || collidedWithOtherRagdoll;
updateContacts();
resolveCollisions();
{ // enforce constraints
PerformanceTimer perfTimer("enforce");
error = _ragdoll->enforceConstraints();
for (int i = 0; i < numDolls; ++i) {
error = glm::max(error, _otherRagdolls[i]->enforceConstraints());
}
}
applyContactFriction();
++iterations;
now = usecTimestampNow();
} while (_collisions.size() != 0 && (iterations < maxIterations) && (error > minError) && (now < expiry));
// the collisions may have moved the main ragdoll from the simulation center
// so we remove this offset (potentially storing it as movement of the Ragdoll owner)
_ragdoll->removeRootOffset(collidedWithOtherRagdoll);
// also remove any offsets from the other ragdolls
for (int i = 0; i < numDolls; ++i) {
_otherRagdolls[i]->removeRootOffset(false);
}
pruneContacts();
}
void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
++_frameCount;
if (!_ragdoll) {
return;
}
quint64 now = usecTimestampNow();
quint64 startTime = now;
quint64 expiry = startTime + maxUsec;
moveRagdolls(deltaTime);
buildContactConstraints();
int numDolls = _otherRagdolls.size();
{
PerformanceTimer perfTimer("enforce");
_ragdoll->enforceRagdollConstraints();
for (int i = 0; i < numDolls; ++i) {
_otherRagdolls[i]->enforceRagdollConstraints();
}
}
int iterations = 0;
float error = 0.0f;
do {
computeCollisions();
updateContacts();
resolveCollisions();
{ // enforce constraints
PerformanceTimer perfTimer("enforce");
error = _ragdoll->enforceRagdollConstraints();
for (int i = 0; i < numDolls; ++i) {
error = glm::max(error, _otherRagdolls[i]->enforceRagdollConstraints());
}
}
enforceContactConstraints();
++iterations;
now = usecTimestampNow();
} while (_collisions.size() != 0 && (iterations < maxIterations) && (error > minError) && (now < expiry));
pruneContacts();
}
static bool computeCollisions_proxy(GeometryDataHandler & data_geom,
const bool stopAtFirstCollision)
{
return computeCollisions(*data_geom, stopAtFirstCollision);
}