void Foam::sixDoFSolvers::CrankNicolson::solve
(
bool firstIter,
const vector& fGlobal,
const vector& tauGlobal,
scalar deltaT,
scalar deltaT0
)
{
// Update the linear acceleration and torque
updateAcceleration(fGlobal, tauGlobal);
// Correct linear velocity
v() = tConstraints()
& (v0() + aDamp()*deltaT*(aoc_*a() + (1 - aoc_)*a0()));
// Correct angular momentum
pi() = rConstraints()
& (pi0() + aDamp()*deltaT*(aoc_*tau() + (1 - aoc_)*tau0()));
// Correct position
centreOfRotation() =
centreOfRotation0() + deltaT*(voc_*v() + (1 - voc_)*v0());
// Correct orientation
Tuple2<tensor, vector> Qpi =
rotate(Q0(), (voc_*pi() + (1 - voc_)*pi0()), deltaT);
Q() = Qpi.first();
}
void
ManualSmoothingZ::smoothVelFromSticks(float &vel_sp, const float dt)
{
updateAcceleration(vel_sp, dt);
velocitySlewRate(vel_sp, dt);
_vel_sp_prev = vel_sp;
}
void PointMass::update_ddq()
{
// ddq = imp_psi*(alpha - m*(dw(parent) x mX + dv(parent))
Eigen::Vector3d ddq =
mImplicitPsi
* (mAlpha - mMass
* (mParentSoftBodyNode->getBodyAcceleration().head<3>().cross(mX)
+ mParentSoftBodyNode->getBodyAcceleration().tail<3>()));
setGenAccs(ddq);
assert(!math::isNan(ddq));
// Update dv
updateAcceleration();
}
void Foam::sixDoFSolvers::Newmark::solve
(
bool firstIter,
const vector& fGlobal,
const vector& tauGlobal,
scalar deltaT,
scalar deltaT0
)
{
// Update the linear acceleration and torque
updateAcceleration(fGlobal, tauGlobal);
// Correct linear velocity
v() =
tConstraints()
& (v0() + aDamp()*deltaT*(gamma_*a() + (1 - gamma_)*a0()));
// Correct angular momentum
pi() =
rConstraints()
& (pi0() + aDamp()*deltaT*(gamma_*tau() + (1 - gamma_)*tau0()));
// Correct position
centreOfRotation() =
centreOfRotation0()
+ (
tConstraints()
& (
deltaT*v0()
+ aDamp()*sqr(deltaT)*(beta_*a() + (0.5 - beta_)*a0())
)
);
// Correct orientation
vector piDeltaT =
rConstraints()
& (
deltaT*pi0()
+ aDamp()*sqr(deltaT)*(beta_*tau() + (0.5 - beta_)*tau0())
);
Tuple2<tensor, vector> Qpi = rotate(Q0(), piDeltaT, 1);
Q() = Qpi.first();
}
void BodyNode::update_ddq() {
if (mParentJoint->getNumGenCoords() == 0)
return;
Eigen::VectorXd ddq;
if (mParentBodyNode) {
ddq.noalias() =
mImplicitPsi * (mAlpha - mImplicitAI_S.transpose() *
math::AdInvT(mParentJoint->getLocalTransform(),
mParentBodyNode->getBodyAcceleration()));
} else {
ddq.noalias() = mImplicitPsi * mAlpha;
}
mParentJoint->GenCoordSystem::setGenAccs(ddq);
assert(!math::isNan(ddq));
updateAcceleration();
}
void Player::update(float deltaTime)
{
if(mIsAlive)
{
updateAcceleration();
updateAnimation(deltaTime);
settledPosition(deltaTime);
collosion();
if(mShieldTime <= 0)
{
tryShot(deltaTime);
}else
{
mShieldTime -= deltaTime;
}
}
if(!mIsAlive)
{
if(!mAnimationManager.isPlaying())
{
mAnimationManager.reset();
mAnimationManager.setAnimation(AnimationID::PlayerAnimationStay);
mAnimationManager.play();
mShieldTime = mMaxShieldTime;
reborn();
}
updateAnimation(deltaTime);
collosion();
}
}
//normal update call
void CloudsVisualSystemFlocking::selfUpdate(){
if(bUpdateAcc) updateAcceleration();
if(bUpdateVel) updateVelocity();
if(bUpdatePos) updatePosition();
}
void ElysiumEngine::RigidBody::updateAndIntegrate(float dt)
{
updateAcceleration();
integrateVelocity(dt);
}
