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Viewing changes to extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp

  • Committer: Bazaar Package Importer
  • Author(s): Cyril Brulebois
  • Date: 2008-08-08 02:45:40 UTC
  • mfrom: (12.1.14 intrepid)
  • Revision ID: james.westby@ubuntu.com-20080808024540-kkjp7ekfivzhuw3l
Tags: 2.46+dfsg-4
http://bugs.debian.org/492280
* Fix python syntax warning in import_dxf.py, which led to nasty output
  in installation/upgrade logs during byte-compilation, using a patch
  provided by the script author (Closes: #492280):
   - debian/patches/45_fix_python_syntax_warning

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extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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5
 
This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose, 
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including commercial applications, and to alter it and redistribute it freely, 
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "Point2PointConstraint.h"
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#include "Dynamics/RigidBody.h"
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#include "Dynamics/MassProps.h"
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Point2PointConstraint::Point2PointConstraint()
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{
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}
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Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB)
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:TypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
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{
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}
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Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA)
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:TypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
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{
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}
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void    Point2PointConstraint::BuildJacobian()
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{
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        m_appliedImpulse = 0.f;
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        SimdVector3     normal(0,0,0);
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        for (int i=0;i<3;i++)
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        {
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                normal[i] = 1;
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                new (&m_jac[i]) JacobianEntry(
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                        m_rbA.getCenterOfMassTransform().getBasis().transpose(),
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                        m_rbB.getCenterOfMassTransform().getBasis().transpose(),
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                        m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
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                        m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
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                        normal,
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                        m_rbA.getInvInertiaDiagLocal(),
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                        m_rbA.getInvMass(),
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                        m_rbB.getInvInertiaDiagLocal(),
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                        m_rbB.getInvMass());
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                normal[i] = 0;
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        }
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}
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void    Point2PointConstraint::SolveConstraint(SimdScalar       timeStep)
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{
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        SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
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        SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
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        SimdVector3 normal(0,0,0);
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//      SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
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//      SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
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        for (int i=0;i<3;i++)
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        {               
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                normal[i] = 1;
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                SimdScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
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                SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
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                SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
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                //this jacobian entry could be re-used for all iterations
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                SimdVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
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                SimdVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
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                SimdVector3 vel = vel1 - vel2;
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                SimdScalar rel_vel;
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                rel_vel = normal.dot(vel);
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        /*
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                //velocity error (first order error)
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                SimdScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
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                                                                                                                m_rbB.getLinearVelocity(),angvelB);
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        */
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                //positional error (zeroth order error)
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                SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
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                SimdScalar impulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
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                m_appliedImpulse+=impulse;
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                SimdVector3 impulse_vector = normal * impulse;
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                m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
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                m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
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                normal[i] = 0;
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        }
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}
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void    Point2PointConstraint::UpdateRHS(SimdScalar     timeStep)
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{
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}
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