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Constraints.cpp
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2664 lines (2331 loc) · 74.3 KB
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#include "Constraints.h"
#include "SimulationModel.h"
#include "PositionBasedDynamics/PositionBasedDynamics.h"
#include "PositionBasedDynamics/XPBD.h"
#include "PositionBasedDynamics/PositionBasedRigidBodyDynamics.h"
#include "TimeManager.h"
#include "Simulation/IDFactory.h"
#include "PositionBasedDynamics/PositionBasedElasticRods.h"
#include <set>
#include <map>
using namespace PBD;
int BallJoint::TYPE_ID = IDFactory::getId();
int BallOnLineJoint::TYPE_ID = IDFactory::getId();
int HingeJoint::TYPE_ID = IDFactory::getId();
int UniversalJoint::TYPE_ID = IDFactory::getId();
int RigidBodyParticleBallJoint::TYPE_ID = IDFactory::getId();
int RigidBodySpring::TYPE_ID = IDFactory::getId();
int DistanceJoint::TYPE_ID = IDFactory::getId();
int DistanceConstraint::TYPE_ID = IDFactory::getId();
int DistanceConstraint_XPBD::TYPE_ID = IDFactory::getId();
int DihedralConstraint::TYPE_ID = IDFactory::getId();
int IsometricBendingConstraint::TYPE_ID = IDFactory::getId();
int IsometricBendingConstraint_XPBD::TYPE_ID = IDFactory::getId();
int FEMTriangleConstraint::TYPE_ID = IDFactory::getId();
int StrainTriangleConstraint::TYPE_ID = IDFactory::getId();
int VolumeConstraint::TYPE_ID = IDFactory::getId();
int VolumeConstraint_XPBD::TYPE_ID = IDFactory::getId();
int FEMTetConstraint::TYPE_ID = IDFactory::getId();
int StrainTetConstraint::TYPE_ID = IDFactory::getId();
int ShapeMatchingConstraint::TYPE_ID = IDFactory::getId();
int TargetAngleMotorHingeJoint::TYPE_ID = IDFactory::getId();
int TargetVelocityMotorHingeJoint::TYPE_ID = IDFactory::getId();
int SliderJoint::TYPE_ID = IDFactory::getId();
int TargetPositionMotorSliderJoint::TYPE_ID = IDFactory::getId();
int TargetVelocityMotorSliderJoint::TYPE_ID = IDFactory::getId();
int DamperJoint::TYPE_ID = IDFactory::getId();
int RigidBodyContactConstraint::TYPE_ID = IDFactory::getId();
int ParticleRigidBodyContactConstraint::TYPE_ID = IDFactory::getId();
int ParticleTetContactConstraint::TYPE_ID = IDFactory::getId();
int StretchShearConstraint::TYPE_ID = IDFactory::getId();
int BendTwistConstraint::TYPE_ID = IDFactory::getId();
int StretchBendingTwistingConstraint::TYPE_ID = IDFactory::getId();
int DirectPositionBasedSolverForStiffRodsConstraint::TYPE_ID = IDFactory::getId();
//////////////////////////////////////////////////////////////////////////
// BallJoint
//////////////////////////////////////////////////////////////////////////
bool BallJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos)
{
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_BallJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
pos,
m_jointInfo);
}
bool BallJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_BallJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool BallJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_BallJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_jointInfo,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// BallOnLineJoint
//////////////////////////////////////////////////////////////////////////
bool BallOnLineJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &dir)
{
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_BallOnLineJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
pos, dir,
m_jointInfo);
}
bool BallOnLineJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_BallOnLineJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool BallOnLineJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_BallOnLineJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_jointInfo,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// HingeJoint
//////////////////////////////////////////////////////////////////////////
bool HingeJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis)
{
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_HingeJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
pos, axis,
m_jointInfo);
}
bool HingeJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_HingeJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool HingeJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_HingeJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_jointInfo,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// UniversalJoint
//////////////////////////////////////////////////////////////////////////
bool UniversalJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis1, const Vector3r &axis2)
{
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_UniversalJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
pos,
axis1,
axis2,
m_jointInfo);
}
bool UniversalJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_UniversalJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool UniversalJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_UniversalJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_jointInfo,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// SliderJoint
//////////////////////////////////////////////////////////////////////////
bool SliderJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &axis)
{
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_SliderJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
axis,
m_jointInfo);
}
bool SliderJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_SliderJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool SliderJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_SliderJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_jointInfo,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// TargetPositionMotorSliderJoint
//////////////////////////////////////////////////////////////////////////
bool TargetPositionMotorSliderJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &axis)
{
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_TargetPositionMotorSliderJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
axis,
m_jointInfo);
}
bool TargetPositionMotorSliderJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_TargetPositionMotorSliderJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool TargetPositionMotorSliderJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_TargetPositionMotorSliderJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_target,
m_jointInfo,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// TargetVelocityMotorSliderJoint
//////////////////////////////////////////////////////////////////////////
bool TargetVelocityMotorSliderJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &axis)
{
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_TargetVelocityMotorSliderJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
axis,
m_jointInfo);
}
bool TargetVelocityMotorSliderJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_TargetVelocityMotorSliderJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool TargetVelocityMotorSliderJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_TargetVelocityMotorSliderJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_jointInfo,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
bool TargetVelocityMotorSliderJoint::solveVelocityConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_v1, corr_v2;
Vector3r corr_omega1, corr_omega2;
const bool res = PositionBasedRigidBodyDynamics::velocitySolve_TargetVelocityMotorSliderJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getVelocity(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb1.getAngularVelocity(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getVelocity(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
rb2.getAngularVelocity(),
m_target,
m_jointInfo,
corr_v1,
corr_omega1,
corr_v2,
corr_omega2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getVelocity() += corr_v1;
rb1.getAngularVelocity() += corr_omega1;
}
if (rb2.getMass() != 0.0)
{
rb2.getVelocity() += corr_v2;
rb2.getAngularVelocity() += corr_omega2;
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// TargetAngleMotorHingeJoint
//////////////////////////////////////////////////////////////////////////
bool TargetAngleMotorHingeJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis)
{
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_TargetAngleMotorHingeJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
pos, axis,
m_jointInfo);
}
bool TargetAngleMotorHingeJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_TargetAngleMotorHingeJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool TargetAngleMotorHingeJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_TargetAngleMotorHingeJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_target,
m_jointInfo,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// TargetVelocityMotorHingeJoint
//////////////////////////////////////////////////////////////////////////
bool TargetVelocityMotorHingeJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis)
{
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_TargetVelocityMotorHingeJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
pos, axis,
m_jointInfo);
}
bool TargetVelocityMotorHingeJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_TargetVelocityMotorHingeJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool TargetVelocityMotorHingeJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_TargetVelocityMotorHingeJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_jointInfo,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
bool TargetVelocityMotorHingeJoint::solveVelocityConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
Vector3r corr_v1, corr_v2;
Vector3r corr_omega1, corr_omega2;
const bool res = PositionBasedRigidBodyDynamics::velocitySolve_TargetVelocityMotorHingeJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getVelocity(),
rb1.getInertiaTensorInverseW(),
rb1.getAngularVelocity(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getVelocity(),
rb2.getInertiaTensorInverseW(),
rb2.getAngularVelocity(),
m_target,
m_jointInfo,
corr_v1,
corr_omega1,
corr_v2,
corr_omega2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getVelocity() += corr_v1;
rb1.getAngularVelocity() += corr_omega1;
}
if (rb2.getMass() != 0.0)
{
rb2.getVelocity() += corr_v2;
rb2.getAngularVelocity() += corr_omega2;
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// DamperJoint
//////////////////////////////////////////////////////////////////////////
bool DamperJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &axis, const Real stiffness)
{
m_stiffness = stiffness;
m_lambda = 0.0;
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::init_DamperJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
axis,
m_jointInfo);
}
bool DamperJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
return PositionBasedRigidBodyDynamics::update_DamperJoint(
rb1.getPosition(),
rb1.getRotation(),
rb2.getPosition(),
rb2.getRotation(),
m_jointInfo);
}
bool DamperJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];
const Real dt = TimeManager::getCurrent()->getTimeStepSize();
if (iter == 0)
m_lambda = 0.0;
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1, corr_q2;
const bool res = PositionBasedRigidBodyDynamics::solve_DamperJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
rb2.getInvMass(),
rb2.getPosition(),
rb2.getInertiaTensorInverseW(),
rb2.getRotation(),
m_stiffness,
dt,
m_jointInfo,
m_lambda,
corr_x1,
corr_q1,
corr_x2,
corr_q2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (rb2.getMass() != 0.0)
{
rb2.getPosition() += corr_x2;
rb2.getRotation().coeffs() += corr_q2.coeffs();
rb2.getRotation().normalize();
rb2.rotationUpdated();
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// RigidBodyParticleBallJoint
//////////////////////////////////////////////////////////////////////////
bool RigidBodyParticleBallJoint::initConstraint(SimulationModel &model, const unsigned int rbIndex, const unsigned int particleIndex)
{
m_bodies[0] = rbIndex;
m_bodies[1] = particleIndex;
SimulationModel::RigidBodyVector &rbs = model.getRigidBodies();
ParticleData &pd = model.getParticles();
RigidBody &rb = *rbs[m_bodies[0]];
return PositionBasedRigidBodyDynamics::init_RigidBodyParticleBallJoint(
rb.getPosition(),
rb.getRotation(),
pd.getPosition(particleIndex),
m_jointInfo);
}
bool RigidBodyParticleBallJoint::updateConstraint(SimulationModel &model)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
ParticleData &pd = model.getParticles();
RigidBody &rb1 = *rb[m_bodies[0]];
return PositionBasedRigidBodyDynamics::update_RigidBodyParticleBallJoint(
rb1.getPosition(),
rb1.getRotation(),
pd.getPosition(m_bodies[1]),
m_jointInfo);
}
bool RigidBodyParticleBallJoint::solvePositionConstraint(SimulationModel &model, const unsigned int iter)
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
ParticleData &pd = model.getParticles();
RigidBody &rb1 = *rb[m_bodies[0]];
Vector3r corr_x1, corr_x2;
Quaternionr corr_q1;
const bool res = PositionBasedRigidBodyDynamics::solve_RigidBodyParticleBallJoint(
rb1.getInvMass(),
rb1.getPosition(),
rb1.getInertiaTensorInverseW(),
rb1.getRotation(),
pd.getInvMass(m_bodies[1]),
pd.getPosition(m_bodies[1]),
m_jointInfo,
corr_x1,
corr_q1,
corr_x2);
if (res)
{
if (rb1.getMass() != 0.0)
{
rb1.getPosition() += corr_x1;
rb1.getRotation().coeffs() += corr_q1.coeffs();
rb1.getRotation().normalize();
rb1.rotationUpdated();
}
if (pd.getMass(m_bodies[1]) != 0.0)
{
pd.getPosition(m_bodies[1]) += corr_x2;
}
}
return res;
}
//////////////////////////////////////////////////////////////////////////
// RigidBodySpring
//////////////////////////////////////////////////////////////////////////
bool RigidBodySpring::initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos1, const Vector3r &pos2, const Real stiffness)
{
m_stiffness = stiffness;
m_lambda = 0.0;
m_restLength = (pos1 - pos2).norm();
m_bodies[0] = rbIndex1;
m_bodies[1] = rbIndex2;
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
RigidBody &rb1 = *rb[m_bodies[0]];
RigidBody &rb2 = *rb[m_bodies[1]];