AnotherFoxGuy/bounce
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

rename, fixed world body contact point

Browse Source
This commit is contained in:
Irlan 2018-08-04 15:21:33 -03:00
parent 6aa63996c4
commit 10c65fad1d
5 changed files with 30 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
include/bounce/dynamics/cloth/cloth_solver.h
View File

@ -68,7 +68,7 @@ struct b3AccelerationConstraint
void Apply(const b3ClothSolverData* data);
};
struct b3ClothSolverContactVelocityConstraint
struct b3ClothSolverBodyContactVelocityConstraint
{
u32 indexA;
float32 invMassA;
@ -95,7 +95,7 @@ struct b3ClothSolverContactVelocityConstraint
b3Vec2 tangentImpulse;
};
struct b3ClothSolverContactPositionConstraint
struct b3ClothSolverBodyContactPositionConstraint
{
u32 indexA;
float32 invMassA;
@ -104,15 +104,14 @@ struct b3ClothSolverContactPositionConstraint
b3Vec3 localCenterA;
b3Body* bodyB;
b3Vec3 localCenterB;
float32 invMassB;
b3Mat33 invIB;
float32 radiusB;
b3Vec3 localCenterB;
b3Vec3 rA;
b3Vec3 rB;
b3Vec3 localNormalA;
b3Vec3 localPointA;
b3Vec3 localPointB;
};
@ -167,7 +166,7 @@ struct b3ClothSolverTriangleContactVelocityConstraint
b3Vec3 JB;
b3Vec3 JC;
b3Vec3 JD;
float32 normalMass;
float32 normalImpulse;
};
@ -262,8 +261,8 @@ private:
u32 m_bodyContactCapacity;
u32 m_bodyContactCount;
b3BodyContact** m_bodyContacts;
b3ClothSolverContactVelocityConstraint* m_bodyVelocityConstraints;
b3ClothSolverContactPositionConstraint* m_bodyPositionConstraints;
b3ClothSolverBodyContactVelocityConstraint* m_bodyVelocityConstraints;
b3ClothSolverBodyContactPositionConstraint* m_bodyPositionConstraints;
u32 m_particleContactCapacity;
u32 m_particleContactCount;

3
include/bounce/dynamics/cloth/particle.h
View File

@ -72,7 +72,6 @@ public:
b3Shape* s2;
// Contact constraint
b3Vec3 localNormal1;
b3Vec3 localPoint1;
b3Vec3 localPoint2;
float32 normalImpulse;
@ -137,7 +136,7 @@ public:
b3Particle* p4;
bool front;
// Contact constraint
float32 normalImpulse;

1
src/bounce/dynamics/cloth/cloth.cpp
View File

@ -569,7 +569,6 @@ void b3Cloth::UpdateBodyContacts()
c->active = true;
c->p1 = p;
c->s2 = shape;
c->localNormal1 = n;
c->localPoint1.SetZero();
c->localPoint2 = body->GetLocalPoint(cb);
c->t1 = b3Perp(n);

23
src/bounce/dynamics/cloth/cloth_solver.cpp
View File

@ -56,8 +56,8 @@ b3ClothSolver::b3ClothSolver(const b3ClothSolverDef& def)
m_bodyContactCapacity = def.bodyContactCapacity;
m_bodyContactCount = 0;
m_bodyContacts = (b3BodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3BodyContact*));
m_bodyVelocityConstraints = (b3ClothSolverContactVelocityConstraint*)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3ClothSolverContactVelocityConstraint));
m_bodyPositionConstraints = (b3ClothSolverContactPositionConstraint*)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3ClothSolverContactPositionConstraint));
m_bodyVelocityConstraints = (b3ClothSolverBodyContactVelocityConstraint*)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3ClothSolverBodyContactVelocityConstraint));
m_bodyPositionConstraints = (b3ClothSolverBodyContactPositionConstraint*)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3ClothSolverBodyContactPositionConstraint));
m_particleContactCapacity = def.particleContactCapacity;
m_particleContactCount = 0;
@ -462,8 +462,8 @@ void b3ClothSolver::InitializeBodyContactConstraints()
for (u32 i = 0; i < m_bodyContactCount; ++i)
{
b3BodyContact* c = m_bodyContacts[i];
b3ClothSolverContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
b3ClothSolverContactPositionConstraint* pc = m_bodyPositionConstraints + i;
b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
b3ClothSolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
vc->indexA = c->p1->m_solverId;
vc->bodyB = c->s2->GetBody();
@ -491,7 +491,6 @@ void b3ClothSolver::InitializeBodyContactConstraints()
pc->localCenterA.SetZero();
pc->localCenterB = pc->bodyB->m_sweep.localCenter;
pc->localNormalA = c->localNormal1;
pc->localPointA = c->localPoint1;
pc->localPointB = c->localPoint2;
}
@ -499,8 +498,8 @@ void b3ClothSolver::InitializeBodyContactConstraints()
for (u32 i = 0; i < m_bodyContactCount; ++i)
{
b3BodyContact* c = m_bodyContacts[i];
b3ClothSolverContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
b3ClothSolverContactPositionConstraint* pc = m_bodyPositionConstraints + i;
b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
b3ClothSolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
u32 indexA = vc->indexA;
b3Body* bodyB = vc->bodyB;
@ -762,7 +761,7 @@ void b3ClothSolver::WarmStart()
for (u32 i = 0; i < m_bodyContactCount; ++i)
{
b3ClothSolverContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
u32 indexA = vc->indexA;
b3Body* bodyB = vc->bodyB;
@ -872,7 +871,7 @@ void b3ClothSolver::SolveBodyContactVelocityConstraints()
for (u32 i = 0; i < m_bodyContactCount; ++i)
{
b3ClothSolverContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
u32 indexA = vc->indexA;
b3Body* bodyB = vc->bodyB;
@ -1083,7 +1082,7 @@ void b3ClothSolver::StoreImpulses()
for (u32 i = 0; i < m_bodyContactCount; ++i)
{
b3BodyContact* c = m_bodyContacts[i];
b3ClothSolverContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
c->normalImpulse = vc->normalImpulse;
c->tangentImpulse = vc->tangentImpulse;
@ -1109,7 +1108,7 @@ void b3ClothSolver::StoreImpulses()
struct b3ClothSolverBodyContactSolverPoint
{
void Initialize(const b3ClothSolverContactPositionConstraint* pc, const b3Transform& xfA, const b3Transform& xfB)
void Initialize(const b3ClothSolverBodyContactPositionConstraint* pc, const b3Transform& xfA, const b3Transform& xfB)
{
b3Vec3 cA = b3Mul(xfA, pc->localPointA);
b3Vec3 cB = b3Mul(xfB, pc->localPointB);
@ -1147,7 +1146,7 @@ bool b3ClothSolver::SolveBodyContactPositionConstraints()
for (u32 i = 0; i < m_bodyContactCount; ++i)
{
b3ClothSolverContactPositionConstraint* pc = m_bodyPositionConstraints + i;
b3ClothSolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
u32 indexA = pc->indexA;
float32 mA = pc->invMassA;

16
src/bounce/dynamics/cloth/particle.cpp
View File

@ -24,16 +24,24 @@
void b3BodyContactWorldPoint::Initialize(const b3BodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
{
b3Vec3 nA = xfA.rotation * c->localNormal1;
b3Vec3 cA = xfA * c->localPoint1;
b3Vec3 cB = xfB * c->localPoint2;
b3Vec3 cA = b3Mul(xfA, c->localPoint1);
b3Vec3 cB = b3Mul(xfB, c->localPoint2);
b3Vec3 d = cB - cA;
float32 distance = b3Length(d);
b3Vec3 nA(0.0f, 1.0f, 0.0f);
if (distance > B3_EPSILON)
{
nA = d / distance;
}
b3Vec3 pA = cA + rA * nA;
b3Vec3 pB = cB - rB * nA;
point = 0.5f * (pA + pB);
normal = nA;
separation = b3Dot(cB - cA, nA) - rA - rB;
separation = distance - rA - rB;
}
void b3ParticleContactWorldPoint::Initialize(const b3ParticleContact* c)