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rename, fixed world body contact point

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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
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1
src/bounce/dynamics/cloth/cloth.cpp
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@@ -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
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@@ -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
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@@ -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)