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170 lines
7.0 KiB
C++
170 lines
7.0 KiB
C++
/*************************************************************************/
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/* godot_jacobian_entry_3d.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef GODOT_JACOBIAN_ENTRY_3D_H
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#define GODOT_JACOBIAN_ENTRY_3D_H
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/*
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Adapted to Godot from the Bullet library.
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*/
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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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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 "core/math/transform_3d.h"
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class GodotJacobianEntry3D {
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public:
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GodotJacobianEntry3D() {}
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//constraint between two different rigidbodies
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GodotJacobianEntry3D(
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const Basis &world2A,
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const Basis &world2B,
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const Vector3 &rel_pos1, const Vector3 &rel_pos2,
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const Vector3 &jointAxis,
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const Vector3 &inertiaInvA,
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const real_t massInvA,
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const Vector3 &inertiaInvB,
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const real_t massInvB) :
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m_linearJointAxis(jointAxis) {
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m_aJ = world2A.xform(rel_pos1.cross(m_linearJointAxis));
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m_bJ = world2B.xform(rel_pos2.cross(-m_linearJointAxis));
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m_0MinvJt = inertiaInvA * m_aJ;
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m_1MinvJt = inertiaInvB * m_bJ;
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m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
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ERR_FAIL_COND(m_Adiag <= real_t(0.0));
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}
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//angular constraint between two different rigidbodies
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GodotJacobianEntry3D(const Vector3 &jointAxis,
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const Basis &world2A,
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const Basis &world2B,
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const Vector3 &inertiaInvA,
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const Vector3 &inertiaInvB) :
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m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))) {
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m_aJ = world2A.xform(jointAxis);
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m_bJ = world2B.xform(-jointAxis);
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m_0MinvJt = inertiaInvA * m_aJ;
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m_1MinvJt = inertiaInvB * m_bJ;
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m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
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ERR_FAIL_COND(m_Adiag <= real_t(0.0));
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}
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//angular constraint between two different rigidbodies
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GodotJacobianEntry3D(const Vector3 &axisInA,
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const Vector3 &axisInB,
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const Vector3 &inertiaInvA,
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const Vector3 &inertiaInvB) :
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m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))),
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m_aJ(axisInA),
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m_bJ(-axisInB) {
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m_0MinvJt = inertiaInvA * m_aJ;
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m_1MinvJt = inertiaInvB * m_bJ;
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m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
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ERR_FAIL_COND(m_Adiag <= real_t(0.0));
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}
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//constraint on one rigidbody
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GodotJacobianEntry3D(
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const Basis &world2A,
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const Vector3 &rel_pos1, const Vector3 &rel_pos2,
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const Vector3 &jointAxis,
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const Vector3 &inertiaInvA,
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const real_t massInvA) :
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m_linearJointAxis(jointAxis) {
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m_aJ = world2A.xform(rel_pos1.cross(jointAxis));
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m_bJ = world2A.xform(rel_pos2.cross(-jointAxis));
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m_0MinvJt = inertiaInvA * m_aJ;
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m_1MinvJt = Vector3(real_t(0.), real_t(0.), real_t(0.));
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m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
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ERR_FAIL_COND(m_Adiag <= real_t(0.0));
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}
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real_t getDiagonal() const { return m_Adiag; }
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// for two constraints on the same rigidbody (for example vehicle friction)
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real_t getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA) const {
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const GodotJacobianEntry3D &jacA = *this;
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real_t lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
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real_t ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
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return lin + ang;
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}
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// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
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real_t getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA, const real_t massInvB) const {
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const GodotJacobianEntry3D &jacA = *this;
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Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
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Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
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Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
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Vector3 lin0 = massInvA * lin;
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Vector3 lin1 = massInvB * lin;
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Vector3 sum = ang0 + ang1 + lin0 + lin1;
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return sum[0] + sum[1] + sum[2];
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}
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real_t getRelativeVelocity(const Vector3 &linvelA, const Vector3 &angvelA, const Vector3 &linvelB, const Vector3 &angvelB) {
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Vector3 linrel = linvelA - linvelB;
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Vector3 angvela = angvelA * m_aJ;
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Vector3 angvelb = angvelB * m_bJ;
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linrel *= m_linearJointAxis;
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angvela += angvelb;
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angvela += linrel;
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real_t rel_vel2 = angvela[0] + angvela[1] + angvela[2];
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return rel_vel2 + CMP_EPSILON;
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}
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//private:
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Vector3 m_linearJointAxis;
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Vector3 m_aJ;
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Vector3 m_bJ;
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Vector3 m_0MinvJt;
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Vector3 m_1MinvJt;
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//Optimization: can be stored in the w/last component of one of the vectors
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real_t m_Adiag = 1.0;
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};
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#endif // GODOT_JACOBIAN_ENTRY_3D_H
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