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engines/hpl1/engine/libraries/newton/physics/dgHingeConstraint.cpp

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+/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
+ *
+ * This software is provided 'as-is', without any express or implied
+ * warranty. In no event will the authors be held liable for any damages
+ * arising from the use of this software.
+ *
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ *
+ * 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.
+ *
+ * 2. Altered source versions must be plainly marked as such, and must not be
+ * misrepresented as being the original software.
+ *
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "dgHingeConstraint.h"
+#include "dgBody.h"
+#include "dgWorld.h"
+#include "hpl1/engine/libraries/newton/core/dg.h"
+
+
+//////////////////////////////////////////////////////////////////////
+// Construction/Destruction
+//////////////////////////////////////////////////////////////////////
+
+dgHingeConstraint::dgHingeConstraint() : dgBilateralConstraint() {
+	NEWTON_ASSERT((((dgUnsigned64)&m_localMatrix0) & 15) == 0);
+	//  constraint->Init ();
+
+	m_maxDOF = 6;
+	m_jointAccelFnt = NULL;
+	m_constId = dgHingeConstraintId;
+	m_angle = dgFloat32(dgFloat32(0.0f));
+}
+
+dgHingeConstraint::~dgHingeConstraint() {
+}
+
+/*
+ dgHingeConstraint* dgHingeConstraint::Create(dgWorld* world)
+ {
+ dgHingeConstraint* constraint;
+
+ //constraint = dgHingeConstraintArray::GetPool().GetElement();
+ dgHingeConstraintArray& array = *world;
+ constraint = array.GetElement();
+
+ NEWTON_ASSERT ((((dgUnsigned64) &constraint->m_localMatrix0) & 15) == 0);
+ constraint->Init ();
+ constraint->m_maxDOF = 6;
+ constraint->m_constId = dgHingeConstraintId;
+
+ constraint->m_angle = dgFloat32 (0.0f);
+ constraint->m_jointAccelFnt = NULL;
+ return constraint;
+ }
+
+ void dgHingeConstraint::Remove(dgWorld* world)
+ {
+ dgHingeConstraintArray& array = *world;
+ dgBilateralConstraint::Remove (world);
+ //dgHingeConstraintArray::GetPool().RemoveElement (this);
+ array.RemoveElement (this);
+ }
+ */
+
+void dgHingeConstraint::SetJointParameterCallBack(
+    dgHingeJointAcceleration callback) {
+	m_jointAccelFnt = callback;
+}
+
+dgFloat32 dgHingeConstraint::GetJointAngle() const {
+	return m_angle;
+}
+
+dgFloat32 dgHingeConstraint::GetJointOmega() const {
+	NEWTON_ASSERT(m_body0);
+	NEWTON_ASSERT(m_body1);
+	dgVector dir(m_body0->GetMatrix().RotateVector(m_localMatrix0[0]));
+	const dgVector &omega0 = m_body0->GetOmega();
+	const dgVector &omega1 = m_body1->GetOmega();
+	return (omega0 - omega1) % dir;
+}
+
+dgFloat32 dgHingeConstraint::CalculateStopAlpha(dgFloat32 angle,
+        const dgJointCallBackParam *param) const {
+	dgFloat32 alpha;
+	dgFloat32 omega;
+	dgFloat32 penetrationErr;
+
+	alpha = dgFloat32(0.0f);
+	if (m_angle > angle) {
+		omega = GetJointOmega();
+		if (omega < dgFloat32(0.0f)) {
+			omega = dgFloat32(0.0f);
+		}
+		penetrationErr = (angle - m_angle);
+		alpha = dgFloat32(100.0f) * penetrationErr - omega * dgFloat32(1.01f) / param->m_timestep;
+
+	} else if (m_angle < angle) {
+		omega = GetJointOmega();
+		if (omega > dgFloat32(0.0f)) {
+			omega = dgFloat32(0.0f);
+		}
+
+		penetrationErr = MIN_JOINT_PIN_LENGTH * (angle - m_angle);
+		alpha = dgFloat32(100.0f) * penetrationErr - omega * dgFloat32(1.01f) / param->m_timestep;
+	}
+	return alpha;
+}
+
+dgVector dgHingeConstraint::GetJointForce() const {
+	dgMatrix matrix0;
+	dgMatrix matrix1;
+
+	CalculateGlobalMatrixAndAngle(matrix0, matrix1);
+	return dgVector(
+	           matrix0.m_front.Scale(m_jointForce[0]) + matrix0.m_up.Scale(m_jointForce[1]) + matrix0.m_right.Scale(m_jointForce[2]) + matrix0.m_up.Scale(m_jointForce[3]) + matrix0.m_right.Scale(m_jointForce[4]));
+}
+
+dgUnsigned32 dgHingeConstraint::JacobianDerivative(dgContraintDescritor &params) {
+	dgMatrix matrix0;
+	dgMatrix matrix1;
+	dgVector angle(CalculateGlobalMatrixAndAngle(matrix0, matrix1));
+
+	m_angle = -angle.m_x;
+
+	NEWTON_ASSERT(
+	    dgAbsf(1.0f - (matrix0.m_front % matrix0.m_front)) < dgFloat32(1.0e-5f));
+	NEWTON_ASSERT(dgAbsf(1.0f - (matrix0.m_up % matrix0.m_up)) < dgFloat32(1.0e-5f));
+	NEWTON_ASSERT(
+	    dgAbsf(1.0f - (matrix0.m_right % matrix0.m_right)) < dgFloat32(1.0e-5f));
+
+	const dgVector &dir0 = matrix0.m_front;
+	const dgVector &dir1 = matrix0.m_up;
+	const dgVector &dir2 = matrix0.m_right;
+
+	const dgVector &p0 = matrix0.m_posit;
+	const dgVector &p1 = matrix1.m_posit;
+	dgVector q0(p0 + matrix0.m_front.Scale(MIN_JOINT_PIN_LENGTH));
+	dgVector q1(p1 + matrix1.m_front.Scale(MIN_JOINT_PIN_LENGTH));
+
+	//  NEWTON_ASSERT (((p1 - p0) % (p1 - p0)) < 1.0e-2f);
+
+	dgPointParam pointDataP;
+	dgPointParam pointDataQ;
+	InitPointParam(pointDataP, m_stiffness, p0, p1);
+	InitPointParam(pointDataQ, m_stiffness, q0, q1);
+
+	CalculatePointDerivative(0, params, dir0, pointDataP, &m_jointForce[0]);
+	CalculatePointDerivative(1, params, dir1, pointDataP, &m_jointForce[1]);
+	CalculatePointDerivative(2, params, dir2, pointDataP, &m_jointForce[2]);
+	CalculatePointDerivative(3, params, dir1, pointDataQ, &m_jointForce[3]);
+	CalculatePointDerivative(4, params, dir2, pointDataQ, &m_jointForce[4]);
+
+	dgInt32 ret = 5;
+	if (m_jointAccelFnt) {
+		dgJointCallBackParam axisParam;
+		axisParam.m_accel = dgFloat32(0.0f);
+		axisParam.m_timestep = params.m_timestep;
+		axisParam.m_minFriction = DG_MIN_BOUND;
+		axisParam.m_maxFriction = DG_MAX_BOUND;
+
+		if (m_jointAccelFnt(reinterpret_cast<NewtonJoint *>(this), reinterpret_cast<NewtonHingeSliderUpdateDesc *>(&axisParam))) {
+			if ((axisParam.m_minFriction > DG_MIN_BOUND) || (axisParam.m_maxFriction < DG_MAX_BOUND)) {
+				params.m_forceBounds[5].m_low = axisParam.m_minFriction;
+				params.m_forceBounds[5].m_upper = axisParam.m_maxFriction;
+				params.m_forceBounds[5].m_normalIndex = DG_BILATERAL_FRICTION_CONSTRAINT;
+			}
+
+			CalculateAngularDerivative(5, params, dir0, m_stiffness, dgFloat32(0.0f),
+			                           &m_jointForce[5]);
+			//          params.m_jointAccel[5] = axisParam.m_accel;
+			SetMotorAcceleration(5, axisParam.m_accel, params);
+			ret = 6;
+		}
+	}
+
+	return dgUnsigned32(ret);
+}