310 lines
7.9 KiB
C++
310 lines
7.9 KiB
C++
/*
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* Copyright (c) 2006-2012 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* 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
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* 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 "Box2D/Dynamics/Joints/b2MotorJoint.h"
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#include "Box2D/Dynamics/b2Body.h"
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#include "Box2D/Dynamics/b2TimeStep.h"
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// Point-to-point constraint
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// Cdot = v2 - v1
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// = v2 + cross(w2, r2) - v1 - cross(w1, r1)
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// J = [-I -r1_skew I r2_skew ]
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// Identity used:
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// w k % (rx i + ry j) = w * (-ry i + rx j)
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//
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// r1 = offset - c1
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// r2 = -c2
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// Angle constraint
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// Cdot = w2 - w1
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// J = [0 0 -1 0 0 1]
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// K = invI1 + invI2
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void b2MotorJointDef::Initialize(b2Body* bA, b2Body* bB)
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{
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bodyA = bA;
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bodyB = bB;
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b2Vec2 xB = bodyB->GetPosition();
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linearOffset = bodyA->GetLocalPoint(xB);
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float32 angleA = bodyA->GetAngle();
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float32 angleB = bodyB->GetAngle();
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angularOffset = angleB - angleA;
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}
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b2MotorJoint::b2MotorJoint(const b2MotorJointDef* def)
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: b2Joint(def)
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{
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m_linearOffset = def->linearOffset;
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m_angularOffset = def->angularOffset;
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m_linearImpulse.SetZero();
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m_angularImpulse = 0.0f;
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m_maxForce = def->maxForce;
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m_maxTorque = def->maxTorque;
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m_correctionFactor = def->correctionFactor;
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}
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void b2MotorJoint::InitVelocityConstraints(const b2SolverData& data)
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{
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m_indexA = m_bodyA->m_islandIndex;
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m_indexB = m_bodyB->m_islandIndex;
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m_localCenterA = m_bodyA->m_sweep.localCenter;
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m_localCenterB = m_bodyB->m_sweep.localCenter;
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m_invMassA = m_bodyA->m_invMass;
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m_invMassB = m_bodyB->m_invMass;
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m_invIA = m_bodyA->m_invI;
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m_invIB = m_bodyB->m_invI;
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b2Vec2 cA = data.positions[m_indexA].c;
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float32 aA = data.positions[m_indexA].a;
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b2Vec2 vA = data.velocities[m_indexA].v;
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float32 wA = data.velocities[m_indexA].w;
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b2Vec2 cB = data.positions[m_indexB].c;
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float32 aB = data.positions[m_indexB].a;
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b2Vec2 vB = data.velocities[m_indexB].v;
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float32 wB = data.velocities[m_indexB].w;
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b2Rot qA(aA), qB(aB);
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// Compute the effective mass matrix.
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m_rA = b2Mul(qA, m_linearOffset - m_localCenterA);
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m_rB = b2Mul(qB, -m_localCenterB);
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// J = [-I -r1_skew I r2_skew]
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// r_skew = [-ry; rx]
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// Matlab
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// K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
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// [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
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// [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
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float32 mA = m_invMassA, mB = m_invMassB;
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float32 iA = m_invIA, iB = m_invIB;
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// Upper 2 by 2 of K for point to point
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b2Mat22 K;
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K.ex.x = mA + mB + iA * m_rA.y * m_rA.y + iB * m_rB.y * m_rB.y;
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K.ex.y = -iA * m_rA.x * m_rA.y - iB * m_rB.x * m_rB.y;
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K.ey.x = K.ex.y;
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K.ey.y = mA + mB + iA * m_rA.x * m_rA.x + iB * m_rB.x * m_rB.x;
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m_linearMass = K.GetInverse();
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m_angularMass = iA + iB;
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if (m_angularMass > 0.0f)
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{
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m_angularMass = 1.0f / m_angularMass;
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}
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m_linearError = cB + m_rB - cA - m_rA;
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m_angularError = aB - aA - m_angularOffset;
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if (data.step.warmStarting)
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{
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// Scale impulses to support a variable time step.
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m_linearImpulse *= data.step.dtRatio;
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m_angularImpulse *= data.step.dtRatio;
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b2Vec2 P(m_linearImpulse.x, m_linearImpulse.y);
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vA -= mA * P;
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wA -= iA * (b2Cross(m_rA, P) + m_angularImpulse);
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vB += mB * P;
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wB += iB * (b2Cross(m_rB, P) + m_angularImpulse);
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}
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else
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{
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m_linearImpulse.SetZero();
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m_angularImpulse = 0.0f;
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}
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data.velocities[m_indexA].v = vA;
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data.velocities[m_indexA].w = wA;
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data.velocities[m_indexB].v = vB;
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data.velocities[m_indexB].w = wB;
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}
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void b2MotorJoint::SolveVelocityConstraints(const b2SolverData& data)
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{
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b2Vec2 vA = data.velocities[m_indexA].v;
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float32 wA = data.velocities[m_indexA].w;
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b2Vec2 vB = data.velocities[m_indexB].v;
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float32 wB = data.velocities[m_indexB].w;
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float32 mA = m_invMassA, mB = m_invMassB;
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float32 iA = m_invIA, iB = m_invIB;
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float32 h = data.step.dt;
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float32 inv_h = data.step.inv_dt;
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// Solve angular friction
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{
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float32 Cdot = wB - wA + inv_h * m_correctionFactor * m_angularError;
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float32 impulse = -m_angularMass * Cdot;
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float32 oldImpulse = m_angularImpulse;
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float32 maxImpulse = h * m_maxTorque;
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m_angularImpulse = b2Clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse);
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impulse = m_angularImpulse - oldImpulse;
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wA -= iA * impulse;
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wB += iB * impulse;
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}
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// Solve linear friction
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{
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b2Vec2 Cdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA) + inv_h * m_correctionFactor * m_linearError;
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b2Vec2 impulse = -b2Mul(m_linearMass, Cdot);
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b2Vec2 oldImpulse = m_linearImpulse;
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m_linearImpulse += impulse;
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float32 maxImpulse = h * m_maxForce;
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if (m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse)
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{
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m_linearImpulse.Normalize();
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m_linearImpulse *= maxImpulse;
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}
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impulse = m_linearImpulse - oldImpulse;
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vA -= mA * impulse;
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wA -= iA * b2Cross(m_rA, impulse);
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vB += mB * impulse;
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wB += iB * b2Cross(m_rB, impulse);
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}
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data.velocities[m_indexA].v = vA;
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data.velocities[m_indexA].w = wA;
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data.velocities[m_indexB].v = vB;
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data.velocities[m_indexB].w = wB;
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}
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bool b2MotorJoint::SolvePositionConstraints(const b2SolverData& data)
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{
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B2_NOT_USED(data);
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return true;
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}
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b2Vec2 b2MotorJoint::GetAnchorA() const
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{
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return m_bodyA->GetPosition();
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}
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b2Vec2 b2MotorJoint::GetAnchorB() const
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{
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return m_bodyB->GetPosition();
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}
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b2Vec2 b2MotorJoint::GetReactionForce(float32 inv_dt) const
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{
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return inv_dt * m_linearImpulse;
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}
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float32 b2MotorJoint::GetReactionTorque(float32 inv_dt) const
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{
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return inv_dt * m_angularImpulse;
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}
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void b2MotorJoint::SetMaxForce(float32 force)
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{
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b2Assert(b2IsValid(force) && force >= 0.0f);
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m_maxForce = force;
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}
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float32 b2MotorJoint::GetMaxForce() const
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{
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return m_maxForce;
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}
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void b2MotorJoint::SetMaxTorque(float32 torque)
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{
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b2Assert(b2IsValid(torque) && torque >= 0.0f);
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m_maxTorque = torque;
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}
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float32 b2MotorJoint::GetMaxTorque() const
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{
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return m_maxTorque;
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}
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void b2MotorJoint::SetCorrectionFactor(float32 factor)
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{
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b2Assert(b2IsValid(factor) && 0.0f <= factor && factor <= 1.0f);
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m_correctionFactor = factor;
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}
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float32 b2MotorJoint::GetCorrectionFactor() const
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{
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return m_correctionFactor;
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}
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void b2MotorJoint::SetLinearOffset(const b2Vec2& linearOffset)
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{
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if (linearOffset.x != m_linearOffset.x || linearOffset.y != m_linearOffset.y)
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{
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m_bodyA->SetAwake(true);
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m_bodyB->SetAwake(true);
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m_linearOffset = linearOffset;
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}
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}
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const b2Vec2& b2MotorJoint::GetLinearOffset() const
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{
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return m_linearOffset;
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}
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void b2MotorJoint::SetAngularOffset(float32 angularOffset)
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{
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if (angularOffset != m_angularOffset)
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{
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m_bodyA->SetAwake(true);
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m_bodyB->SetAwake(true);
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m_angularOffset = angularOffset;
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}
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}
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float32 b2MotorJoint::GetAngularOffset() const
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{
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return m_angularOffset;
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}
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void b2MotorJoint::Dump()
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{
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int32 indexA = m_bodyA->m_islandIndex;
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int32 indexB = m_bodyB->m_islandIndex;
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b2Log(" b2MotorJointDef jd;\n");
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b2Log(" jd.bodyA = bodies[%d];\n", indexA);
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b2Log(" jd.bodyB = bodies[%d];\n", indexB);
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b2Log(" jd.collideConnected = bool(%d);\n", m_collideConnected);
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b2Log(" jd.linearOffset.Set(%.15lef, %.15lef);\n", m_linearOffset.x, m_linearOffset.y);
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b2Log(" jd.angularOffset = %.15lef;\n", m_angularOffset);
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b2Log(" jd.maxForce = %.15lef;\n", m_maxForce);
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b2Log(" jd.maxTorque = %.15lef;\n", m_maxTorque);
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b2Log(" jd.correctionFactor = %.15lef;\n", m_correctionFactor);
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b2Log(" joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
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}
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