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-/*************************************************************************/
-/* jacobian_entry_sw.h */
-/*************************************************************************/
-/* This file is part of: */
-/* GODOT ENGINE */
-/* https://godotengine.org */
-/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
-/* */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the */
-/* "Software"), to deal in the Software without restriction, including */
-/* without limitation the rights to use, copy, modify, merge, publish, */
-/* distribute, sublicense, and/or sell copies of the Software, and to */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions: */
-/* */
-/* The above copyright notice and this permission notice shall be */
-/* included in all copies or substantial portions of the Software. */
-/* */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
-/*************************************************************************/
-
-/*
-Adapted to Godot from the Bullet library.
-*/
-
-#ifndef JACOBIAN_ENTRY_SW_H
-#define JACOBIAN_ENTRY_SW_H
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
-
-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 "core/math/transform.h"
-
-class JacobianEntrySW {
-public:
- JacobianEntrySW(){};
- //constraint between two different rigidbodies
- JacobianEntrySW(
- const Basis &world2A,
- const Basis &world2B,
- const Vector3 &rel_pos1, const Vector3 &rel_pos2,
- const Vector3 &jointAxis,
- const Vector3 &inertiaInvA,
- const real_t massInvA,
- const Vector3 &inertiaInvB,
- const real_t massInvB) :
- m_linearJointAxis(jointAxis) {
- m_aJ = world2A.xform(rel_pos1.cross(m_linearJointAxis));
- m_bJ = world2B.xform(rel_pos2.cross(-m_linearJointAxis));
- m_0MinvJt = inertiaInvA * m_aJ;
- m_1MinvJt = inertiaInvB * m_bJ;
- m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
-
- ERR_FAIL_COND(m_Adiag <= real_t(0.0));
- }
-
- //angular constraint between two different rigidbodies
- JacobianEntrySW(const Vector3 &jointAxis,
- const Basis &world2A,
- const Basis &world2B,
- const Vector3 &inertiaInvA,
- const Vector3 &inertiaInvB) :
- m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))) {
- m_aJ = world2A.xform(jointAxis);
- m_bJ = world2B.xform(-jointAxis);
- m_0MinvJt = inertiaInvA * m_aJ;
- m_1MinvJt = inertiaInvB * m_bJ;
- m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
- ERR_FAIL_COND(m_Adiag <= real_t(0.0));
- }
-
- //angular constraint between two different rigidbodies
- JacobianEntrySW(const Vector3 &axisInA,
- const Vector3 &axisInB,
- const Vector3 &inertiaInvA,
- const Vector3 &inertiaInvB) :
- m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))),
- m_aJ(axisInA),
- m_bJ(-axisInB) {
- m_0MinvJt = inertiaInvA * m_aJ;
- m_1MinvJt = inertiaInvB * m_bJ;
- m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
- ERR_FAIL_COND(m_Adiag <= real_t(0.0));
- }
-
- //constraint on one rigidbody
- JacobianEntrySW(
- const Basis &world2A,
- const Vector3 &rel_pos1, const Vector3 &rel_pos2,
- const Vector3 &jointAxis,
- const Vector3 &inertiaInvA,
- const real_t massInvA) :
- m_linearJointAxis(jointAxis) {
- m_aJ = world2A.xform(rel_pos1.cross(jointAxis));
- m_bJ = world2A.xform(rel_pos2.cross(-jointAxis));
- m_0MinvJt = inertiaInvA * m_aJ;
- m_1MinvJt = Vector3(real_t(0.), real_t(0.), real_t(0.));
- m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
-
- ERR_FAIL_COND(m_Adiag <= real_t(0.0));
- }
-
- real_t getDiagonal() const { return m_Adiag; }
-
- // for two constraints on the same rigidbody (for example vehicle friction)
- real_t getNonDiagonal(const JacobianEntrySW &jacB, const real_t massInvA) const {
- const JacobianEntrySW &jacA = *this;
- real_t lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
- real_t ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
- return lin + ang;
- }
-
- // for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
- real_t getNonDiagonal(const JacobianEntrySW &jacB, const real_t massInvA, const real_t massInvB) const {
- const JacobianEntrySW &jacA = *this;
- Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
- Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
- Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
- Vector3 lin0 = massInvA * lin;
- Vector3 lin1 = massInvB * lin;
- Vector3 sum = ang0 + ang1 + lin0 + lin1;
- return sum[0] + sum[1] + sum[2];
- }
-
- real_t getRelativeVelocity(const Vector3 &linvelA, const Vector3 &angvelA, const Vector3 &linvelB, const Vector3 &angvelB) {
- Vector3 linrel = linvelA - linvelB;
- Vector3 angvela = angvelA * m_aJ;
- Vector3 angvelb = angvelB * m_bJ;
- linrel *= m_linearJointAxis;
- angvela += angvelb;
- angvela += linrel;
- real_t rel_vel2 = angvela[0] + angvela[1] + angvela[2];
- return rel_vel2 + CMP_EPSILON;
- }
- //private:
-
- Vector3 m_linearJointAxis;
- Vector3 m_aJ;
- Vector3 m_bJ;
- Vector3 m_0MinvJt;
- Vector3 m_1MinvJt;
- //Optimization: can be stored in the w/last component of one of the vectors
- real_t m_Adiag;
-};
-
-#endif // JACOBIAN_ENTRY_SW_H
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