Class: BulldogPhysics::ContactResolver

Inherits:
Object
  • Object
show all
Defined in:
lib/RigidBodies/contact_resolver.rb

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(iterations, velocity_epsilon = 0.01, position_epsilon = 0.01) ⇒ ContactResolver

Returns a new instance of ContactResolver.



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# File 'lib/RigidBodies/contact_resolver.rb', line 13

def initialize(iterations, velocity_epsilon = 0.01, position_epsilon = 0.01)
	set_iterations(iterations, iterations)
	set_epsilon(velocity_epsilon, position_epsilon)
end

Instance Attribute Details

#position_iterations_used ⇒ Object

Returns the value of attribute position_iterations_used.



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# File 'lib/RigidBodies/contact_resolver.rb', line 8

def position_iterations_used
  @position_iterations_used
end

#valid_settings ⇒ Object (readonly)

Returns the value of attribute valid_settings.



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# File 'lib/RigidBodies/contact_resolver.rb', line 10

def valid_settings
  @valid_settings
end

#velocity_epsilon ⇒ Object (readonly)

Returns the value of attribute velocity_epsilon.



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# File 'lib/RigidBodies/contact_resolver.rb', line 6

def velocity_epsilon
  @velocity_epsilon
end

#velocity_iterations ⇒ Object (readonly)

Returns the value of attribute velocity_iterations.



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# File 'lib/RigidBodies/contact_resolver.rb', line 4

def velocity_iterations
  @velocity_iterations
end

#velocity_iterations_used ⇒ Object

Returns the value of attribute velocity_iterations_used.



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# File 'lib/RigidBodies/contact_resolver.rb', line 8

def velocity_iterations_used
  @velocity_iterations_used
end

Instance Method Details

#adjust_positions(c, num_contacts, duration) ⇒ Object

c is a contact array



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# File 'lib/RigidBodies/contact_resolver.rb', line 98

def adjust_positions(c, num_contacts, duration)
	linearChange = [Vector3.new, Vector3.new]
	angularChange = [Vector3.new, Vector3.new]
	#angularChange = Vector3.new
	deltaPosition = Vector3.new

	@position_iterations_used = 0
	while @position_iterations_used < @position_iterations

		max = @position_epsilon
		index = num_contacts

		for i in 0..num_contacts
			if( c[i].penetration > max)
				max = c[i].penetration
				puts "MAX #{max}"
				index = i
			end
		end

		break if (index == num_contacts)

		c[index].match_awake_state
		c[index].apply_position_change( linearChange, angularChange, max)

		for i in 0..num_contacts-1
			for b in 0..1
				#next if c[i].body[b].nil?

				for d in 0..1

					if(c[i].body[b] == c[index].body[d])
						deltaPosition = linearChange[d] + angularChange[d].vector_product( c[i].relative_contact_position[b])
						test = b == 1 ? 1 : -1 
						#puts test
						c[i].penetration += deltaPosition.scalarProduct(c[i].contact_normal) * test
					end
				end
			end
		end
		@position_iterations_used += 1
	end
end

#adjust_velocities(contact_array, num_contacts, duration) ⇒ Object 



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# File 'lib/RigidBodies/contact_resolver.rb', line 47

def adjust_velocities(contact_array, num_contacts, duration)
	velocityChange = [Vector3.new, Vector3.new]
	rotationChange = [Vector3.new, Vector3.new]
	deltaVel = Vector3.new

	@velocity_iterations_used = 0

	while @velocity_iterations_used < @velocity_iterations do

		max = @velocity_epsilon
		index = num_contacts
		for i in 0..num_contacts-1
			if(contact_array[i].desired_delta_velocity > max)
				max = contact_array[i].desired_delta_velocity
				index = i
			end
		end

		break if index == num_contacts

		contact_array[index].match_awake_state
		contact_array[index].apply_velocity_change(velocityChange, rotationChange)

		for i in i..num_contacts-1
			for b in 0..1
				next if contact_array[i].body[b].nil?
				for d in 0..1
					if(contact_array[i].body[b] == contact_array[index].body[d])
						deltaVel = velocityChange[d] + rotationChange[d].vector_product(contact_array[i].relative_contact_position[b]);
						#puts "DELAT VEL #{deltaVel}"
						#puts "CONTACT VELOCITY #{contact_array[i].contact_velocity}"
						#puts "CONTACT TO WORLD "

						change = contact_array[i].contact_to_world.transformTranspose(deltaVel) 
						if(b)
							contact_array[i].contact_velocity -= change
						else
							contact_array[i].contact_velocity += change
						end

						contact_array[i].calculate_desired_delta_velocity(duration)
					end
				end
			end
		end
		@velocity_iterations_used += 1
	end

end

#is_valid ⇒ Object 



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# File 'lib/RigidBodies/contact_resolver.rb', line 18

def is_valid
	@velocity_iterations > 0 && @position_iterations > 0 && @position_epsilon >= 0.0 && @velocity_epsilon >= 0
end

#prepare_contacts(contact_array, num_contacts, duration) ⇒ Object 



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# File 'lib/RigidBodies/contact_resolver.rb', line 41

def prepare_contacts(contact_array, num_contacts, duration)
	contact_array.each do |contact|
		contact.calculate_internals(duration)
	end
end

#resolve_contacts(contact_array, num_contacts, duration) ⇒ Object 



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# File 'lib/RigidBodies/contact_resolver.rb', line 32

def resolve_contacts(contact_array, num_contacts, duration)
	return if num_contacts == 0
	return unless is_valid

	prepare_contacts(contact_array, num_contacts, duration)
	adjust_positions(contact_array, num_contacts, duration)
	adjust_velocities(contact_array, num_contacts, duration)
end

#set_epsilon(velocity_epsilon, position_epsilon) ⇒ Object 



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# File 'lib/RigidBodies/contact_resolver.rb', line 27

def set_epsilon(velocity_epsilon, position_epsilon)
	@velocity_epsilon = velocity_epsilon
	@position_epsilon = position_epsilon
end

#set_iterations(velocity_iterations, position_iterations) ⇒ Object 



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# File 'lib/RigidBodies/contact_resolver.rb', line 22

def set_iterations(velocity_iterations, position_iterations)
	@velocity_iterations = velocity_iterations
	@position_iterations = position_iterations
end