Class: BulldogPhysics::ContactResolver
- Inherits:
-
Object
- Object
- BulldogPhysics::ContactResolver
- Defined in:
- lib/RigidBodies/contact_resolver.rb
Instance Attribute Summary collapse
-
#position_iterations_used ⇒ Object
Returns the value of attribute position_iterations_used.
-
#valid_settings ⇒ Object
readonly
Returns the value of attribute valid_settings.
-
#velocity_epsilon ⇒ Object
readonly
Returns the value of attribute velocity_epsilon.
-
#velocity_iterations ⇒ Object
readonly
Returns the value of attribute velocity_iterations.
-
#velocity_iterations_used ⇒ Object
Returns the value of attribute velocity_iterations_used.
Instance Method Summary collapse
-
#adjust_positions(c, num_contacts, duration) ⇒ Object
c is a contact array.
- #adjust_velocities(contact_array, num_contacts, duration) ⇒ Object
-
#initialize(iterations, velocity_epsilon = 0.01, position_epsilon = 0.01) ⇒ ContactResolver
constructor
A new instance of ContactResolver.
- #is_valid ⇒ Object
- #prepare_contacts(contact_array, num_contacts, duration) ⇒ Object
- #resolve_contacts(contact_array, num_contacts, duration) ⇒ Object
- #set_epsilon(velocity_epsilon, position_epsilon) ⇒ Object
- #set_iterations(velocity_iterations, position_iterations) ⇒ Object
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 |