예제 #1
0
  /* (non-Javadoc)
   * @see org.dyn4j.dynamics.joint.Joint#solvePositionConstraints(org.dyn4j.dynamics.Step, org.dyn4j.dynamics.Settings)
   */
  @Override
  public boolean solvePositionConstraints(Step step, Settings settings) {
    // check if the constraint needs to be applied
    if (this.limitState != LimitState.INACTIVE) {
      double angularTolerance = settings.getAngularTolerance();
      double maxAngularCorrection = settings.getMaximumAngularCorrection();

      Mass m1 = this.body1.getMass();
      Mass m2 = this.body2.getMass();

      double invI1 = m1.getInverseInertia();
      double invI2 = m2.getInverseInertia();

      // get the current angle between the bodies
      double angle = this.getRelativeRotation();
      double impulse = 0.0;
      double angularError = 0.0;
      // check the limit state
      if (this.limitState == LimitState.EQUAL) {
        // if the limits are equal then clamp the impulse to maintain
        // the constraint between the maximum
        double j =
            Interval.clamp(angle - this.lowerLimit, -maxAngularCorrection, maxAngularCorrection);
        impulse = -j * this.invK;
        angularError = Math.abs(j);
      } else if (this.limitState == LimitState.AT_LOWER) {
        // if the joint is at the lower limit then clamp only the lower value
        double j = angle - this.lowerLimit;
        angularError = -j;
        j = Interval.clamp(j + angularTolerance, -maxAngularCorrection, 0.0);
        impulse = -j * this.invK;
      } else if (this.limitState == LimitState.AT_UPPER) {
        // if the joint is at the upper limit then clamp only the upper value
        double j = angle - this.upperLimit;
        angularError = j;
        j = Interval.clamp(j - angularTolerance, 0.0, maxAngularCorrection);
        impulse = -j * this.invK;
      }

      // apply the corrective impulses to the bodies
      this.body1.rotateAboutCenter(invI1 * impulse);
      this.body2.rotateAboutCenter(-invI2 * impulse);

      return angularError <= angularTolerance;
    } else {
      return true;
    }
  }
예제 #2
0
  /* (non-Javadoc)
   * @see org.dyn4j.dynamics.joint.Joint#initializeConstraints(org.dyn4j.dynamics.Step, org.dyn4j.dynamics.Settings)
   */
  @Override
  public void initializeConstraints(Step step, Settings settings) {
    double angularTolerance = settings.getAngularTolerance();

    Mass m1 = this.body1.getMass();
    Mass m2 = this.body2.getMass();

    double invI1 = m1.getInverseInertia();
    double invI2 = m2.getInverseInertia();

    // check if the limits are enabled
    if (this.limitEnabled) {
      // compute the current angle
      double angle = this.getRelativeRotation();

      // if they are enabled check if they are equal
      if (Math.abs(this.upperLimit - this.lowerLimit) < 2.0 * angularTolerance) {
        // if so then set the state to equal
        this.limitState = LimitState.EQUAL;
      } else {
        // make sure we have valid settings
        if (this.upperLimit > this.lowerLimit) {
          // check against the max and min distances
          if (angle >= this.upperLimit) {
            // is the limit already at the upper limit
            if (this.limitState != LimitState.AT_UPPER) {
              this.impulse = 0;
            }
            // set the state to at upper
            this.limitState = LimitState.AT_UPPER;
          } else if (angle <= this.lowerLimit) {
            // is the limit already at the lower limit
            if (this.limitState != LimitState.AT_LOWER) {
              this.impulse = 0;
            }
            // set the state to at lower
            this.limitState = LimitState.AT_LOWER;
          } else {
            // set the state to inactive
            this.limitState = LimitState.INACTIVE;
            this.impulse = 0;
          }
        }
      }
    } else {
      // neither is enabled so no constraint needed at this time
      this.limitState = LimitState.INACTIVE;
      this.impulse = 0;
    }

    // compute the mass
    if (this.limitState == LimitState.INACTIVE) {
      // compute the angular mass including the ratio
      this.invK = invI1 + this.ratio * this.ratio * invI2;
    } else {
      // compute the angular mass normally
      this.invK = invI1 + invI2;
    }

    if (this.invK > Epsilon.E) {
      this.invK = 1.0 / this.invK;
    }

    // account for variable time step
    this.impulse *= step.getDeltaTimeRatio();

    // warm start
    this.body1.setAngularVelocity(this.body1.getAngularVelocity() + invI1 * this.impulse);
    // we only want to apply the ratio to the impulse if the limits are not active.  When the
    // limits are active we effectively disable the ratio
    this.body2.setAngularVelocity(
        this.body2.getAngularVelocity()
            - invI2 * this.impulse * (this.limitState == LimitState.INACTIVE ? this.ratio : 1.0));
  }