/*
* Phys2D - a 2D physics engine based on the work of Erin Catto. The
* original source remains:
*
* Copyright (c) 2006 Erin Catto http://www.gphysics.com
*
* This source is provided under the terms of the BSD License.
*
* Copyright (c) 2006, Phys2D
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
*
* * Redistributions of source code must retain the above
* copyright notice, this list of conditions and the
* following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Phys2D/New Dawn Software nor the names of
* its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
* TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
* OF SUCH DAMAGE.
*/
package net.phys2d.raw;
import net.phys2d.math.MathUtil;
import net.phys2d.math.Matrix2f;
import net.phys2d.math.ROVector2f;
import net.phys2d.math.Vector2f;
/**
* A joint between two bodies. The joint affects the impulses applied to
* each body each step constraining the movement.
*
* @author Kevin Glass
*/
public strictfp class BasicJoint implements Joint {
/** The next ID to be used */
private static int NEXT_ID = 0;
/** The first body attached to the joint */
private Body body1;
/** The second body attached to the joint */
private Body body2;
/** The matrix describing the connection between two bodies */
private Matrix2f M = new Matrix2f();
/** The local anchor for the first body */
private Vector2f localAnchor1 = new Vector2f();
/** The local anchor for the second body */
private Vector2f localAnchor2 = new Vector2f();
/** The rotation of the anchor of the first body */
private Vector2f r1 = new Vector2f();
/** The rotation of the anchor of the second body */
private Vector2f r2 = new Vector2f();
/** ? */
private Vector2f bias = new Vector2f();
/** The impulse to be applied throught the joint */
private Vector2f accumulatedImpulse = new Vector2f();
/** How much slip there is in the joint */
private float relaxation;
/** The ID of this joint */
private int id;
/**
* Create a joint holding two bodies together
*
* @param b1 The first body attached to the joint
* @param b2 The second body attached to the joint
* @param anchor The anchor point which movement/rotation will occur
* arround.
*/
public BasicJoint(Body b1, Body b2, Vector2f anchor) {
id = NEXT_ID++;
accumulatedImpulse.set(0.0f, 0.0f);
relaxation = 1.0f;
set(b1,b2,anchor);
}
/**
* Set the relaxtion value on this joint. This value determines
* how loose the joint will be
*
* @param relaxation The relaxation value
*/
public void setRelaxation(float relaxation) {
this.relaxation = relaxation;
}
/**
* Retrieve the anchor for the first body attached
*
* @return The anchor for the first body
*/
public ROVector2f getLocalAnchor1() {
return localAnchor1;
}
/**
* Retrieve the anchor for the second body attached
*
* @return The anchor for the second body
*/
public ROVector2f getLocalAnchor2() {
return localAnchor2;
}
/**
* Get the first body attached to this joint
*
* @return The first body attached to this joint
*/
public Body getBody1() {
return body1;
}
/**
* Get the second body attached to this joint
*
* @return The second body attached to this joint
*/
public Body getBody2() {
return body2;
}
/**
* Reconfigure this joint
*
* @param b1 The first body attached to this joint
* @param b2 The second body attached to this joint
* @param anchor The static anchor point between the joints
*/
public void set(Body b1, Body b2, Vector2f anchor) {
body1 = b1;
body2 = b2;
Matrix2f rot1 = new Matrix2f(body1.getRotation());
Matrix2f rot2 = new Matrix2f(body2.getRotation());
Matrix2f rot1T = rot1.transpose();
Matrix2f rot2T = rot2.transpose();
Vector2f a1 = new Vector2f(anchor);
a1.sub(body1.getPosition());
localAnchor1 = MathUtil.mul(rot1T,a1);
Vector2f a2 = new Vector2f(anchor);
a2.sub(body2.getPosition());
localAnchor2 = MathUtil.mul(rot2T,a2);
accumulatedImpulse.set(0.0f, 0.0f);
relaxation = 1.0f;
}
/**
* Precaculate everything and apply initial impulse before the
* simulation step takes place
*
* @param invDT The amount of time the simulation is being stepped by
*/
public void preStep(float invDT) {
// Pre-compute anchors, mass matrix, and bias.
Matrix2f rot1 = new Matrix2f(body1.getRotation());
Matrix2f rot2 = new Matrix2f(body2.getRotation());
r1 = MathUtil.mul(rot1,localAnchor1);
r2 = MathUtil.mul(rot2,localAnchor2);
// deltaV = deltaV0 + K * impulse
// invM = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
// = [1/m1+1/m2 0 ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
// [ 0 1/m1+1/m2] [-r1.x*r1.y r1.x*r1.x] [-r1.x*r1.y r1.x*r1.x]
Matrix2f K1 = new Matrix2f();
K1.col1.x = body1.getInvMass() + body2.getInvMass(); K1.col2.x = 0.0f;
K1.col1.y = 0.0f; K1.col2.y = body1.getInvMass() + body2.getInvMass();
Matrix2f K2 = new Matrix2f();
K2.col1.x = body1.getInvI() * r1.y * r1.y; K2.col2.x = -body1.getInvI() * r1.x * r1.y;
K2.col1.y = -body1.getInvI() * r1.x * r1.y; K2.col2.y = body1.getInvI() * r1.x * r1.x;
Matrix2f K3 = new Matrix2f();
K3.col1.x = body2.getInvI() * r2.y * r2.y; K3.col2.x = -body2.getInvI() * r2.x * r2.y;
K3.col1.y = -body2.getInvI() * r2.x * r2.y; K3.col2.y = body2.getInvI() * r2.x * r2.x;
Matrix2f K = MathUtil.add(MathUtil.add(K1,K2),K3);
M = K.invert();
Vector2f p1 = new Vector2f(body1.getPosition());
p1.add(r1);
Vector2f p2 = new Vector2f(body2.getPosition());
p2.add(r2);
Vector2f dp = new Vector2f(p2);
dp.sub(p1);
bias = new Vector2f(dp);
bias.scale(-0.1f);
bias.scale(invDT);
// Apply accumulated impulse.
accumulatedImpulse.scale(relaxation);
if (!body1.isStatic()) {
Vector2f accum1 = new Vector2f(accumulatedImpulse);
accum1.scale(-body1.getInvMass());
body1.adjustVelocity(accum1);
body1.adjustAngularVelocity(-(body1.getInvI() * MathUtil.cross(r1, accumulatedImpulse)));
}
if (!body2.isStatic()) {
Vector2f accum2 = new Vector2f(accumulatedImpulse);
accum2.scale(body2.getInvMass());
body2.adjustVelocity(accum2);
body2.adjustAngularVelocity(body2.getInvI() * MathUtil.cross(r2, accumulatedImpulse));
}
}
/**
* Apply the impulse caused by the joint to the bodies attached.
*/
public void applyImpulse() {
Vector2f dv = new Vector2f(body2.getVelocity());
dv.add(MathUtil.cross(body2.getAngularVelocity(),r2));
dv.sub(body1.getVelocity());
dv.sub(MathUtil.cross(body1.getAngularVelocity(),r1));
dv.scale(-1);
dv.add(bias); // TODO: is this baumgarte stabilization?
if (dv.lengthSquared() == 0) {
return;
}
Vector2f impulse = MathUtil.mul(M, dv);
if (!body1.isStatic()) {
Vector2f delta1 = new Vector2f(impulse);
delta1.scale(-body1.getInvMass());
body1.adjustVelocity(delta1);
body1.adjustAngularVelocity(-body1.getInvI() * MathUtil.cross(r1,impulse));
}
if (!body2.isStatic()) {
Vector2f delta2 = new Vector2f(impulse);
delta2.scale(body2.getInvMass());
body2.adjustVelocity(delta2);
body2.adjustAngularVelocity(body2.getInvI() * MathUtil.cross(r2,impulse));
}
accumulatedImpulse.add(impulse);
}
/**
* @see java.lang.Object#hashCode()
*/
public int hashCode() {
return id;
}
/**
* @see java.lang.Object#equals(java.lang.Object)
*/
public boolean equals(Object other) {
if (other.getClass() == getClass()) {
return ((BasicJoint) other).id == id;
}
return false;
}
}
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