131 lines
4.9 KiB
Diff
131 lines
4.9 KiB
Diff
966,1066c966,989
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< /******************** breakable joint contribution ***********************/
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< // this saves us a few dereferences
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< dxJointBreakInfo *jBI = joint[i]->breakInfo;
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< // we need joint feedback if the joint is breakable or if the user
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< // requested feedback.
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< if (jBI||fb) {
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< // we need feedback on the amount of force that this joint is
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< // applying to the bodies. we use a slightly slower computation
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< // that splits out the force components and puts them in the
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< // feedback structure.
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< dJointFeedback temp_fb; // temporary storage for joint feedback
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< dReal data1[8],data2[8];
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< Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
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< dReal *cf1 = cforce + 8*b1->tag;
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< cf1[0] += (temp_fb.f1[0] = data1[0]);
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< cf1[1] += (temp_fb.f1[1] = data1[1]);
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< cf1[2] += (temp_fb.f1[2] = data1[2]);
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< cf1[4] += (temp_fb.t1[0] = data1[4]);
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< cf1[5] += (temp_fb.t1[1] = data1[5]);
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< cf1[6] += (temp_fb.t1[2] = data1[6]);
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< if (b2) {
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< Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
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< dReal *cf2 = cforce + 8*b2->tag;
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< cf2[0] += (temp_fb.f2[0] = data2[0]);
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< cf2[1] += (temp_fb.f2[1] = data2[1]);
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< cf2[2] += (temp_fb.f2[2] = data2[2]);
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< cf2[4] += (temp_fb.t2[0] = data2[4]);
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< cf2[5] += (temp_fb.t2[1] = data2[5]);
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< cf2[6] += (temp_fb.t2[2] = data2[6]);
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< }
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< // if the user requested so we must copy the feedback information to
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< // the feedback struct that the user suplied.
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< if (fb) {
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< // copy temp_fb to fb
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< fb->f1[0] = temp_fb.f1[0];
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< fb->f1[1] = temp_fb.f1[1];
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< fb->f1[2] = temp_fb.f1[2];
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< fb->t1[0] = temp_fb.t1[0];
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< fb->t1[1] = temp_fb.t1[1];
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< fb->t1[2] = temp_fb.t1[2];
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< if (b2) {
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< fb->f2[0] = temp_fb.f2[0];
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< fb->f2[1] = temp_fb.f2[1];
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< fb->f2[2] = temp_fb.f2[2];
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< fb->t2[0] = temp_fb.t2[0];
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< fb->t2[1] = temp_fb.t2[1];
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< fb->t2[2] = temp_fb.t2[2];
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< }
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< }
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< // if the joint is breakable we need to check the breaking conditions
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< if (jBI) {
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< dReal relCF1[3];
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< dReal relCT1[3];
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< // multiply the force and torque vectors by the rotation matrix of body 1
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< dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]);
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< dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]);
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< if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) {
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< // check if the force is to high
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< for (int i = 0; i < 3; i++) {
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< if (relCF1[i] > jBI->b1MaxF[i]) {
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< jBI->flags |= dJOINT_BROKEN;
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< goto doneCheckingBreaks;
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< }
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< }
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< }
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< if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) {
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< // check if the torque is to high
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< for (int i = 0; i < 3; i++) {
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< if (relCT1[i] > jBI->b1MaxT[i]) {
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< jBI->flags |= dJOINT_BROKEN;
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< goto doneCheckingBreaks;
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< }
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< }
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< }
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< if (b2) {
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< dReal relCF2[3];
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< dReal relCT2[3];
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< // multiply the force and torque vectors by the rotation matrix of body 2
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< dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]);
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< dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]);
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< if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) {
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< // check if the force is to high
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< for (int i = 0; i < 3; i++) {
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< if (relCF2[i] > jBI->b2MaxF[i]) {
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< jBI->flags |= dJOINT_BROKEN;
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< goto doneCheckingBreaks;
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< }
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< }
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< }
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< if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) {
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< // check if the torque is to high
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< for (int i = 0; i < 3; i++) {
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< if (relCT2[i] > jBI->b2MaxT[i]) {
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< jBI->flags |= dJOINT_BROKEN;
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< goto doneCheckingBreaks;
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< }
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< }
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< }
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< }
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< doneCheckingBreaks:
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< ;
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---
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> if (fb) {
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> // the user has requested feedback on the amount of force that this
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> // joint is applying to the bodies. we use a slightly slower
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> // computation that splits out the force components and puts them
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> // in the feedback structure.
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> dReal data1[8],data2[8];
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> Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
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> dReal *cf1 = cforce + 8*b1->tag;
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> cf1[0] += (fb->f1[0] = data1[0]);
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> cf1[1] += (fb->f1[1] = data1[1]);
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> cf1[2] += (fb->f1[2] = data1[2]);
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> cf1[4] += (fb->t1[0] = data1[4]);
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> cf1[5] += (fb->t1[1] = data1[5]);
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> cf1[6] += (fb->t1[2] = data1[6]);
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> if (b2){
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> Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
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> dReal *cf2 = cforce + 8*b2->tag;
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> cf2[0] += (fb->f2[0] = data2[0]);
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> cf2[1] += (fb->f2[1] = data2[1]);
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> cf2[2] += (fb->f2[2] = data2[2]);
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> cf2[4] += (fb->t2[0] = data2[4]);
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> cf2[5] += (fb->t2[1] = data2[5]);
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> cf2[6] += (fb->t2[2] = data2[6]);
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> }
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1068,1069d990
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< }
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< /*************************************************************************/
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