yake-svn Mailing List for Yake Engine (Page 25)

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Revision: 1437
          http://svn.sourceforge.net/yake/?rev=1437&view=rev
Author:   psyclonist
Date:     2006-09-03 13:49:18 -0700 (Sun, 03 Sep 2006)

Log Message:
-----------
added Force and Torque types

Modified Paths:
--------------
    trunk/yake/src/yake/plugins/physicsODE/OdeActor.cpp
    trunk/yake/src/yake/plugins/physicsODE/OdeBody.cpp
    trunk/yake/src/yake/plugins/physicsODE/OdeWorld.cpp
    trunk/yake/src/yapp/vehicle/yakeNativeOde.cpp
    trunk/yake/yake/physics/yakePhysicsAffectors.h
    trunk/yake/yake/physics/yakePhysicsBody.h
    trunk/yake/yake/plugins/physicsODE/OdeBody.h
    trunk/yake/yake/plugins/physicsODE/OdeWorld.h

Modified: trunk/yake/src/yake/plugins/physicsODE/OdeActor.cpp
===================================================================

--- trunk/yake/src/yake/plugins/physicsODE/OdeActor.cpp	2006-09-03 14:11:18 UTC (rev 1436)
+++ trunk/yake/src/yake/plugins/physicsODE/OdeActor.cpp	2006-09-03 20:49:18 UTC (rev 1437)
@@ -427,14 +427,14 @@
 				contact[i].surface.mu2 = friction2; // 0 or 10
 			}
 
-			contact[i].surface.slip1 = 0.1; //FIXME need to set this right
-			contact[i].surface.slip2 = 0.1; //FIXME need to set this right
+			contact[i].surface.slip1 = dReal(.1); //FIXME need to set this right
+			contact[i].surface.slip2 = dReal(0.1); //FIXME need to set this right
 			contact[i].surface.motion1 = 0; //
 			contact[i].surface.motion2 = 0;
 
 			//FIXME soft erp parameter should be correct
-			contact[i].surface.soft_erp = 0.2; 
-			contact[i].surface.soft_cfm = 0.001; 
+			contact[i].surface.soft_erp = dReal(0.2); 
+			contact[i].surface.soft_cfm = dReal(0.001);
 
 			real restitution = std::max( pMatA->mRestitution, pMatB->mRestitution );
 			contact[i].surface.bounce = restitution; 
@@ -444,7 +444,7 @@
 #endif
 
 			//FIXME bounce velocity needs to be tuned
-			contact[i].surface.bounce_vel = 0.01;
+			contact[i].surface.bounce_vel = dReal(0.01);
 
 			dJointID contactJointID = dJointCreateContact(	mOdeWorld->_getOdeID(),
 					contactJointGroup->id(),

Modified: trunk/yake/src/yake/plugins/physicsODE/OdeBody.cpp
===================================================================
--- trunk/yake/src/yake/plugins/physicsODE/OdeBody.cpp	2006-09-03 14:11:18 UTC (rev 1436)
+++ trunk/yake/src/yake/plugins/physicsODE/OdeBody.cpp	2006-09-03 20:49:18 UTC (rev 1437)
@@ -51,7 +51,7 @@
 		mOdeBody->setAngularVel( 0, 0, 0 );
 
 		dMassSetSphere( &mMass, 1, 1 );
-		dMassAdjust( &mMass, 0.0001 );
+		dMassAdjust( &mMass, dReal(0.0001) );
 		mOdeBody->setMass( &mMass );
 
 		setPosition( math::Vector3(0,0,0) );
@@ -237,63 +237,16 @@
 	//---------------------------------------------------
 	void OdeBody::addForce( const Force& force )
 	{
-		//@todo apply force over several time steps according to duration.
-		const math::Vector3 totalForce = force.force * force.duration;
-		if (force.frameType == RF_GLOBAL)
-			mOdeBody->addForce( totalForce.x, totalForce.y, totalForce.z );
-		else
-			mOdeBody->addRelForce( totalForce.x, totalForce.y, totalForce.z );
+		mForces.push_back( std::make_pair(F_FORCE,force) );
 	}
 
 	//---------------------------------------------------
-	void OdeBody::addForce( math::Vector3 const& rForce )
+	void OdeBody::addTorque( Torque const& torque )
 	{
-		mOdeBody->addForce( rForce.x, rForce.y, rForce.z );
+		mForces.push_back( std::make_pair(F_TORQUE,torque) );
 	}
 
 	//---------------------------------------------------
-	void OdeBody::addForceAtPos( math::Vector3 const& rForce, math::Vector3 const& rPos )
-	{
-		mOdeBody->addForceAtPos( rForce.x, rForce.y, rForce.z, rPos.x, rPos.y, rPos.z );
-	}
-
-	//---------------------------------------------------
-	void OdeBody::addForceAtLocalPos( math::Vector3 const& rForce, math::Vector3 const& rPos )
-	{
-		mOdeBody->addForceAtRelPos( rForce.x, rForce.y, rForce.z, rPos.x, rPos.y, rPos.z );
-	}
-
-	//---------------------------------------------------
-	void OdeBody::addLocalForce( math::Vector3 const& rForce )
-	{
-		mOdeBody->addRelForce( rForce.x, rForce.y, rForce.z );
-	}
-
-	//---------------------------------------------------
-	void OdeBody::addLocalForceAtLocalPos( math::Vector3 const& rForce, math::Vector3 const& rPos )
-	{
-		mOdeBody->addRelForceAtRelPos( rForce.x, rForce.y, rForce.z, rPos.x, rPos.y, rPos.z );
-	}
-
-	//---------------------------------------------------
-	void OdeBody::addLocalForceAtPos( math::Vector3 const& rForce, math::Vector3 const& rPos )
-	{
-		mOdeBody->addRelForceAtPos( rForce.x, rForce.y, rForce.z, rPos.x, rPos.y, rPos.z );
-	}
-
-	//---------------------------------------------------
-	void OdeBody::addTorque( math::Vector3 const& rTorque )
-	{
-		mOdeBody->addTorque( rTorque.x, rTorque.y, rTorque.z );
-	}
-
-	//---------------------------------------------------
-	void OdeBody::addLocalTorque( math::Vector3 const& rTorque )
-	{
-		mOdeBody->addRelTorque( rTorque.x, rTorque.y, rTorque.z );
-	}
-
-	//---------------------------------------------------
 	void OdeBody::setLinearVelocity( math::Vector3 const& rVelocity )
 	{
 		mOdeBody->setLinearVel( rVelocity.x, rVelocity.y, rVelocity.z );
@@ -359,6 +312,79 @@
 		return mOdeBody;
 	}
 
+	//-----------------------------------------------------
+	void OdeBody::_applyForce(const Force& f)
+	{
+		if (f.valueRef_ == RF_GLOBAL)
+		{
+			if (f.posRef_ == RF_GLOBAL)
+				mOdeBody->addForceAtPos( f.value_.x, f.value_.y, f.value_.z, f.pos_.x, f.pos_.y, f.pos_.z );
+			else
+				mOdeBody->addForceAtRelPos( f.value_.x, f.value_.y, f.value_.z, f.pos_.x, f.pos_.y, f.pos_.z );
+		}
+		else
+		{
+			if (f.posRef_ == RF_GLOBAL)
+				mOdeBody->addRelForceAtPos( f.value_.x, f.value_.y, f.value_.z, f.pos_.x, f.pos_.y, f.pos_.z );
+			else
+				mOdeBody->addRelForceAtRelPos( f.value_.x, f.value_.y, f.value_.z, f.pos_.x, f.pos_.y, f.pos_.z );
+		}
+	}
+
+	//-----------------------------------------------------
+	void OdeBody::_applyTorque(const Force& f)
+	{
+		if (f.valueRef_ == RF_GLOBAL)
+			mOdeBody->addTorque( f.value_.x, f.value_.y, f.value_.z );
+		else
+			mOdeBody->addRelTorque( f.value_.x, f.value_.y, f.value_.z );
+	}
+
+	//-----------------------------------------------------
+	void OdeBody::_preStep(const real stepSize)
+	{
+		typedef Forces::reverse_iterator reverse_force_iterator;
+		typedef Forces::iterator force_iterator;
+
+		if (!mForces.empty())
+			mOdeBody->enable();
+
+		force_iterator it=mForces.begin();
+		while (it != mForces.end())
+		{
+			if (it->second.singleStep_)
+			{
+				it->second.duration_ = stepSize;
+			}
+			else if (it->second.duration_ < stepSize)
+			{
+				it->second.value_ *= it->second.duration_ / stepSize;
+			}
+			//
+			if (it->first == F_FORCE)
+				this->_applyForce(it->second);
+			else
+				this->_applyTorque(it->second);
+			//
+			it->second.duration_ -= stepSize;
+			if (it->second.singleStep_ || it->second.duration_ <= 0.)
+			{
+				if (it != mForces.end()-1)
+				{
+					*it = mForces.back();
+					mForces.pop_back();
+				}
+				else
+				{
+					mForces.erase( it );
+					it = mForces.end();
+				}
+			}
+			else
+				++it;
+		}
+	}
+
 } // physics
 } // yake
 

Modified: trunk/yake/src/yake/plugins/physicsODE/OdeWorld.cpp
===================================================================
--- trunk/yake/src/yake/plugins/physicsODE/OdeWorld.cpp	2006-09-03 14:11:18 UTC (rev 1436)
+++ trunk/yake/src/yake/plugins/physicsODE/OdeWorld.cpp	2006-09-03 20:49:18 UTC (rev 1437)
@@ -41,11 +41,11 @@
 namespace physics {
 
 	//-----------------------------------------------------
-	OdeWorld::OdeWorld() : mNextMeshId( 0 )
+	OdeWorld::OdeWorld() : mNextMeshId( 0 ), mTimeOverflow(0.)
 	{
 		//TODO make these settings configurable for user
 		//simulation
-		mStepSize = real( 0.05 ); // default: 50Hz
+		mStepSize = real( 1./20. );
 
 		mOdeWorld = new dWorld();
 		YAKE_ASSERT( mOdeWorld );
@@ -56,8 +56,8 @@
 		mOdeContactGroup = new dJointGroup( 0 );
 
 		mOdeWorld->setAutoDisableFlag( 1 );
-		mOdeWorld->setAutoDisableAngularThreshold( 0.01 ); // ODE default: 0.01
-		mOdeWorld->setAutoDisableLinearThreshold( 0.01 ); // ODE default: 0.01
+		mOdeWorld->setAutoDisableAngularThreshold( dReal(0.01) ); // ODE default: 0.01
+		mOdeWorld->setAutoDisableLinearThreshold( dReal(0.01) ); // ODE default: 0.01
 		mOdeWorld->setAutoDisableSteps( 10 ); // ODE default: 10
 		mOdeWorld->setAutoDisableTime( 0 ); // ODE default: 0. (= ignore time)
 
@@ -69,13 +69,13 @@
 		// Global ERP and CFM values should be configurable via some (properties?) interface
 		// Individual values ( for joints and such ) should also be accessable
 		// perhaps via direct_ode access.
-		mOdeWorld->setCFM( 0.001 );
-		mOdeWorld->setERP( 0.95 );
+		mOdeWorld->setCFM( dReal(0.001) );
+		mOdeWorld->setERP( dReal(0.95) );
 
-		dWorldSetQuickStepNumIterations( mOdeWorld->id(), 20 );
+		dWorldSetQuickStepNumIterations( mOdeWorld->id(), 10 );
 
-		dWorldSetContactMaxCorrectingVel( mOdeWorld->id(), .1 );
-		dWorldSetContactSurfaceLayer( mOdeWorld->id(), 0.001 );
+		dWorldSetContactMaxCorrectingVel( mOdeWorld->id(), dReal(2.) );
+		dWorldSetContactSurfaceLayer( mOdeWorld->id(), dReal(0.01) );
 
 
 		mTime = real(0.);
@@ -362,18 +362,26 @@
 	//-----------------------------------------------------
 	void OdeWorld::step( const real timeElapsed )
 	{
-		static real overflow = 0.;
-		real t = overflow + timeElapsed;
+		real t = mTimeOverflow + timeElapsed;
+
+		std::cout << "step dt=" << timeElapsed << " t=" << t << " step=" << mStepSize << "\n";
 		firePreStep();
 		real steppedTime = 0.;
 		while ( t > mStepSize )
 		{
+			std::cout << "  t=" << t << "\n";
+
 			steppedTime += mStepSize;
 			mTime += mStepSize;
 			t -= mStepSize;
+
+			// pre-step
 	
 			firePreStepInternal(mStepSize);
 
+			for (BodyList::iterator it=mBodies.begin(), itEnd=mBodies.end(); it != itEnd; ++it)
+				(*it)->_preStep(mStepSize);
+
 	#ifdef ADJUST_FPU_PRECISION
 			_controlfp(_PC_64, _MCW_PC);
 	#endif
@@ -421,7 +429,7 @@
 		
 		firePostStep( steppedTime, mTime );
 
-		overflow = t;
+		mTimeOverflow = t;
 	}
 	
 	//-----------------------------------------------------

Modified: trunk/yake/src/yapp/vehicle/yakeNativeOde.cpp
===================================================================
--- trunk/yake/src/yapp/vehicle/yakeNativeOde.cpp	2006-09-03 14:11:18 UTC (rev 1436)
+++ trunk/yake/src/yapp/vehicle/yakeNativeOde.cpp	2006-09-03 20:49:18 UTC (rev 1437)
@@ -690,7 +690,7 @@
 			_applyBrakeTq( math::Vector3::kUnitX * mBrakeRatio * 1.5 );
 
 		const real targetVel = tq < 0. ? -40. : 40.;
-		_applyMotor( targetVel, - tq * 0.1/*@todo this is "dt" dependent*/ );
+		_applyMotor( targetVel, - tq * 0.01/*@todo this is "dt" dependent*/ );
 	}
 	void OdeWheel::_applyTq( const math::Vector3& torque )
 	{
@@ -808,7 +808,7 @@
 		{
 			physics::IBody* pBody = itBody.getNext();
 			
-			pBody->addForceAtPos( f, pos );
+			pBody->addForce( physics::Force(f, physics::RF_GLOBAL, pos, physics::RF_GLOBAL) );
 		}
 	}
 } // namespace vehicle

Modified: trunk/yake/yake/physics/yakePhysicsAffectors.h
===================================================================
--- trunk/yake/yake/physics/yakePhysicsAffectors.h	2006-09-03 14:11:18 UTC (rev 1436)
+++ trunk/yake/yake/physics/yakePhysicsAffectors.h	2006-09-03 20:49:18 UTC (rev 1437)
@@ -79,7 +79,7 @@
 	public:
 		virtual void applyTo( IBody & rBody, const real /*timeElapsed*/ )
 		{
-			rBody.addForce( mAcceleration * rBody.getMass() );
+			rBody.addForce( Force( mAcceleration * rBody.getMass(), RF_GLOBAL ) );
 		}
 	};
 
@@ -102,7 +102,7 @@
 		{
 			math::Vector3 direction = rBody.getActor().getPosition() - mPoint;
 			direction.normalise();
-			rBody.addForce( direction * mAcceleration * rBody.getMass() );
+			rBody.addForce( Force( direction * mAcceleration * rBody.getMass(), RF_GLOBAL ) );
 		}
 	};
 

Modified: trunk/yake/yake/physics/yakePhysicsBody.h
===================================================================
--- trunk/yake/yake/physics/yakePhysicsBody.h	2006-09-03 14:11:18 UTC (rev 1436)
+++ trunk/yake/yake/physics/yakePhysicsBody.h	2006-09-03 20:49:18 UTC (rev 1437)
@@ -31,52 +31,12 @@
 #	include <yake/physics/yakePhysicsPrerequisites.h>
 #endif
 #include <yake/base/yakeTaggedListenerManager.h>
+#include <yake/physics/yakePhysicsCommon.h>
 
 namespace yake {
 	using namespace ::yake::math;
 namespace physics {
 
-	enum ReferenceFrame {
-		RF_LOCAL,
-		RF_GLOBAL
-	};
-
-	struct YAKE_PHYSICS_API Force
-	{
-		math::Vector3			force;
-		real				duration;
-		ReferenceFrame	frameType;
-
-		Force() :
-			duration(0)
-		{}
-		Force( const math::Vector3& f, const real t, const ReferenceFrame rf = RF_GLOBAL ) :
-			force(f),
-			duration(t),
-			frameType(rf)
-		{}
-
-		Force& operator = (const Force& rhs)
-		{
-			if (&rhs == this)
-				return *this;
-			force = rhs.force;
-			duration = rhs.duration;
-			frameType = rhs.frameType;
-			return *this;
-		}
-		Force& operator += (const Force& rhs)
-		{
-			force += rhs.force;
-			duration += rhs.duration;
-			return *this;
-		}
-		bool operator == (const Force& rhs)
-		{
-			return (frameType == rhs.frameType && force == rhs.force && duration == rhs.duration);
-		}
-	};
-
 	class YAKE_PHYSICS_API IBodyListener
 	{
 	public:
@@ -278,8 +238,10 @@
 
 		/** Adds a force. The specifics are detailed in the Force object.
 		*/
-		virtual void addForce( const Force& force ) = 0;
+		virtual void addForce( const Force& ) = 0;
+		virtual void addTorque( const Torque& ) = 0;
 
+#if defined(YAKE_PHYSICS_OLD_FORCE_API)
 		/** Adds a force defined in the global reference frame. 
 		*/
 		virtual void addForce( const math::Vector3& rForce ) = 0;
@@ -307,14 +269,13 @@
 			in the global reference frame.
 		*/
 		virtual void addLocalForceAtPos( const math::Vector3& rForce, const math::Vector3& rPos ) = 0;
-
 		/** Adds a torque defined in the global reference frame.
 		*/
 		virtual void addTorque( const math::Vector3& rTorque ) = 0;
-
 		/** Adds a torque defined in the local reference frame.
 		*/
 		virtual void addLocalTorque( const math::Vector3& rTorque ) = 0;
+#endif
 	};
 	YAKE_PHYSICS_COMMON_POINTERS( IBody );
 

Modified: trunk/yake/yake/plugins/physicsODE/OdeBody.h
===================================================================
--- trunk/yake/yake/plugins/physicsODE/OdeBody.h	2006-09-03 14:11:18 UTC (rev 1436)
+++ trunk/yake/yake/plugins/physicsODE/OdeBody.h	2006-09-03 20:49:18 UTC (rev 1437)
@@ -56,7 +56,9 @@
 			virtual void setAngularVelocity( const math::Vector3& rVelocity);
 			virtual math::Vector3 getAngularVelocity() const;
 			
-			virtual void addForce( const Force& force );
+			virtual void addForce( const Force& );
+			virtual void addTorque( const Torque& );
+#if defined(YAKE_PHYSICS_OLD_FORCE_API)
 			virtual void addForce( const math::Vector3& rForce );
 			virtual void addForceAtPos( const math::Vector3& rForce, const math::Vector3& rPos );
 			virtual void addForceAtLocalPos( const math::Vector3& rForce, const math::Vector3& rPos );
@@ -65,7 +67,7 @@
 			virtual void addLocalForceAtPos( const math::Vector3& rForce, const math::Vector3& rPos );
 			virtual void addTorque( const math::Vector3& rTorque );
 			virtual void addLocalTorque( const math::Vector3& rTorque );
-			
+#endif			
 			// helpers for OdeActor
 			virtual void setPosition( const math::Vector3 & position );
 			virtual void setOrientation( const math::Quaternion & orientation );
@@ -93,13 +95,25 @@
 			//bool _isValid() const { return mValid; }*/
 
 			void _applyMassDescFromShapeDesc( const IShape::Desc& rShapeDesc, real massOrDensity, IBody::quantityType qType );
-		protected:
+			void _preStep(const real stepSize);
+		private:
+			void _applyForce(const Force&);
+			void _applyTorque(const Force&);
+		private:
 			OdeWorld* 				mOdeWorld;
 			OdeActor&				mOwner;
 			dBody* 					mOdeBody;
 			dMass					mMass;
 //			MassType		mMassType;
 //			bool			mValid;
+
+			enum FType
+			{
+				F_FORCE,
+				F_TORQUE
+			};
+			typedef std::deque<std::pair<FType,Force> > Forces;
+			Forces					mForces;
 		};
 
 } // physics

Modified: trunk/yake/yake/plugins/physicsODE/OdeWorld.h
===================================================================
--- trunk/yake/yake/plugins/physicsODE/OdeWorld.h	2006-09-03 14:11:18 UTC (rev 1436)
+++ trunk/yake/yake/plugins/physicsODE/OdeWorld.h	2006-09-03 20:49:18 UTC (rev 1437)
@@ -107,6 +107,7 @@
 			OdeTriMesh::MeshData getMeshDataById(  TriangleMeshId id ) const;
 		
 		protected:
+			real				mTimeOverflow;
 			real				mTime;
 			real				mStepSize;
 			dWorld*				mOdeWorld;


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yake-svn Mailing List for Yake Engine (Page 25)

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