143 lines
3.3 KiB
C++
143 lines
3.3 KiB
C++
#ifndef RBDLSIM_RBDLSIM_H
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#define RBDLSIM_RBDLSIM_H
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#include <rbdl/Model.h>
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#include <rbdl/rbdl_math.h>
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#include <vector>
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namespace RBDLSim {
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using namespace RigidBodyDynamics;
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using namespace RigidBodyDynamics::Math;
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struct SimShape;
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struct SimBody;
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struct CollisionInfo;
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const double cCollisionEps = 1.0e-5;
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struct SimShape {
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enum ShapeType { Box = 0, Sphere = 1, Plane = 2 };
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ShapeType mType;
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Vector3d pos;
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Quaternion orientation;
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Vector3d scale;
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double restitution = 1.0;
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};
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struct SimBody {
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VectorNd q, qdot, qddot, tau;
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Model mModel;
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bool mIsStatic = false;
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typedef std::pair<unsigned int, SimShape> BodyCollisionInfo;
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std::vector<BodyCollisionInfo> mCollisionShapes;
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void step(double ts);
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void resolveCollisions(double dt, std::vector<CollisionInfo>& collisions);
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void calcNextPositions(double dt, const VectorNd& in_qdot, VectorNd& out_q);
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void updateCollisionShapes();
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};
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struct CollisionInfo {
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SimBody* mBodyA = nullptr;
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SimBody* mBodyB = nullptr;
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const SimShape* mShapeA = nullptr;
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const SimShape* mShapeB = nullptr;
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int mBodyAIndex;
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int mBodyBIndex;
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Vector3d mManifoldPoints[4];
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int mNumManifoldPoints = 0;
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Vector3d posA = Vector3d::Zero();
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Vector3d posB = Vector3d::Zero();
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double biasVelocityA = 0.;
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double biasVelocityB = 0.;
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double accumImpulse = 0.;
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double deltaImpulse = 0.;
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Vector3d dir = Vector3d::Zero();
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VectorNd jacA = VectorNd::Zero(1);
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VectorNd jacB = VectorNd::Zero(1);
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MatrixNd MInvA = MatrixNd::Zero(1, 1);
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MatrixNd MInvB = MatrixNd::Zero(1, 1);
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double GMInvGTA = 0.;
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double GMInvGTB = 0.;
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double effectiveRestitution = 1.0;
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double depth = 0.;
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};
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struct World {
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double mSimTime = 0.;
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std::vector<SimBody> mBodies;
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std::vector<SimShape> mStaticShapes;
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std::vector<CollisionInfo> mContactPoints;
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void calcUnconstrainedVelUpdate(double dt);
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void updateCollisionShapes();
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void detectCollisions();
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void resolveCollisions(double dt);
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bool integrateWorld(double dt);
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};
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bool CheckPenetration(
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const SimShape& shape_a,
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const SimShape& shape_b,
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CollisionInfo& cinfo);
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bool CheckPenetrationSphereVsSphere(
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const SimShape& shape_a,
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const SimShape& shape_b,
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CollisionInfo& cinfo);
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bool CheckPenetrationSphereVsPlane(
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const SimShape& shape_a,
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const SimShape& shape_b,
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CollisionInfo& cinfo);
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bool CheckPenetrationBoxVsPlane (
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const SimShape& shape_a,
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const SimShape& shape_b,
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CollisionInfo& cinfo);
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bool CheckPenetrationAABBVsPlane(
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const SimShape& shape_a,
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const SimShape& shape_b,
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CollisionInfo& cinfo);
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SimBody CreateSphereBody(
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double mass,
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double radius,
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double restitution,
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const Vector3d& pos,
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const Vector3d& vel);
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SimBody CreateBoxBody(
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double mass,
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const Vector3d& size,
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double restitution,
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const Vector3d& pos,
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const Vector3d& vel);
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void PrepareConstraintImpulse(
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SimBody* body_a,
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SimBody* body_b,
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CollisionInfo& cinfo);
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void CalcCollisions(
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SimBody& body_a,
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SimBody& body_b,
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std::vector<CollisionInfo>& collisions);
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void CalcConstraintImpulse(
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SimBody* body_a,
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SimBody* body_b,
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CollisionInfo& cinfo,
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const double dt);
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void ApplyConstraintImpulse(
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SimBody* body_a,
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SimBody* body_b,
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CollisionInfo& cinfo);
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} // namespace RBDLSim
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#endif //RBDLSIM_RBDLSIM_H
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