dmech.contact source code

1 /*
2 Copyright (c) 2013-2017 Timur Gafarov 
3 
4 Boost Software License - Version 1.0 - August 17th, 2003
5 
6 Permission is hereby granted, free of charge, to any person or organization
7 obtaining a copy of the software and accompanying documentation covered by
8 this license (the "Software") to use, reproduce, display, distribute,
9 execute, and transmit the Software, and to prepare derivative works of the
10 Software, and to permit third-parties to whom the Software is furnished to
11 do so, all subject to the following:
12 
13 The copyright notices in the Software and this entire statement, including
14 the above license grant, this restriction and the following disclaimer,
15 must be included in all copies of the Software, in whole or in part, and
16 all derivative works of the Software, unless such copies or derivative
17 works are solely in the form of machine-executable object code generated by
18 a source language processor.
19 
20 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
21 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
22 FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
23 SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
24 FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
25 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
26 DEALINGS IN THE SOFTWARE.
27 */
28 
29 module dmech.contact;
30 
31 import dlib.math.vector;
32 
33 import dmech.rigidbody;
34 import dmech.shape;
35 
36 struct Contact
37 {
38     RigidBody body1;
39     RigidBody body2;
40     
41     ShapeComponent shape1;
42     ShapeComponent shape2;
43     
44     Vector3f shape1pos;
45     Vector3f shape2pos;
46     
47     bool fact;
48 
49     Vector3f point;
50     Vector3f shape1RelPoint;
51     Vector3f shape2RelPoint;
52     
53     Vector3f body1RelPoint;
54     Vector3f body2RelPoint;
55 
56     Vector3f normal;
57     float penetration;
58 
59     Vector3f fdir1;
60     Vector3f fdir2;
61 
62     Vector3f n1;
63     Vector3f w1;
64     Vector3f n2;
65     Vector3f w2;
66 
67     float initialVelocityProjection;
68     float effectiveMass;
69 
70     float accumulatedImpulse = 0.0f;
71     float accumulatedfImpulse1 = 0.0f;
72     float accumulatedfImpulse2 = 0.0f;
73 
74     void calcFDir()
75     {
76         // Calculate tangent space for contact normal
77         if (dot(normal, Vector3f(1,0,0)) < 0.5f)
78             fdir1 = cross(normal, Vector3f(1,0,0)); 
79         else
80             fdir1 = cross(normal, Vector3f(0,0,1));
81          
82         //fdir1 = cross(randomUnitVector3!float, normal);
83         fdir2 = cross(fdir1, normal);
84         fdir1.normalize();
85         fdir2.normalize();
86     }
87 }
88