ode/src/stepfast.cpp
author Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
Tue, 02 Feb 2010 01:00:49 +0200
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/*************************************************************************
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 *                                                                       *
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 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
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 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
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 *                                                                       *
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 * Fast iterative solver, David Whittaker. Email: david@csworkbench.com  *
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 *                                                                       *
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 * This library is free software; you can redistribute it and/or         *
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 * modify it under the terms of EITHER:                                  *
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 *   (1) The GNU Lesser General Public License as published by the Free  *
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 *       Software Foundation; either version 2.1 of the License, or (at  *
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 *       your option) any later version. The text of the GNU Lesser      *
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 *       General Public License is included with this library in the     *
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 *       file LICENSE.TXT.                                               *
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 *   (2) The BSD-style license that is included with this library in     *
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 *       the file LICENSE-BSD.TXT.                                       *
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 *                                                                       *
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 * This library is distributed in the hope that it will be useful,       *
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
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 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
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 *                                                                       *
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 *************************************************************************/
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// This is the StepFast code by David Whittaker. This code is faster, but
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// sometimes less stable than, the original "big matrix" code.
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// Refer to the user's manual for more information.
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// Note that this source file duplicates a lot of stuff from step.cpp,
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// eventually we should move the common code to a third file.
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#include "object.h"
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#include "joint.h"
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#include <ode/config.h>
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#include <ode/objects.h>
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#include <ode/odemath.h>
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#include <ode/rotation.h>
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#include <ode/timer.h>
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#include <ode/error.h>
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#include <ode/matrix.h>
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#include <ode/misc.h>
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#include "lcp.h"
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#include "step.h"
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#include "util.h"
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#include <ode/lookup_tables.h>
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#include <ode/ode.h>
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// misc defines
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#define ALLOCA dALLOCA16
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#define RANDOM_JOINT_ORDER
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#define SLOW_LCP      //use the old LCP solver
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EXPORT_C void dWorldSetAutoEnableDepthSF1 (dxWorld */*world*/, int autodepth)
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{
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	if (autodepth > 0)
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		GetGlobalData()->autoEnableDepth = autodepth;
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	else
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		GetGlobalData()->autoEnableDepth = 0;
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}
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EXPORT_C int dWorldGetAutoEnableDepthSF1 (dxWorld */*world*/)
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{
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	return GetGlobalData()->autoEnableDepth;
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}
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//little bit of math.... the _sym_ functions assume the return matrix will be symmetric
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static void
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Multiply2_sym_p8p (dReal * A, dReal * B, dReal * C, int p, int Askip)
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{
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	int i, j;
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	dReal sum, *aa, *ad, *bb, *cc;
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	bb = B;
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	for (i = 0; i < p; i++)
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	{
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		//aa is going accross the matrix, ad down
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		aa = ad = A;
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		cc = C;
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		for (j = i; j < p; j++)
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		{
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			sum = dMUL(bb[0],cc[0]);
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			sum += dMUL(bb[1],cc[1]);
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			sum += dMUL(bb[2],cc[2]);
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			sum += dMUL(bb[4],cc[4]);
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			sum += dMUL(bb[5],cc[5]);
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			sum += dMUL(bb[6],cc[6]);
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			*(aa++) = *ad = sum;
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			ad += Askip;
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			cc += 8;
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		}
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		bb += 8;
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		A += Askip + 1;
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		C += 8;
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	}
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}
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static void
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MultiplyAdd2_sym_p8p (dReal * A, dReal * B, dReal * C, int p, int Askip)
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{
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	int i, j;
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	dReal sum, *aa, *ad, *bb, *cc;
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	bb = B;
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	for (i = 0; i < p; i++)
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	{
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		//aa is going accross the matrix, ad down
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		aa = ad = A;
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		cc = C;
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		for (j = i; j < p; j++)
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		{
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   111
			sum = dMUL(bb[0],cc[0]);
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   112
			sum += dMUL(bb[1],cc[1]);
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   113
			sum += dMUL(bb[2],cc[2]);
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   114
			sum += dMUL(bb[4],cc[4]);
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   115
			sum += dMUL(bb[5],cc[5]);
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   116
			sum += dMUL(bb[6],cc[6]);
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   117
			*(aa++) += sum;
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   118
			*ad += sum;
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   119
			ad += Askip;
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   120
			cc += 8;
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   121
		}
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   122
		bb += 8;
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   123
		A += Askip + 1;
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   124
		C += 8;
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   125
	}
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   126
}
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   127
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   128
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// this assumes the 4th and 8th rows of B are zero.
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   130
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   131
static void
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   132
Multiply0_p81 (dReal * A, dReal * B, dReal * C, int p)
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   133
{
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	int i;
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   135
	dReal sum;
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   136
	for (i = p; i; i--)
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   137
	{
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   138
		sum = dMUL(B[0],C[0]);
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   139
		sum += dMUL(B[1],C[1]);
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   140
		sum += dMUL(B[2],C[2]);
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   141
		sum += dMUL(B[4],C[4]);
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   142
		sum += dMUL(B[5],C[5]);
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   143
		sum += dMUL(B[6],C[6]);
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   144
		*(A++) = sum;
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   145
		B += 8;
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   146
	}
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   147
}
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   148
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   149
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   150
// this assumes the 4th and 8th rows of B are zero.
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   151
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   152
static void
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   153
MultiplyAdd0_p81 (dReal * A, dReal * B, dReal * C, int p)
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   154
{
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   155
	int i;
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   156
	dReal sum;
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   157
	for (i = p; i; i--)
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   158
	{
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   159
		sum = dMUL(B[0],C[0]);
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   160
		sum += dMUL(B[1],C[1]);
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   161
		sum += dMUL(B[2],C[2]);
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   162
		sum += dMUL(B[4],C[4]);
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   163
		sum += dMUL(B[5],C[5]);
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   164
		sum += dMUL(B[6],C[6]);
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   165
		*(A++) += sum;
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   166
		B += 8;
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   167
	}
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   168
}
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   169
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parents:
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   170
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   171
// this assumes the 4th and 8th rows of B are zero.
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   172
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   173
static void
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   174
Multiply1_8q1 (dReal * A, dReal * B, dReal * C, int q)
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   175
{
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   176
	int k;
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   177
	dReal sum;
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   178
	sum = 0;
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   179
	for (k = 0; k < q; k++)
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   180
		sum += dMUL(B[k * 8],C[k]);
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   181
	A[0] = sum;
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   182
	sum = 0;
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   183
	for (k = 0; k < q; k++)
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   184
		sum += dMUL(B[1 + k * 8],C[k]);
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   185
	A[1] = sum;
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   186
	sum = 0;
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   187
	for (k = 0; k < q; k++)
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   188
		sum += dMUL(B[2 + k * 8],C[k]);
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parents:
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   189
	A[2] = sum;
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   190
	sum = 0;
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parents:
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   191
	for (k = 0; k < q; k++)
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parents:
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   192
		sum += dMUL(B[4 + k * 8],C[k]);
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   193
	A[4] = sum;
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   194
	sum = 0;
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parents:
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   195
	for (k = 0; k < q; k++)
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parents:
diff changeset
   196
		sum += dMUL(B[5 + k * 8],C[k]);
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parents:
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   197
	A[5] = sum;
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   198
	sum = 0;
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parents:
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   199
	for (k = 0; k < q; k++)
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   200
		sum += dMUL(B[6 + k * 8],C[k]);
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parents:
diff changeset
   201
	A[6] = sum;
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   202
}
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diff changeset
   203
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   204
//****************************************************************************
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   205
// body rotation
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   206
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   207
// return sin(x)/x. this has a singularity at 0 so special handling is needed
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   208
// for small arguments.
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   209
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   210
static inline dReal
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   211
sinc (dReal x)
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   212
{
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   213
	// if |x| < 1e-4 then use a taylor series expansion. this two term expansion
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   214
	// is actually accurate to one LS bit within this range if double precision
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parents:
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   215
	// is being used - so don't worry!
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   216
	if (dFabs (x) < REAL(1.0e-4))
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   217
		return REAL (1.0) - dMUL(dMUL(x,x),REAL (0.166666666666666666667));
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   218
	else
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   219
		return dDIV(dSin (x),x);
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   220
}
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parents:
diff changeset
   221
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   222
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// given a body b, apply its linear and angular rotation over the time
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// interval h, thereby adjusting its position and orientation.
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   225
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   226
static inline void
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   227
moveAndRotateBody (dxBody * b, dReal h)
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   228
{
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	int j;
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   230
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   231
	// handle linear velocity
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   232
	for (j = 0; j < 3; j++)
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   233
		b->posr.pos[j] += dMUL(h,b->lvel[j]);
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   234
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   235
	if (b->flags & dxBodyFlagFiniteRotation)
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   236
	{
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		dVector3 irv;			// infitesimal rotation vector
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		dQuaternion q;			// quaternion for finite rotation
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   239
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   240
		if (b->flags & dxBodyFlagFiniteRotationAxis)
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   241
		{
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   242
			// split the angular velocity vector into a component along the finite
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   243
			// rotation axis, and a component orthogonal to it.
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   244
			dVector3 frv;	// finite rotation vector
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   245
			dReal k = dDOT (b->finite_rot_axis, b->avel);
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   246
			frv[0] = dMUL(b->finite_rot_axis[0],k);
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   247
			frv[1] = dMUL(b->finite_rot_axis[1],k);
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   248
			frv[2] = dMUL(b->finite_rot_axis[2],k);
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   249
			irv[0] = b->avel[0] - frv[0];
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   250
			irv[1] = b->avel[1] - frv[1];
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   251
			irv[2] = b->avel[2] - frv[2];
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   252
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   253
			// make a rotation quaternion q that corresponds to frv * h.
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   254
			// compare this with the full-finite-rotation case below.
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   255
			h = dMUL(h,REAL (0.5));
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   256
			dReal theta = dMUL(k,h);
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   257
			q[0] = dCos (theta);
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   258
			dReal s = dMUL(sinc (theta),h);
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   259
			q[1] = dMUL(frv[0],s);
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   260
			q[2] = dMUL(frv[1],s);
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   261
			q[3] = dMUL(frv[2],s);
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   262
		}
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   263
		else
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   264
		{
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   265
			// make a rotation quaternion q that corresponds to w * h
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
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   266
			dReal wlen = dSqrt (dMUL(b->avel[0],b->avel[0]) + dMUL(b->avel[1],b->avel[1]) + dMUL(b->avel[2],b->avel[2]));
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   267
			h = dMUL(h,REAL (0.5));
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   268
			dReal theta = dMUL(wlen,h);
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   269
			q[0] = dCos (theta);
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   270
			dReal s = dMUL(sinc (theta),h);
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   271
			q[1] = dMUL(b->avel[0],s);
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   272
			q[2] = dMUL(b->avel[1],s);
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   273
			q[3] = dMUL(b->avel[2],s);
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   274
		}
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parents:
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   275
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		// do the finite rotation
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   277
		dQuaternion q2;
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   278
		dQMultiply0 (q2, q, b->q);
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   279
		for (j = 0; j < 4; j++)
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   280
			b->q[j] = q2[j];
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diff changeset
   281
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   282
		// do the infitesimal rotation if required
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   283
		if (b->flags & dxBodyFlagFiniteRotationAxis)
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   284
		{
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   285
			dReal dq[4];
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   286
			dWtoDQ (irv, b->q, dq);
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   287
			for (j = 0; j < 4; j++)
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   288
				b->q[j] += dMUL(h,dq[j]);
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   289
		}
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   290
	}
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   291
	else
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parents:
diff changeset
   292
	{
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   293
		// the normal way - do an infitesimal rotation
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parents:
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   294
		dReal dq[4];
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parents:
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   295
		dWtoDQ (b->avel, b->q, dq);
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parents:
diff changeset
   296
		for (j = 0; j < 4; j++)
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
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   297
			b->q[j] += dMUL(h,dq[j]);
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parents:
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   298
	}
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parents:
diff changeset
   299
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parents:
diff changeset
   300
	// normalize the quaternion and convert it to a rotation matrix
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parents:
diff changeset
   301
	dNormalize4 (b->q);
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   302
	dQtoR (b->q, b->posr.R);
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   303
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parents:
diff changeset
   304
	// notify all attached geoms that this body has moved
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   305
	for (dxGeom * geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   306
		dGeomMoved (geom);
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parents:
diff changeset
   307
}
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parents:
diff changeset
   308
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parents:
diff changeset
   309
//****************************************************************************
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parents:
diff changeset
   310
//This is an implementation of the iterated/relaxation algorithm.
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   311
//Here is a quick overview of the algorithm per Sergi Valverde's posts to the
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   312
//mailing list:
2f259fa3e83a Revision: 201003
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parents:
diff changeset
   313
//
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parents:
diff changeset
   314
//  for i=0..N-1 do
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   315
//      for c = 0..C-1 do
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   316
//          Solve constraint c-th
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   317
//          Apply forces to constraint bodies
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   318
//      next
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   319
//  next
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   320
//  Integrate bodies
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parents:
diff changeset
   321
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parents:
diff changeset
   322
void
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   323
dInternalStepFast (dxWorld * /*world*/, dxBody * body[2], dReal * /*GI*/[2], dReal * GinvI[2], dxJoint * joint, dxJoint::Info1 info, dxJoint::Info2 Jinfo, dReal stepsize)
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   324
{
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parents:
diff changeset
   325
	int i, j, k;
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parents:
diff changeset
   326
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   327
	dReal stepsize1 = dRecip (stepsize);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   328
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   329
	int m = info.m;
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   330
	// nothing to do if no constraints.
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Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   331
	if (m <= 0)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   332
		return;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   333
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   334
	int nub = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   335
	if (info.nub == info.m)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   336
		nub = m;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   337
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   338
	// compute A = J*invM*J'. first compute JinvM = J*invM. this has the same
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   339
	// format as J so we just go through the constraints in J multiplying by
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   340
	// the appropriate scalars and matrices.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   341
	dReal JinvM[2 * 6 * 8];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   342
	//dSetZero (JinvM, 2 * m * 8);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   343
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   344
	dReal *Jsrc = Jinfo.J1l;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   345
	dReal *Jdst = JinvM;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   346
	if (body[0])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   347
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   348
		for (j = m - 1; j >= 0; j--)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   349
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   350
			for (k = 0; k < 3; k++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   351
				Jdst[k] = dMUL(Jsrc[k],body[0]->invMass);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   352
			dMULTIPLY0_133 (Jdst + 4, Jsrc + 4, GinvI[0]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   353
			Jsrc += 8;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   354
			Jdst += 8;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   355
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   356
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   357
	if (body[1])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   358
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   359
		Jsrc = Jinfo.J2l;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   360
		Jdst = JinvM + 8 * m;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   361
		for (j = m - 1; j >= 0; j--)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   362
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   363
			for (k = 0; k < 3; k++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   364
				Jdst[k] = dMUL(Jsrc[k],body[1]->invMass);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   365
			dMULTIPLY0_133 (Jdst + 4, Jsrc + 4, GinvI[1]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   366
			Jsrc += 8;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   367
			Jdst += 8;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   368
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   369
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   370
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   371
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   372
	// now compute A = JinvM * J'.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   373
	int mskip = dPAD (m);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   374
	dReal A[6 * 8];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   375
	//dSetZero (A, 6 * 8);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   376
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   377
	if (body[0]) {
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   378
		Multiply2_sym_p8p (A, JinvM, Jinfo.J1l, m, mskip);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   379
		if (body[1])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   380
			MultiplyAdd2_sym_p8p (A, JinvM + 8 * m, Jinfo.J2l,
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   381
                                              m, mskip);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   382
	} else {
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   383
		if (body[1])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   384
			Multiply2_sym_p8p (A, JinvM + 8 * m, Jinfo.J2l,
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   385
                                           m, mskip);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   386
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   387
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   388
	// add cfm to the diagonal of A
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   389
	for (i = 0; i < m; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   390
		A[i * mskip + i] += dMUL(Jinfo.cfm[i],stepsize1);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   391
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   392
	// compute the right hand side `rhs'
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   393
	dReal tmp1[16];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   394
	//dSetZero (tmp1, 16);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   395
	// put v/h + invM*fe into tmp1
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   396
	for (i = 0; i < 2; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   397
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   398
		if (!body[i])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   399
			continue;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   400
		for (j = 0; j < 3; j++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   401
			tmp1[i * 8 + j] = dMUL(body[i]->facc[j],body[i]->invMass) + dMUL(body[i]->lvel[j],stepsize1);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   402
		dMULTIPLY0_331 (tmp1 + i * 8 + 4, GinvI[i], body[i]->tacc);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   403
		for (j = 0; j < 3; j++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   404
			tmp1[i * 8 + 4 + j] += dMUL(body[i]->avel[j],stepsize1);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   405
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   406
	// put J*tmp1 into rhs
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   407
	dReal rhs[6];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   408
	//dSetZero (rhs, 6);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   409
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   410
	if (body[0]) {
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   411
		Multiply0_p81 (rhs, Jinfo.J1l, tmp1, m);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   412
		if (body[1])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   413
			MultiplyAdd0_p81 (rhs, Jinfo.J2l, tmp1 + 8, m);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   414
	} else {
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   415
		if (body[1])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   416
			Multiply0_p81 (rhs, Jinfo.J2l, tmp1 + 8, m);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   417
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   418
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   419
	// complete rhs
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   420
	for (i = 0; i < m; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   421
		rhs[i] = dMUL(Jinfo.c[i],stepsize1) - rhs[i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   422
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   423
#ifdef SLOW_LCP
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   424
	// solve the LCP problem and get lambda.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   425
	// this will destroy A but that's okay
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   426
	dReal *lambda = (dReal *) ALLOCA (m * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   427
	dReal *residual = (dReal *) ALLOCA (m * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   428
	dReal lo[6], hi[6];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   429
	memcpy (lo, Jinfo.lo, m * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   430
	memcpy (hi, Jinfo.hi, m * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   431
	dSolveLCP (m, A, lambda, rhs, residual, nub, lo, hi, Jinfo.findex);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   432
#endif
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   433
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   434
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   435
	// compute the constraint force `cforce'
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   436
	// compute cforce = J'*lambda
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   437
	dJointFeedback *fb = joint->feedback;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   438
	dReal cforce[16];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   439
	//dSetZero (cforce, 16);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   440
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   441
	if (fb)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   442
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   443
		// the user has requested feedback on the amount of force that this
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   444
		// joint is applying to the bodies. we use a slightly slower
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   445
		// computation that splits out the force components and puts them
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   446
		// in the feedback structure.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   447
		dReal data1[8], data2[8];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   448
		if (body[0])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   449
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   450
			Multiply1_8q1 (data1, Jinfo.J1l, lambda, m);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   451
			dReal *cf1 = cforce;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   452
			cf1[0] = (fb->f1[0] = data1[0]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   453
			cf1[1] = (fb->f1[1] = data1[1]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   454
			cf1[2] = (fb->f1[2] = data1[2]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   455
			cf1[4] = (fb->t1[0] = data1[4]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   456
			cf1[5] = (fb->t1[1] = data1[5]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   457
			cf1[6] = (fb->t1[2] = data1[6]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   458
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   459
		if (body[1])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   460
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   461
			Multiply1_8q1 (data2, Jinfo.J2l, lambda, m);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   462
			dReal *cf2 = cforce + 8;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   463
			cf2[0] = (fb->f2[0] = data2[0]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   464
			cf2[1] = (fb->f2[1] = data2[1]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   465
			cf2[2] = (fb->f2[2] = data2[2]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   466
			cf2[4] = (fb->t2[0] = data2[4]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   467
			cf2[5] = (fb->t2[1] = data2[5]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   468
			cf2[6] = (fb->t2[2] = data2[6]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   469
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   470
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   471
	else
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   472
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   473
		// no feedback is required, let's compute cforce the faster way
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   474
		if (body[0])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   475
			Multiply1_8q1 (cforce, Jinfo.J1l, lambda, m);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   476
		if (body[1])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   477
			Multiply1_8q1 (cforce + 8, Jinfo.J2l, lambda, m);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   478
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   479
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   480
	for (i = 0; i < 2; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   481
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   482
		if (!body[i])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   483
			continue;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   484
		for (j = 0; j < 3; j++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   485
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   486
			body[i]->facc[j] += cforce[i * 8 + j];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   487
			body[i]->tacc[j] += cforce[i * 8 + 4 + j];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   488
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   489
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   490
}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   491
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   492
void
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   493
dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoint * const *_joints, int nj, dReal stepsize, int maxiterations)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   494
{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   495
	dxBody *bodyPair[2], *body;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   496
	dReal *GIPair[2], *GinvIPair[2];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   497
	dxJoint *joint;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   498
	int iter, b, j, i;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   499
	dReal ministep = stepsize / maxiterations;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   500
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   501
	// make a local copy of the joint array, because we might want to modify it.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   502
	// (the "dxJoint *const*" declaration says we're allowed to modify the joints
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   503
	// but not the joint array, because the caller might need it unchanged).
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   504
	dxJoint **joints = (dxJoint **) ALLOCA (nj * sizeof (dxJoint *));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   505
	memcpy (joints, _joints, nj * sizeof (dxJoint *));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   506
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   507
	// get m = total constraint dimension, nub = number of unbounded variables.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   508
	// create constraint offset array and number-of-rows array for all joints.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   509
	// the constraints are re-ordered as follows: the purely unbounded
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   510
	// constraints, the mixed unbounded + LCP constraints, and last the purely
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   511
	// LCP constraints. this assists the LCP solver to put all unbounded
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   512
	// variables at the start for a quick factorization.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   513
	//
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   514
	// joints with m=0 are inactive and are removed from the joints array
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   515
	// entirely, so that the code that follows does not consider them.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   516
	// also number all active joints in the joint list (set their tag values).
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   517
	// inactive joints receive a tag value of -1.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   518
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   519
	int m = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   520
	dxJoint::Info1 * info = (dxJoint::Info1 *) ALLOCA (nj * sizeof (dxJoint::Info1));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   521
	int *ofs = (int *) ALLOCA (nj * sizeof (int));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   522
	for (i = 0, j = 0; j < nj; j++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   523
	{	// i=dest, j=src
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   524
		joints[j]->vtable->getInfo1 (joints[j], info + i);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   525
		if (info[i].m > 0)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   526
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   527
			joints[i] = joints[j];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   528
			joints[i]->tag = i;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   529
			i++;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   530
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   531
		else
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   532
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   533
			joints[j]->tag = -1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   534
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   535
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   536
	nj = i;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   537
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   538
	// the purely unbounded constraints
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   539
	for (i = 0; i < nj; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   540
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   541
		ofs[i] = m;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   542
		m += info[i].m;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   543
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   544
	dReal *c = NULL;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   545
	dReal *cfm = NULL;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   546
	dReal *lo = NULL;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   547
	dReal *hi = NULL;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   548
	int *findex = NULL;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   549
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   550
	dReal *J = NULL;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   551
	dxJoint::Info2 * Jinfo = NULL;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   552
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   553
	if (m)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   554
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   555
	// create a constraint equation right hand side vector `c', a constraint
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   556
	// force mixing vector `cfm', and LCP low and high bound vectors, and an
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   557
	// 'findex' vector.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   558
		c = (dReal *) ALLOCA (m * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   559
		cfm = (dReal *) ALLOCA (m * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   560
		lo = (dReal *) ALLOCA (m * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   561
		hi = (dReal *) ALLOCA (m * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   562
		findex = (int *) ALLOCA (m * sizeof (int));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   563
	dSetZero (c, m);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   564
	dSetValue (cfm, m, world->global_cfm);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   565
	dSetValue (lo, m, -dInfinity);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   566
	dSetValue (hi, m, dInfinity);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   567
	for (i = 0; i < m; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   568
		findex[i] = -1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   569
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   570
	// get jacobian data from constraints. a (2*m)x8 matrix will be created
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   571
	// to store the two jacobian blocks from each constraint. it has this
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   572
	// format:
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   573
	//
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   574
	//   l l l 0 a a a 0  \    .
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   575
	//   l l l 0 a a a 0   }-- jacobian body 1 block for joint 0 (3 rows)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   576
	//   l l l 0 a a a 0  /
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   577
	//   l l l 0 a a a 0  \    .
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   578
	//   l l l 0 a a a 0   }-- jacobian body 2 block for joint 0 (3 rows)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   579
	//   l l l 0 a a a 0  /
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   580
	//   l l l 0 a a a 0  }--- jacobian body 1 block for joint 1 (1 row)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   581
	//   l l l 0 a a a 0  }--- jacobian body 2 block for joint 1 (1 row)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   582
	//   etc...
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   583
	//
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   584
	//   (lll) = linear jacobian data
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   585
	//   (aaa) = angular jacobian data
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   586
	//
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   587
		J = (dReal *) ALLOCA (2 * m * 8 * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   588
		dSetZero (J, 2 * m * 8);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   589
		Jinfo = (dxJoint::Info2 *) ALLOCA (nj * sizeof (dxJoint::Info2));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   590
	for (i = 0; i < nj; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   591
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   592
		Jinfo[i].rowskip = 8;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   593
		Jinfo[i].fps = dRecip (stepsize);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   594
		Jinfo[i].erp = world->global_erp;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   595
		Jinfo[i].J1l = J + 2 * 8 * ofs[i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   596
		Jinfo[i].J1a = Jinfo[i].J1l + 4;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   597
		Jinfo[i].J2l = Jinfo[i].J1l + 8 * info[i].m;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   598
		Jinfo[i].J2a = Jinfo[i].J2l + 4;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   599
		Jinfo[i].c = c + ofs[i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   600
		Jinfo[i].cfm = cfm + ofs[i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   601
		Jinfo[i].lo = lo + ofs[i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   602
		Jinfo[i].hi = hi + ofs[i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   603
		Jinfo[i].findex = findex + ofs[i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   604
		//joints[i]->vtable->getInfo2 (joints[i], Jinfo+i);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   605
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   606
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   607
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   608
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   609
	dReal *saveFacc = (dReal *) ALLOCA (nb * 4 * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   610
	dReal *saveTacc = (dReal *) ALLOCA (nb * 4 * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   611
	dReal *globalI = (dReal *) ALLOCA (nb * 12 * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   612
	dReal *globalInvI = (dReal *) ALLOCA (nb * 12 * sizeof (dReal));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   613
	for (b = 0; b < nb; b++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   614
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   615
		for (i = 0; i < 4; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   616
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   617
			saveFacc[b * 4 + i] = bodies[b]->facc[i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   618
			saveTacc[b * 4 + i] = bodies[b]->tacc[i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   619
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   620
                bodies[b]->tag = b;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   621
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   622
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   623
	for (iter = 0; iter < maxiterations; iter++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   624
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   625
		dReal tmp[12] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   626
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   627
		for (b = 0; b < nb; b++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   628
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   629
			body = bodies[b];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   630
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   631
			// for all bodies, compute the inertia tensor and its inverse in the global
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   632
			// frame, and compute the rotational force and add it to the torque
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   633
			// accumulator. I and invI are vertically stacked 3x4 matrices, one per body.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   634
			// @@@ check computation of rotational force.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   635
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   636
			// compute inertia tensor in global frame
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   637
			dMULTIPLY2_333 (tmp, body->mass.I, body->posr.R);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   638
			dMULTIPLY0_333 (globalI + b * 12, body->posr.R, tmp);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   639
			// compute inverse inertia tensor in global frame
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   640
			dMULTIPLY2_333 (tmp, body->invI, body->posr.R);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   641
			dMULTIPLY0_333 (globalInvI + b * 12, body->posr.R, tmp);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   642
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   643
			for (i = 0; i < 4; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   644
				body->tacc[i] = saveTacc[b * 4 + i];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   645
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   646
			// add the gravity force to all bodies
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   647
			if ((body->flags & dxBodyNoGravity) == 0)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   648
			{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   649
				body->facc[0] = saveFacc[b * 4 + 0] + dMUL(body->mass.mass,world->gravity[0]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   650
				body->facc[1] = saveFacc[b * 4 + 1] + dMUL(body->mass.mass,world->gravity[1]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   651
				body->facc[2] = saveFacc[b * 4 + 2] + dMUL(body->mass.mass,world->gravity[2]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   652
				body->facc[3] = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   653
			} else {
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   654
                                body->facc[0] = saveFacc[b * 4 + 0];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   655
                                body->facc[1] = saveFacc[b * 4 + 1];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   656
                                body->facc[2] = saveFacc[b * 4 + 2];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   657
				body->facc[3] = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   658
                        }
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   659
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   660
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   661
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   662
#ifdef RANDOM_JOINT_ORDER
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   663
		//randomize the order of the joints by looping through the array
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   664
		//and swapping the current joint pointer with a random one before it.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   665
		for (j = 0; j < nj; j++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   666
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   667
			joint = joints[j];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   668
			dxJoint::Info1 i1 = info[j];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   669
			dxJoint::Info2 i2 = Jinfo[j];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   670
                        const int r = dRandInt(j+1);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   671
			joints[j] = joints[r];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   672
			info[j] = info[r];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   673
			Jinfo[j] = Jinfo[r];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   674
			joints[r] = joint;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   675
			info[r] = i1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   676
			Jinfo[r] = i2;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   677
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   678
#endif
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   679
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   680
		//now iterate through the random ordered joint array we created.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   681
		for (j = 0; j < nj; j++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   682
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   683
			joint = joints[j];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   684
			bodyPair[0] = joint->node[0].body;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   685
			bodyPair[1] = joint->node[1].body;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   686
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   687
			if (bodyPair[0] && (bodyPair[0]->flags & dxBodyDisabled))
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   688
				bodyPair[0] = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   689
			if (bodyPair[1] && (bodyPair[1]->flags & dxBodyDisabled))
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   690
				bodyPair[1] = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   691
			
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   692
			//if this joint is not connected to any enabled bodies, skip it.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   693
			if (!bodyPair[0] && !bodyPair[1])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   694
				continue;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   695
			
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   696
			if (bodyPair[0])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   697
			{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   698
				GIPair[0] = globalI + bodyPair[0]->tag * 12;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   699
				GinvIPair[0] = globalInvI + bodyPair[0]->tag * 12;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   700
			}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   701
			if (bodyPair[1])
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   702
			{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   703
				GIPair[1] = globalI + bodyPair[1]->tag * 12;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   704
				GinvIPair[1] = globalInvI + bodyPair[1]->tag * 12;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   705
			}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   706
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   707
			joints[j]->vtable->getInfo2 (joints[j], Jinfo + j);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   708
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   709
			//dInternalStepIslandFast is an exact copy of the old routine with one
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   710
			//modification: the calculated forces are added back to the facc and tacc
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   711
			//vectors instead of applying them to the bodies and moving them.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   712
			if (info[j].m > 0)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   713
			{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   714
			dInternalStepFast (world, bodyPair, GIPair, GinvIPair, joint, info[j], Jinfo[j], ministep);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   715
			}		
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   716
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   717
		//  }
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   718
		//Now we can simulate all the free floating bodies, and move them.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   719
		for (b = 0; b < nb; b++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   720
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   721
			body = bodies[b];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   722
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   723
			for (i = 0; i < 4; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   724
			{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   725
				body->facc[i] = dMUL(body->facc[i],ministep);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   726
				body->tacc[i] = dMUL(body->tacc[i],ministep);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   727
			}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   728
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   729
			//apply torque
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   730
			dMULTIPLYADD0_331 (body->avel, globalInvI + b * 12, body->tacc);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   731
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   732
			//apply force
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   733
			for (i = 0; i < 3; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   734
				body->lvel[i] += dMUL(body->invMass,body->facc[i]);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   735
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   736
			//move It!
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   737
			moveAndRotateBody (body, ministep);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   738
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   739
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   740
	for (b = 0; b < nb; b++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   741
		for (j = 0; j < 4; j++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   742
			bodies[b]->facc[j] = bodies[b]->tacc[j] = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   743
}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   744
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   745
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   746
//****************************************************************************
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   747
// island processing
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   748
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   749
// this groups all joints and bodies in a world into islands. all objects
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   750
// in an island are reachable by going through connected bodies and joints.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   751
// each island can be simulated separately.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   752
// note that joints that are not attached to anything will not be included
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   753
// in any island, an so they do not affect the simulation.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   754
//
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   755
// this function starts new island from unvisited bodies. however, it will
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   756
// never start a new islands from a disabled body. thus islands of disabled
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   757
// bodies will not be included in the simulation. disabled bodies are
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   758
// re-enabled if they are found to be part of an active island.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   759
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   760
static void
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   761
processIslandsFast (dxWorld * world, dReal stepsize, int maxiterations)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   762
{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   763
	dxBody *b, *bb, **body;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   764
	dxJoint *j, **joint;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   765
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   766
	// nothing to do if no bodies
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   767
	if (world->nb <= 0)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   768
		return;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   769
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   770
	dInternalHandleAutoDisabling (world,stepsize);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   771
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   772
	// make arrays for body and joint lists (for a single island) to go into
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   773
	body = (dxBody **) ALLOCA (world->nb * sizeof (dxBody *));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   774
	joint = (dxJoint **) ALLOCA (world->nj * sizeof (dxJoint *));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   775
	int bcount = 0;				// number of bodies in `body'
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   776
	int jcount = 0;				// number of joints in `joint'
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   777
	int tbcount = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   778
	int tjcount = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   779
	
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   780
	// set all body/joint tags to 0
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   781
	for (b = world->firstbody; b; b = (dxBody *) b->next)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   782
		b->tag = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   783
	for (j = world->firstjoint; j; j = (dxJoint *) j->next)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   784
		j->tag = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   785
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   786
	// allocate a stack of unvisited bodies in the island. the maximum size of
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   787
	// the stack can be the lesser of the number of bodies or joints, because
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   788
	// new bodies are only ever added to the stack by going through untagged
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   789
	// joints. all the bodies in the stack must be tagged!
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   790
	int stackalloc = (world->nj < world->nb) ? world->nj : world->nb;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   791
	dxBody **stack = (dxBody **) ALLOCA (stackalloc * sizeof (dxBody *));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   792
	int *autostack = (int *) ALLOCA (stackalloc * sizeof (int));
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   793
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   794
	for (bb = world->firstbody; bb; bb = (dxBody *) bb->next)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   795
	{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   796
		// get bb = the next enabled, untagged body, and tag it
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   797
		if (bb->tag || (bb->flags & dxBodyDisabled))
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   798
			continue;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   799
		bb->tag = 1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   800
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   801
		// tag all bodies and joints starting from bb.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   802
		
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   803
		int stacksize = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   804
		int firsttime = 1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   805
		
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   806
		int autoDepth = GetGlobalData()->autoEnableDepth;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   807
		b = bb;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   808
		body[0] = bb;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   809
		bcount = 1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   810
		jcount = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   811
		
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   812
		while (stacksize > 0 || firsttime)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   813
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   814
		    if (!firsttime)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   815
		    {
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   816
			    b = stack[--stacksize];	// pop body off stack
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   817
			    autoDepth = autostack[stacksize];
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   818
			    body[bcount++] = b;	// put body on body list
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   819
		    }
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   820
		    else
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   821
		    {
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   822
		        firsttime = 0;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   823
		    }
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   824
		 
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   825
			// traverse and tag all body's joints, add untagged connected bodies
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   826
			// to stack
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   827
			for (dxJointNode * n = b->firstjoint; n; n = n->next)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   828
			{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   829
				if (!n->joint->tag)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   830
				{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   831
					int thisDepth = GetGlobalData()->autoEnableDepth;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   832
					n->joint->tag = 1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   833
					joint[jcount++] = n->joint;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   834
					if (n->body && !n->body->tag)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   835
					{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   836
						if (n->body->flags & dxBodyDisabled)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   837
							thisDepth = autoDepth - 1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   838
						if (thisDepth < 0)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   839
							continue;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   840
						n->body->flags &= ~dxBodyDisabled;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   841
						n->body->tag = 1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   842
						autostack[stacksize] = thisDepth;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   843
						stack[stacksize++] = n->body;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   844
					}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   845
				}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   846
			}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   847
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   848
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   849
		// now do something with body and joint lists
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   850
		dInternalStepIslandFast (world, body, bcount, joint, jcount, stepsize, maxiterations);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   851
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   852
		// what we've just done may have altered the body/joint tag values.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   853
		// we must make sure that these tags are nonzero.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   854
		// also make sure all bodies are in the enabled state.
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   855
		int i;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   856
		for (i = 0; i < bcount; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   857
		{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   858
			body[i]->tag = 1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   859
			body[i]->flags &= ~dxBodyDisabled;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   860
		}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   861
		for (i = 0; i < jcount; i++)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   862
			joint[i]->tag = 1;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   863
		
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   864
		tbcount += bcount;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   865
		tjcount += jcount;
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   866
	}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   867
	
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   868
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   869
}
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   870
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   871
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   872
EXPORT_C void dWorldStepFast1 (dWorldID w, dReal stepsize, int maxiterations)
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   873
{
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   874
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   875
	processIslandsFast (w, stepsize, maxiterations);
2f259fa3e83a Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff changeset
   876
}