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Diffstat (limited to 'src/main/scala/sims/dynamics/Collision.scala')
| -rw-r--r-- | src/main/scala/sims/dynamics/Collision.scala | 58 |
1 files changed, 58 insertions, 0 deletions
diff --git a/src/main/scala/sims/dynamics/Collision.scala b/src/main/scala/sims/dynamics/Collision.scala new file mode 100644 index 0000000..e47c346 --- /dev/null +++ b/src/main/scala/sims/dynamics/Collision.scala @@ -0,0 +1,58 @@ +/* _____ _ __ ________ ___ *\ +** / ___/(_) |/ / ___/ |__ \ Simple Mechanics Simulator 2 ** +** \__ \/ / /|_/ /\__ \ __/ / copyright (c) 2011 Jakob Odersky ** +** ___/ / / / / /___/ / / __/ ** +** /____/_/_/ /_//____/ /____/ ** +\* */ + +package sims.dynamics + +import sims.dynamics._ +import sims.dynamics.constraints._ + +import sims.collision.{Collision => CCollision} + +/** A class representing a physical collision, + * implementing constraints to handle collision response. */ +class Collision(collision: CCollision[Shape]) extends Constraining { + + + + private def getNonPenetrationConstraints() = for (point <- collision.points) yield + new Constraint { + val body1 = collision.item1.body + val body2 = collision.item2.body + def v = body2.velocityOfPoint(point) - body1.velocityOfPoint(point) + val e = { + if ((v dot collision.normal.unit) > 0) 0.0 + else if ((v dot collision.normal.unit) > -1) 0.0 + else math.min(collision.item1.restitution, collision.item2.restitution) + } + def jacobian = new Jacobian(-collision.normal, -((point - body1.position) cross collision.normal), + collision.normal, ((point - body2.position) cross collision.normal)) + + override def bias = (v dot collision.normal.unit) * e + def value = -collision.overlap + override def inequality = true + override val limit = Some((0.0, Double.PositiveInfinity)) + + val slop = 0.005 + override def error = + if (collision.overlap > slop) + -(collision.overlap - slop) + else 0.0 + } + + val constraints = getNonPenetrationConstraints() + +} + +object Collision { + + /**Converts a collision to a physical collision + * (sims.collision.Collision to a sims.dynamics.Collision)*/ + implicit def collision2Physical(c: sims.collision.Collision[Shape]) = new Collision(c) + + implicit def collision2Constructor(c: sims.collision.Collision[Shape]) = new { def toPhysical = new Collision(c) } + +}
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