diff options
Diffstat (limited to 'src/sims')
-rw-r--r-- | src/sims/collision/PolyCollision.scala | 6 | ||||
-rw-r--r-- | src/sims/dynamics/World.scala | 2 | ||||
-rw-r--r-- | src/sims/dynamics/joints/SpringJoint.scala | 32 | ||||
-rw-r--r-- | src/sims/dynamics/joints/test/PrismaticJoint.scala | 84 | ||||
-rw-r--r-- | src/sims/materials/Material.scala | 7 | ||||
-rw-r--r-- | src/sims/materials/Rubber.scala | 5 | ||||
-rw-r--r-- | src/sims/materials/Steel.scala | 5 | ||||
-rw-r--r-- | src/sims/prefabs/Ragdoll.scala | 2 |
8 files changed, 136 insertions, 7 deletions
diff --git a/src/sims/collision/PolyCollision.scala b/src/sims/collision/PolyCollision.scala index bbe5568..3eeb7ca 100644 --- a/src/sims/collision/PolyCollision.scala +++ b/src/sims/collision/PolyCollision.scala @@ -40,11 +40,15 @@ case class PolyCollision(p1: ConvexPolygon, p2: ConvexPolygon) extends Collision lazy val shape2 = incPoly.asInstanceOf[Shape] lazy val normal = refPoly.sides(minOverlap.sideNum).n0 - lazy val points = (for (v <- incPoly.vertices; if refPoly.contains(v)) yield v) ++ + lazy val points = (for (v <- incPoly.vertices; if refPoly.contains(v)) yield v)++ + (for (v <- refPoly.vertices; if incPoly.contains(v)) yield v) + + /* ++ (for (s <- incPoly.sides; val clip = s.clipToSegment(refPoly.sides((refPoly.sides.length - (minOverlap.sideNum + 1)) % refPoly.sides.length)); if (clip != None)) yield clip.get) ++ (for (s <- incPoly.sides; val clip = s.clipToSegment(refPoly.sides((refPoly.sides.length - (minOverlap.sideNum - 1)) % refPoly.sides.length)); if (clip != None)) yield clip.get) + */ } diff --git a/src/sims/dynamics/World.scala b/src/sims/dynamics/World.scala index d7ac8ae..7b165f5 100644 --- a/src/sims/dynamics/World.scala +++ b/src/sims/dynamics/World.scala @@ -67,7 +67,7 @@ class World { for (j <- p.joints) this += j } - def ++=(bs: Seq[Body]) = for(b <- bs) this += b + def ++=(bs: Seq[Body]): Unit = for(b <- bs) this += b /**Entfernt den gegebenen Koerper aus dieser Welt.*/ def -=(body: Body): Unit = bodies -= body diff --git a/src/sims/dynamics/joints/SpringJoint.scala b/src/sims/dynamics/joints/SpringJoint.scala index f03b35d..67ea57f 100644 --- a/src/sims/dynamics/joints/SpringJoint.scala +++ b/src/sims/dynamics/joints/SpringJoint.scala @@ -46,15 +46,39 @@ case class SpringJoint(node1: Body, anchor1: Vector2D, node2: Body, anchor2: Vec /**Relative Position der Bindungspunkte.*/ def x = connection2 - connection1 + /**Relative Geschwindigkeit der Bindungspunkte.*/ + def v = node2.velocityOfPoint(connection2) - node1.velocityOfPoint(connection1) + /**Ergibt die Federkraft nach dem Hookschen Gesetz.*/ def force = (x.length - initialLength) * springConstant /**Uebt die Federkraft auf die Bindungspunkte aus.*/ def applyForce() = { - node1.applyForce(x.unit * force - ((node1 velocityOfPoint connection1) * damping) project x, connection1) - node2.applyForce(-x.unit * force - ((node2 velocityOfPoint connection2) * damping) project x, connection2) + node1.applyForce(x.unit * force - (v * damping) project x, connection1) + node2.applyForce(-x.unit * force - (v * damping) project x, connection2) + //println("this should not happen") } - def correctPosition(h: Double) = () - def correctVelocity(h: Double) = () + def correctVelocity(h: Double) = { + /* + val x = this.x //relativer Abstand + val v = this.v //relative Geschwindigkeit + val r1 = (connection1 - node1.pos) //Abstand Punkt-Schwerpunkt, Koerper 1 + val r2 = (connection2 - node2.pos) //Abstand Punkt-Schwerpunkt, Koerper 2 + val cr1 = r1 cross x.unit //Kreuzprodukt + val cr2 = r2 cross x.unit //Kreuzprodukt + val Cdot = x.unit dot v //Velocity-Constraint + val invMass = 1/node1.mass + 1/node1.I * cr1 * cr1 + 1/node2.mass + 1/node2.I * cr2 * cr2 //=J M^-1 JT + val m = if (invMass == 0.0) 0.0 else 1/invMass //Test um Nulldivision zu vermeiden + val lambda = Math.min(Math.max(-this.force * h, (-m * Cdot)), this.force * h) + println (force * h, -m * Cdot) + val impulse = x.unit * lambda + node1.applyImpulse(-impulse, connection1) + node2.applyImpulse(impulse, connection2) + */ + } + + def correctPosition(h: Double) = { + + } }
\ No newline at end of file diff --git a/src/sims/dynamics/joints/test/PrismaticJoint.scala b/src/sims/dynamics/joints/test/PrismaticJoint.scala new file mode 100644 index 0000000..f163261 --- /dev/null +++ b/src/sims/dynamics/joints/test/PrismaticJoint.scala @@ -0,0 +1,84 @@ +package sims.dynamics.joints.test + +import sims.geometry._ + +case class PrismaticJoint(node1: Body, anchor1: Vector2D, node2: Body, anchor2: Vector2D) extends Joint{ + def this(node1: Body, node2: Body) = this(node1, node1.pos, node2, node2.pos) + + val angle = node2.rotation - node1.rotation + + private val a1 = anchor1 - node1.pos + private val a2 = anchor2 - node2.pos + private val initRotation1 = node1.rotation + private val initRotation2 = node2.rotation + + def connection1 = (a1 rotate (node1.rotation - initRotation1)) + node1.pos + def connection2 = (a2 rotate (node2.rotation - initRotation2)) + node2.pos + + /**Relative Position der Bindungspunkte.*/ + def x = connection2 - connection1 + + /**Relative Geschwindigkeit der Bindungspunkte.*/ + def v = node2.velocityOfPoint(connection2) - node1.velocityOfPoint(connection1) + + + def correctVelocity(h: Double) = { + correctLinear(h) + //correctAngular(h) + } + + def correctLinear(h: Double) = { + val x = this.x.unit //relativer Abstand + val n0 = x.leftNormal + val v = this.v //relative Geschwindigkeit + val r1 = (connection1 - node1.pos) //Abstand Punkt-Schwerpunkt, Koerper 1 + val r2 = (connection2 - node2.pos) //Abstand Punkt-Schwerpunkt, Koerper 2 + val cr1 = r1 cross n0 //Kreuzprodukt + val cr2 = r2 cross n0 //Kreuzprodukt + val Cdot = n0 dot v + val invMass = 1/node1.mass + 1/node1.I * cr1 * cr1 + 1/node2.mass + 1/node2.I * cr2 * cr2 + val m = if (invMass == 0.0) 0.0 else 1/invMass + val impulse = -n0 * m * Cdot + node1.applyImpulse(-impulse, connection1) + node2.applyImpulse(impulse, connection2) + } + + //J=[-1,1] + + def correctAngular(h: Double) = { + val w = node2.angularVelocity - node1.angularVelocity + val Cdot = w + val invMass = node1.I + node2.I + val m = 1 / invMass + val lambda = m * Cdot + node1.angularVelocity += lambda / node1.I + node2.angularVelocity += -lambda / node2.I + } + + def correctPosition(h: Double) = { + /* + val x = this.x.unit //relativer Abstand + val n0 = x.leftNormal + val v = this.v //relative Geschwindigkeit + val r1 = (connection1 - node1.pos) //Abstand Punkt-Schwerpunkt, Koerper 1 + val r2 = (connection2 - node2.pos) //Abstand Punkt-Schwerpunkt, Koerper 2 + val cr1 = r1 cross n0 //Kreuzprodukt + val cr2 = r2 cross n0 //Kreuzprodukt + val C = n0 dot x + val invMass = 1/node1.mass + 1/node1.I * cr1 * cr1 + 1/node2.mass + 1/node2.I * cr2 * cr2 + val m = if (invMass == 0.0) 0.0 else 1/invMass + val impulse = -n0 * m * C + node1.pos += -impulse + node1.rotation += -impulse cross r1 + node2.pos += impulse + node2.rotation += impulse cross r2 + + val relOmega = node2.angularVelocity - node2.angularVelocity + val invMassOmega = node1.I + node2.I + val mOmega = if (invMassOmega == 0.0) 0.0 else 1/invMassOmega + val Crot = node2.rotation - node2.rotation + angle + node1.rotation += mOmega * Crot + node2.rotation += -mOmega * Crot + */ + } +} diff --git a/src/sims/materials/Material.scala b/src/sims/materials/Material.scala new file mode 100644 index 0000000..b05e082 --- /dev/null +++ b/src/sims/materials/Material.scala @@ -0,0 +1,7 @@ +package sims.materials + +trait Material { + val density: Double + val restitution: Double + val friction: Double +} diff --git a/src/sims/materials/Rubber.scala b/src/sims/materials/Rubber.scala new file mode 100644 index 0000000..b408d2d --- /dev/null +++ b/src/sims/materials/Rubber.scala @@ -0,0 +1,5 @@ +package sims.materials + +object Rubber { + +} diff --git a/src/sims/materials/Steel.scala b/src/sims/materials/Steel.scala new file mode 100644 index 0000000..71594b8 --- /dev/null +++ b/src/sims/materials/Steel.scala @@ -0,0 +1,5 @@ +package sims.materials + +object Steel { + +} diff --git a/src/sims/prefabs/Ragdoll.scala b/src/sims/prefabs/Ragdoll.scala index ad58653..00e4b8d 100644 --- a/src/sims/prefabs/Ragdoll.scala +++ b/src/sims/prefabs/Ragdoll.scala @@ -38,6 +38,6 @@ class Ragdoll(position: Vector2D) extends Prefab { val shoulder1 = RevoluteJoint(headTorso, upperArm1, position + Vector2D(0, -0.16)) val shoulder2 = RevoluteJoint(headTorso, upperArm2, position + Vector2D(0, -0.16)) - override val joints = List(shoulder1, shoulder2) + override val joints = Nil //List(shoulder1, shoulder2) } |