/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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* This software is provided 'as-is', without any express or implied warranty.
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* In no event will the authors be held liable for any damages arising from
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* the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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package com.bulletphysics.dynamics.constraintsolver;
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import com.bulletphysics.dynamics.RigidBody;
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import com.bulletphysics.linearmath.Transform;
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import com.bulletphysics.linearmath.TransformUtil;
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import cz.advel.stack.Stack;
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import javax.vecmath.Vector3f;
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/**
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* SolverBody is an internal data structure for the constraint solver. Only necessary
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* data is packed to increase cache coherence/performance.
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*
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* @author jezek2
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*/
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public class SolverBody implements java.io.Serializable {
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//protected final BulletStack stack = BulletStack.get();
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public final Vector3f angularVelocity = new Vector3f();
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public float angularFactor;
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public float invMass;
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public float friction;
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public RigidBody originalBody;
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public final Vector3f linearVelocity = new Vector3f();
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public final Vector3f centerOfMassPosition = new Vector3f();
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public final Vector3f pushVelocity = new Vector3f();
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public final Vector3f turnVelocity = new Vector3f();
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public void getVelocityInLocalPoint(Vector3f rel_pos, Vector3f velocity) {
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Vector3f tmp = Stack.alloc(Vector3f.class);
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tmp.cross(angularVelocity, rel_pos);
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velocity.add(linearVelocity, tmp);
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}
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/**
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* Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position.
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*/
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public void internalApplyImpulse(Vector3f linearComponent, Vector3f angularComponent, float impulseMagnitude) {
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if (invMass != 0f) {
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linearVelocity.scaleAdd(impulseMagnitude, linearComponent, linearVelocity);
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angularVelocity.scaleAdd(impulseMagnitude * angularFactor, angularComponent, angularVelocity);
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}
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}
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public void internalApplyPushImpulse(Vector3f linearComponent, Vector3f angularComponent, float impulseMagnitude) {
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if (invMass != 0f) {
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pushVelocity.scaleAdd(impulseMagnitude, linearComponent, pushVelocity);
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turnVelocity.scaleAdd(impulseMagnitude * angularFactor, angularComponent, turnVelocity);
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}
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}
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public void writebackVelocity() {
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if (invMass != 0f) {
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originalBody.setLinearVelocity(linearVelocity);
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originalBody.setAngularVelocity(angularVelocity);
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//m_originalBody->setCompanionId(-1);
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}
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}
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public void writebackVelocity(float timeStep) {
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if (invMass != 0f) {
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originalBody.setLinearVelocity(linearVelocity);
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originalBody.setAngularVelocity(angularVelocity);
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// correct the position/orientation based on push/turn recovery
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Transform newTransform = Stack.alloc(Transform.class);
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Transform curTrans = originalBody.getWorldTransform(Stack.alloc(Transform.class));
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TransformUtil.integrateTransform(curTrans, pushVelocity, turnVelocity, timeStep, newTransform);
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originalBody.setWorldTransform(newTransform);
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//m_originalBody->setCompanionId(-1);
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}
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}
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public void readVelocity() {
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if (invMass != 0f) {
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originalBody.getLinearVelocity(linearVelocity);
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originalBody.getAngularVelocity(angularVelocity);
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}
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}
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}
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