Saphyre2 Subsystems

Saphyre2 Subsystems perform specific complex Tasks of the simulation. They receive some inputs (Data Blocks) and generate some outputs (Data Blocks) without any functional coupling with other Subsystems.

Ordinary Differential Equation Integration

S(t) = State (in Phase Space) of the system at time t. (Structured vector of Real,P3D,V3D,Quat...)

Fc(t) = Constraint force vector at time t

Input:

• S(t)
• dSdt(t_1), ..., dSdt(t_n) where t_1,...,t_n in [t,t+dt]

Output:

• S(t+dt)

Collision Detection

Input:

• Shapes(t)

Output:

• Collisions(t,t+dt)
• Contacts(t,t+dt)

Funcionalitats:

• Factory de Collision Objects
• Detecció i Determinació de Colisions i Contactes
• Activació/Desactivació de colisions i gestió de grups (entre,intra,parelles,...) (veure COLD)

Constraint Solving

Input:

• S(t)
• F(t) or dSdt(t)
• Constraints(t)

Output:

• Fc(t) for force based scheme(s)
• S(t+dt) for Timestepping scheme(s)

Bilateral Constraint Solver

bla

Unilateral Constraint Solver

bla

Timestepping Constraint Solver

bla

Relaxation Constraint Solver

Drives the state of the System to "the closer" state that satisfies the constraints (within a certain precission)

It should be something like the Jacobi or Gauss-Seidel iterative approach used by Jakobsen in "Advanced Character Animation".

(Projection to the constraint manifold??)

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