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Fix some solver issues

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- Fix the wrong codepath taken  by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
This commit is contained in:
Sébastien Crozet
2022-01-16 16:40:59 +01:00
parent 4454a845e9
commit 0703e5527f
43 changed files with 936 additions and 229 deletions
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23
src/dynamics/solver/velocity_ground_constraint_wide.rs
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@@ -44,6 +44,7 @@ impl WVelocityGroundConstraint {
let inv_dt = SimdReal::splat(params.inv_dt());
let velocity_solve_fraction = SimdReal::splat(params.velocity_solve_fraction);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let delassus_inv_factor = SimdReal::splat(params.delassus_inv_factor);
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let mut handles1 = gather![|ii| manifolds[ii].data.rigid_body1];
@@ -142,12 +143,12 @@ impl WVelocityGroundConstraint {
{
let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
let r = SimdReal::splat(1.0)
let r = delassus_inv_factor
/ (force_dir1.dot(&im2.component_mul(&force_dir1)) + gcross2.gdot(gcross2));
let projected_velocity = (vel1 - vel2).dot(&force_dir1);
let mut rhs_wo_bias =
(SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity;
rhs_wo_bias += (dist + allowed_lin_err).simd_max(SimdReal::zero()) * inv_dt;
rhs_wo_bias += dist.simd_max(SimdReal::zero()) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting * velocity_solve_fraction;
let rhs_bias = (dist + allowed_lin_err).simd_min(SimdReal::zero())
* (erp_inv_dt/* * is_resting */);
@@ -166,14 +167,24 @@ impl WVelocityGroundConstraint {
for j in 0..DIM - 1 {
let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j]));
let r = SimdReal::splat(1.0)
/ (tangents1[j].dot(&im2.component_mul(&tangents1[j]))
+ gcross2.gdot(gcross2));
let r =
tangents1[j].dot(&im2.component_mul(&tangents1[j])) + gcross2.gdot(gcross2);
let rhs = (vel1 - vel2 + tangent_velocity * flipped_sign).dot(&tangents1[j]);
constraint.elements[k].tangent_part.gcross2[j] = gcross2;
constraint.elements[k].tangent_part.r[j] = r;
constraint.elements[k].tangent_part.rhs[j] = rhs;
constraint.elements[k].tangent_part.r[j] = if cfg!(feature = "dim2") {
SimdReal::splat(1.0) / r
} else {
r
};
}
#[cfg(feature = "dim3")]
{
constraint.elements[k].tangent_part.r[2] = SimdReal::splat(2.0)
* constraint.elements[k].tangent_part.gcross2[0]
.gdot(constraint.elements[k].tangent_part.gcross2[1]);
}
}