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Reduce code duplication between the SIMD and non-SIMD contact solve and warmstart.

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This commit is contained in:
Crozet Sébastien
2021-03-07 17:15:32 +01:00
parent 4cb1f5c692
commit 0e4393ba9e
8 changed files with 576 additions and 625 deletions
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201
src/dynamics/solver/velocity_constraint.rs
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@@ -1,13 +1,12 @@
use super::DeltaVel;
use crate::dynamics::solver::VelocityGroundConstraint;
#[cfg(feature = "simd-is-enabled")]
use crate::dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{AngVector, Real, Vector, DIM, MAX_MANIFOLD_POINTS};
use crate::math::{Real, Vector, DIM, MAX_MANIFOLD_POINTS};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
#[cfg(feature = "dim2")]
use na::SimdPartialOrd;
use super::{DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart};
//#[repr(align(64))]
#[derive(Copy, Clone, Debug)]
@@ -78,72 +77,6 @@ impl AnyVelocityConstraint {
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintTangentPart {
pub gcross1: [AngVector<Real>; DIM - 1],
pub gcross2: [AngVector<Real>; DIM - 1],
pub rhs: [Real; DIM - 1],
#[cfg(feature = "dim2")]
pub impulse: [Real; DIM - 1],
#[cfg(feature = "dim3")]
pub impulse: na::Vector2<Real>,
pub r: [Real; DIM - 1],
}
#[cfg(not(target_arch = "wasm32"))]
impl VelocityConstraintTangentPart {
fn zero() -> Self {
Self {
gcross1: [na::zero(); DIM - 1],
gcross2: [na::zero(); DIM - 1],
rhs: [0.0; DIM - 1],
#[cfg(feature = "dim2")]
impulse: [0.0; DIM - 1],
#[cfg(feature = "dim3")]
impulse: na::zero(),
r: [0.0; DIM - 1],
}
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintNormalPart {
pub gcross1: AngVector<Real>,
pub gcross2: AngVector<Real>,
pub rhs: Real,
pub impulse: Real,
pub r: Real,
}
#[cfg(not(target_arch = "wasm32"))]
impl VelocityConstraintNormalPart {
fn zero() -> Self {
Self {
gcross1: na::zero(),
gcross2: na::zero(),
rhs: 0.0,
impulse: 0.0,
r: 0.0,
}
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintElement {
pub normal_part: VelocityConstraintNormalPart,
pub tangent_part: VelocityConstraintTangentPart,
}
#[cfg(not(target_arch = "wasm32"))]
impl VelocityConstraintElement {
pub fn zero() -> Self {
Self {
normal_part: VelocityConstraintNormalPart::zero(),
tangent_part: VelocityConstraintTangentPart::zero(),
}
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraint {
pub dir1: Vector<Real>, // Non-penetration force direction for the first body.
@@ -159,7 +92,7 @@ pub(crate) struct VelocityConstraint {
pub manifold_id: ContactManifoldIndex,
pub manifold_contact_id: [u8; MAX_MANIFOLD_POINTS],
pub num_contacts: u8,
pub elements: [VelocityConstraintElement; MAX_MANIFOLD_POINTS],
pub elements: [VelocityConstraintElement<Real>; MAX_MANIFOLD_POINTS],
}
impl VelocityConstraint {
@@ -352,116 +285,36 @@ impl VelocityConstraint {
let mut mj_lambda1 = DeltaVel::zero();
let mut mj_lambda2 = DeltaVel::zero();
#[cfg(feature = "dim3")]
let tangents1 = [self.tangent1, self.dir1.cross(&self.tangent1)];
#[cfg(feature = "dim2")]
let tangents1 = self.dir1.orthonormal_basis();
VelocityConstraintElement::warmstart_group(
&self.elements,
&self.dir1,
#[cfg(feature = "dim3")]
&self.tangent1,
self.im1,
self.im2,
&mut mj_lambda1,
&mut mj_lambda2,
);
for i in 0..self.num_contacts as usize {
let elt = &self.elements[i].normal_part;
mj_lambda1.linear += self.dir1 * (self.im1 * elt.impulse);
mj_lambda1.angular += elt.gcross1 * elt.impulse;
mj_lambda2.linear += self.dir1 * (-self.im2 * elt.impulse);
mj_lambda2.angular += elt.gcross2 * elt.impulse;
for j in 0..DIM - 1 {
let elt = &self.elements[i].tangent_part;
mj_lambda1.linear += tangents1[j] * (self.im1 * elt.impulse[j]);
mj_lambda1.angular += elt.gcross1[j] * elt.impulse[j];
mj_lambda2.linear += tangents1[j] * (-self.im2 * elt.impulse[j]);
mj_lambda2.angular += elt.gcross2[j] * elt.impulse[j];
}
}
mj_lambdas[self.mj_lambda1 as usize].linear += mj_lambda1.linear;
mj_lambdas[self.mj_lambda1 as usize].angular += mj_lambda1.angular;
mj_lambdas[self.mj_lambda2 as usize].linear += mj_lambda2.linear;
mj_lambdas[self.mj_lambda2 as usize].angular += mj_lambda2.angular;
mj_lambdas[self.mj_lambda1 as usize] += mj_lambda1;
mj_lambdas[self.mj_lambda2 as usize] += mj_lambda2;
}
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
let mut mj_lambda1 = mj_lambdas[self.mj_lambda1 as usize];
let mut mj_lambda2 = mj_lambdas[self.mj_lambda2 as usize];
// Solve friction.
#[cfg(feature = "dim3")]
let bitangent1 = self.dir1.cross(&self.tangent1);
#[cfg(feature = "dim2")]
let tangents1 = self.dir1.orthonormal_basis();
#[cfg(feature = "dim2")]
for i in 0..self.num_contacts as usize {
let normal_elt = &self.elements[i].normal_part;
let elt = &mut self.elements[i].tangent_part;
let dimpulse = tangents1[0].dot(&mj_lambda1.linear)
+ elt.gcross1[0].gdot(mj_lambda1.angular)
- tangents1[0].dot(&mj_lambda2.linear)
+ elt.gcross2[0].gdot(mj_lambda2.angular)
+ elt.rhs[0];
let limit = self.limit * normal_elt.impulse;
let new_impulse = (elt.impulse[0] - elt.r[0] * dimpulse).simd_clamp(-limit, limit);
let dlambda = new_impulse - elt.impulse[0];
elt.impulse[0] = new_impulse;
mj_lambda1.linear += tangents1[0] * (self.im1 * dlambda);
mj_lambda1.angular += elt.gcross1[0] * dlambda;
mj_lambda2.linear += tangents1[0] * (-self.im2 * dlambda);
mj_lambda2.angular += elt.gcross2[0] * dlambda;
}
#[cfg(feature = "dim3")]
for i in 0..self.num_contacts as usize {
let limit = self.limit * self.elements[i].normal_part.impulse;
let elt = &mut self.elements[i].tangent_part;
let dimpulse_0 = self.tangent1.dot(&mj_lambda1.linear)
+ elt.gcross1[0].gdot(mj_lambda1.angular)
- self.tangent1.dot(&mj_lambda2.linear)
+ elt.gcross2[0].gdot(mj_lambda2.angular)
+ elt.rhs[0];
let dimpulse_1 = bitangent1.dot(&mj_lambda1.linear)
+ elt.gcross1[1].gdot(mj_lambda1.angular)
- bitangent1.dot(&mj_lambda2.linear)
+ elt.gcross2[1].gdot(mj_lambda2.angular)
+ elt.rhs[1];
let new_impulse = na::Vector2::new(
elt.impulse[0] - elt.r[0] * dimpulse_0,
elt.impulse[1] - elt.r[1] * dimpulse_1,
);
let new_impulse = new_impulse.cap_magnitude(limit);
let dlambda = new_impulse - elt.impulse;
elt.impulse = new_impulse;
mj_lambda1.linear +=
self.tangent1 * (self.im1 * dlambda[0]) + bitangent1 * (self.im1 * dlambda[1]);
mj_lambda1.angular += elt.gcross1[0] * dlambda[0] + elt.gcross1[1] * dlambda[1];
mj_lambda2.linear +=
self.tangent1 * (-self.im2 * dlambda[0]) + bitangent1 * (-self.im2 * dlambda[1]);
mj_lambda2.angular += elt.gcross2[0] * dlambda[0] + elt.gcross2[1] * dlambda[1];
}
// Solve non-penetration.
for i in 0..self.num_contacts as usize {
let elt = &mut self.elements[i].normal_part;
let dimpulse = self.dir1.dot(&mj_lambda1.linear) + elt.gcross1.gdot(mj_lambda1.angular)
- self.dir1.dot(&mj_lambda2.linear)
+ elt.gcross2.gdot(mj_lambda2.angular)
+ elt.rhs;
let new_impulse = (elt.impulse - elt.r * dimpulse).max(0.0);
let dlambda = new_impulse - elt.impulse;
elt.impulse = new_impulse;
mj_lambda1.linear += self.dir1 * (self.im1 * dlambda);
mj_lambda1.angular += elt.gcross1 * dlambda;
mj_lambda2.linear += self.dir1 * (-self.im2 * dlambda);
mj_lambda2.angular += elt.gcross2 * dlambda;
}
VelocityConstraintElement::solve_group(
&mut self.elements,
&self.dir1,
#[cfg(feature = "dim3")]
&self.tangent1,
self.im1,
self.im2,
self.limit,
&mut mj_lambda1,
&mut mj_lambda2,
);
mj_lambdas[self.mj_lambda1 as usize] = mj_lambda1;
mj_lambdas[self.mj_lambda2 as usize] = mj_lambda2;