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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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172
src/dynamics/solver/velocity_ground_constraint.rs
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@@ -1,90 +1,30 @@
use super::{AnyVelocityConstraint, DeltaVel};
use crate::math::{AngVector, Real, Vector, DIM, MAX_MANIFOLD_POINTS};
use super::{
AnyVelocityConstraint, DeltaVel, VelocityGroundConstraintElement,
VelocityGroundConstraintNormalPart,
};
use crate::math::{Real, Vector, DIM, MAX_MANIFOLD_POINTS};
#[cfg(feature = "dim2")]
use crate::utils::WBasis;
use crate::utils::{WAngularInertia, WCross, WDot};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "dim2")]
use na::SimdPartialOrd;
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityGroundConstraintTangentPart {
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 VelocityGroundConstraintTangentPart {
fn zero() -> Self {
Self {
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 VelocityGroundConstraintNormalPart {
pub gcross2: AngVector<Real>,
pub rhs: Real,
pub impulse: Real,
pub r: Real,
}
#[cfg(not(target_arch = "wasm32"))]
impl VelocityGroundConstraintNormalPart {
fn zero() -> Self {
Self {
gcross2: na::zero(),
rhs: 0.0,
impulse: 0.0,
r: 0.0,
}
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityGroundConstraintElement {
pub normal_part: VelocityGroundConstraintNormalPart,
pub tangent_part: VelocityGroundConstraintTangentPart,
}
#[cfg(not(target_arch = "wasm32"))]
impl VelocityGroundConstraintElement {
pub fn zero() -> Self {
Self {
normal_part: VelocityGroundConstraintNormalPart::zero(),
tangent_part: VelocityGroundConstraintTangentPart::zero(),
}
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityGroundConstraint {
pub mj_lambda2: usize,
pub dir1: Vector<Real>, // Non-penetration force direction for the first body.
#[cfg(feature = "dim3")]
pub tangent1: Vector<Real>, // One of the friction force directions.
#[cfg(feature = "dim3")]
pub tangent_rot1: na::UnitComplex<Real>, // Orientation of the tangent basis wrt. the reference basis.
pub im2: Real,
pub limit: Real,
pub mj_lambda2: usize,
pub elements: [VelocityGroundConstraintElement<Real>; MAX_MANIFOLD_POINTS],
#[cfg(feature = "dim3")]
pub tangent_rot1: na::UnitComplex<Real>, // Orientation of the tangent basis wrt. the reference basis.
pub manifold_id: ContactManifoldIndex,
pub manifold_contact_id: [u8; MAX_MANIFOLD_POINTS],
pub num_contacts: u8,
pub elements: [VelocityGroundConstraintElement; MAX_MANIFOLD_POINTS],
}
impl VelocityGroundConstraint {
@@ -254,22 +194,15 @@ impl VelocityGroundConstraint {
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
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();
for i in 0..self.num_contacts as usize {
let elt = &self.elements[i].normal_part;
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_lambda2.linear += tangents1[j] * (-self.im2 * elt.impulse[j]);
mj_lambda2.angular += elt.gcross2[j] * elt.impulse[j];
}
}
VelocityGroundConstraintElement::warmstart_group(
&self.elements,
&self.dir1,
#[cfg(feature = "dim3")]
&self.tangent1,
self.im2,
&mut mj_lambda2,
);
mj_lambdas[self.mj_lambda2 as usize].linear += mj_lambda2.linear;
mj_lambdas[self.mj_lambda2 as usize].angular += mj_lambda2.angular;
@@ -278,66 +211,15 @@ impl VelocityGroundConstraint {
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
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_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_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 elts = &mut self.elements[i].tangent_part;
let dimpulse_0 = -self.tangent1.dot(&mj_lambda2.linear)
+ elts.gcross2[0].gdot(mj_lambda2.angular)
+ elts.rhs[0];
let dimpulse_1 = -bitangent1.dot(&mj_lambda2.linear)
+ elts.gcross2[1].gdot(mj_lambda2.angular)
+ elts.rhs[1];
let new_impulse = na::Vector2::new(
elts.impulse[0] - elts.r[0] * dimpulse_0,
elts.impulse[1] - elts.r[1] * dimpulse_1,
);
let new_impulse = new_impulse.cap_magnitude(limit);
let dlambda = new_impulse - elts.impulse;
elts.impulse = new_impulse;
mj_lambda2.linear +=
self.tangent1 * (-self.im2 * dlambda[0]) + bitangent1 * (-self.im2 * dlambda[1]);
mj_lambda2.angular += elts.gcross2[0] * dlambda[0] + elts.gcross2[1] * dlambda[1];
}
// Solve penetration.
for i in 0..self.num_contacts as usize {
let elt = &mut self.elements[i].normal_part;
let dimpulse =
-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_lambda2.linear += self.dir1 * (-self.im2 * dlambda);
mj_lambda2.angular += elt.gcross2 * dlambda;
}
VelocityGroundConstraintElement::solve_group(
&mut self.elements,
&self.dir1,
#[cfg(feature = "dim3")]
&self.tangent1,
self.im2,
self.limit,
&mut mj_lambda2,
);
mj_lambdas[self.mj_lambda2 as usize] = mj_lambda2;
}