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feat: solver improvements + release v0.29.0 (#876)

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* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes
This commit is contained in:
Sébastien Crozet
2025-09-05 19:31:58 +02:00
committed by GitHub
parent 317322b31b
commit 134f433903
94 changed files with 5066 additions and 8136 deletions
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70
src/dynamics/solver/interaction_groups.rs
View File

@@ -117,26 +117,26 @@ impl ParallelInteractionGroups {
(false, false) => {
let rb1 = &bodies[body_pair.0.unwrap()];
let rb2 = &bodies[body_pair.1.unwrap()];
let color_mask =
bcolors[rb1.ids.active_set_offset] | bcolors[rb2.ids.active_set_offset];
let color_mask = bcolors[rb1.ids.active_set_offset as usize]
| bcolors[rb2.ids.active_set_offset as usize];
*color = (!color_mask).trailing_zeros() as usize;
color_len[*color] += 1;
bcolors[rb1.ids.active_set_offset] |= 1 << *color;
bcolors[rb2.ids.active_set_offset] |= 1 << *color;
bcolors[rb1.ids.active_set_offset as usize] |= 1 << *color;
bcolors[rb2.ids.active_set_offset as usize] |= 1 << *color;
}
(true, false) => {
let rb2 = &bodies[body_pair.1.unwrap()];
let color_mask = bcolors[rb2.ids.active_set_offset];
let color_mask = bcolors[rb2.ids.active_set_offset as usize];
*color = 127 - (!color_mask).leading_zeros() as usize;
color_len[*color] += 1;
bcolors[rb2.ids.active_set_offset] |= 1 << *color;
bcolors[rb2.ids.active_set_offset as usize] |= 1 << *color;
}
(false, true) => {
let rb1 = &bodies[body_pair.0.unwrap()];
let color_mask = bcolors[rb1.ids.active_set_offset];
let color_mask = bcolors[rb1.ids.active_set_offset as usize];
*color = 127 - (!color_mask).leading_zeros() as usize;
color_len[*color] += 1;
bcolors[rb1.ids.active_set_offset] |= 1 << *color;
bcolors[rb1.ids.active_set_offset as usize] |= 1 << *color;
}
(true, true) => unreachable!(),
}
@@ -173,9 +173,8 @@ pub(crate) struct InteractionGroups {
buckets: VecMap<([usize; SIMD_WIDTH], usize)>,
#[cfg(feature = "simd-is-enabled")]
body_masks: Vec<u128>,
#[cfg(feature = "simd-is-enabled")]
pub simd_interactions: Vec<usize>,
pub nongrouped_interactions: Vec<usize>,
pub simd_interactions: Vec<ContactManifoldIndex>,
pub nongrouped_interactions: Vec<ContactManifoldIndex>,
}
impl InteractionGroups {
@@ -185,7 +184,6 @@ impl InteractionGroups {
buckets: VecMap::new(),
#[cfg(feature = "simd-is-enabled")]
body_masks: Vec::new(),
#[cfg(feature = "simd-is-enabled")]
simd_interactions: Vec::new(),
nongrouped_interactions: Vec::new(),
}
@@ -258,8 +256,8 @@ impl InteractionGroups {
let rb1 = &bodies[interaction.body1];
let rb2 = &bodies[interaction.body2];
let is_fixed1 = !rb1.is_dynamic();
let is_fixed2 = !rb2.is_dynamic();
let is_fixed1 = !rb1.is_dynamic_or_kinematic();
let is_fixed2 = !rb2.is_dynamic_or_kinematic();
if is_fixed1 && is_fixed2 {
continue;
@@ -274,8 +272,17 @@ impl InteractionGroups {
let ijoint = interaction.data.locked_axes.bits() as usize;
let i1 = rb1.ids.active_set_offset;
let i2 = rb2.ids.active_set_offset;
let conflicts =
self.body_masks[i1] | self.body_masks[i2] | joint_type_conflicts[ijoint];
let conflicts = self
.body_masks
.get(i1 as usize)
.copied()
.unwrap_or_default()
| self
.body_masks
.get(i2 as usize)
.copied()
.unwrap_or_default()
| joint_type_conflicts[ijoint];
let conflictfree_targets = !(conflicts & occupied_mask); // The & is because we consider empty buckets as free of conflicts.
let conflictfree_occupied_targets = conflictfree_targets & occupied_mask;
@@ -288,7 +295,7 @@ impl InteractionGroups {
if target_index == 128 {
// The interaction conflicts with every bucket we can manage.
// So push it in an nongrouped interaction list that won't be combined with
// So push it in a nongrouped interaction list that won't be combined with
// any other interactions.
self.nongrouped_interactions.push(*interaction_i);
continue;
@@ -327,11 +334,11 @@ impl InteractionGroups {
// NOTE: fixed bodies don't transmit forces. Therefore they don't
// imply any interaction conflicts.
if !is_fixed1 {
self.body_masks[i1] |= target_mask_bit;
self.body_masks[i1 as usize] |= target_mask_bit;
}
if !is_fixed2 {
self.body_masks[i2] |= target_mask_bit;
self.body_masks[i2 as usize] |= target_mask_bit;
}
}
@@ -356,7 +363,6 @@ impl InteractionGroups {
}
pub fn clear_groups(&mut self) {
#[cfg(feature = "simd-is-enabled")]
self.simd_interactions.clear();
self.nongrouped_interactions.clear();
}
@@ -419,18 +425,18 @@ impl InteractionGroups {
let rb1 = &bodies[rb1];
(rb1.body_type, rb1.ids.active_set_offset)
} else {
(RigidBodyType::Fixed, usize::MAX)
(RigidBodyType::Fixed, u32::MAX)
};
let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2
{
let rb2 = &bodies[rb2];
(rb2.body_type, rb2.ids.active_set_offset)
} else {
(RigidBodyType::Fixed, usize::MAX)
(RigidBodyType::Fixed, u32::MAX)
};
let is_fixed1 = !status1.is_dynamic();
let is_fixed2 = !status2.is_dynamic();
let is_fixed1 = !status1.is_dynamic_or_kinematic();
let is_fixed2 = !status2.is_dynamic_or_kinematic();
// TODO: don't generate interactions between fixed bodies in the first place.
if is_fixed1 && is_fixed2 {
@@ -439,8 +445,16 @@ impl InteractionGroups {
let i1 = active_set_offset1;
let i2 = active_set_offset2;
let mask1 = if !is_fixed1 { self.body_masks[i1] } else { 0 };
let mask2 = if !is_fixed2 { self.body_masks[i2] } else { 0 };
let mask1 = if !is_fixed1 {
self.body_masks[i1 as usize]
} else {
0
};
let mask2 = if !is_fixed2 {
self.body_masks[i2 as usize]
} else {
0
};
let conflicts = mask1 | mask2;
let conflictfree_targets = !(conflicts & occupied_mask); // The & is because we consider empty buckets as free of conflicts.
let conflictfree_occupied_targets = conflictfree_targets & occupied_mask;
@@ -482,11 +496,11 @@ impl InteractionGroups {
// NOTE: fixed bodies don't transmit forces. Therefore they don't
// imply any interaction conflicts.
if !is_fixed1 {
self.body_masks[i1] |= target_mask_bit;
self.body_masks[i1 as usize] |= target_mask_bit;
}
if !is_fixed2 {
self.body_masks[i2] |= target_mask_bit;
self.body_masks[i2 as usize] |= target_mask_bit;
}
}