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Second round to fix the parallel solver.

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This commit is contained in:
Sébastien Crozet
2022-02-27 22:04:51 +01:00
committed by Sébastien Crozet
parent 28cc19d104
commit 2e6f133b95
11 changed files with 398 additions and 230 deletions
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13
src/dynamics/solver/generic_velocity_ground_constraint.rs
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@@ -8,8 +8,9 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{Point, Real, DIM, MAX_MANIFOLD_POINTS};
use crate::utils::WCross;
use super::{VelocityGroundConstraintElement, VelocityGroundConstraintNormalPart};
use crate::dynamics::solver::AnyGenericVelocityConstraint;
use super::{
AnyVelocityConstraint, VelocityGroundConstraintElement, VelocityGroundConstraintNormalPart,
};
#[cfg(feature = "dim2")]
use crate::utils::WBasis;
use na::DVector;
@@ -30,7 +31,7 @@ impl GenericVelocityGroundConstraint {
manifold: &ContactManifold,
bodies: &Bodies,
multibodies: &MultibodyJointSet,
out_constraints: &mut Vec<AnyGenericVelocityConstraint>,
out_constraints: &mut Vec<AnyVelocityConstraint>,
jacobians: &mut DVector<Real>,
jacobian_id: &mut usize,
push: bool,
@@ -145,7 +146,7 @@ impl GenericVelocityGroundConstraint {
let mut rhs_wo_bias = (1.0 + is_bouncy * manifold_point.restitution)
* (vel1 - vel2).dot(&force_dir1);
rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting ;
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias =
/* is_resting * */ erp_inv_dt * manifold_point.dist.min(0.0);
@@ -200,10 +201,10 @@ impl GenericVelocityGroundConstraint {
};
if push {
out_constraints.push(AnyGenericVelocityConstraint::NongroupedGround(constraint));
out_constraints.push(AnyVelocityConstraint::NongroupedGenericGround(constraint));
} else {
out_constraints[manifold.data.constraint_index + _l] =
AnyGenericVelocityConstraint::NongroupedGround(constraint);
AnyVelocityConstraint::NongroupedGenericGround(constraint);
}
}
}