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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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40
src/dynamics/solver/velocity_constraint.rs
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@@ -1,11 +1,14 @@
use crate::data::{BundleSet, ComponentSet};
use crate::dynamics::solver::VelocityGroundConstraint;
use crate::dynamics::solver::{
GenericVelocityConstraint, GenericVelocityGroundConstraint, VelocityGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
use crate::dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyVelocity};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{Real, Vector, DIM, MAX_MANIFOLD_POINTS};
use crate::utils::{self, WAngularInertia, WBasis, WCross, WDot, WReal};
use na::DVector;
use super::{DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart};
@@ -18,6 +21,8 @@ pub(crate) enum AnyVelocityConstraint {
GroupedGround(WVelocityGroundConstraint),
#[cfg(feature = "simd-is-enabled")]
Grouped(WVelocityConstraint),
NongroupedGenericGround(GenericVelocityGroundConstraint),
NongroupedGeneric(GenericVelocityConstraint),
#[allow(dead_code)] // The Empty variant is only used with parallel code.
Empty,
}
@@ -49,32 +54,51 @@ impl AnyVelocityConstraint {
AnyVelocityConstraint::Grouped(c) => c.remove_bias_from_rhs(),
#[cfg(feature = "simd-is-enabled")]
AnyVelocityConstraint::GroupedGround(c) => c.remove_bias_from_rhs(),
AnyVelocityConstraint::Empty => {}
AnyVelocityConstraint::NongroupedGeneric(c) => c.remove_bias_from_rhs(),
AnyVelocityConstraint::NongroupedGenericGround(c) => c.remove_bias_from_rhs(),
AnyVelocityConstraint::Empty => unreachable!(),
}
}
pub fn solve(
&mut self,
cfm_factor: Real,
jacobians: &DVector<Real>,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
generic_mj_lambdas: &mut DVector<Real>,
solve_restitution: bool,
solve_friction: bool,
) {
match self {
AnyVelocityConstraint::NongroupedGround(c) => {
c.solve(cfm_factor, mj_lambdas, solve_normal, solve_friction)
c.solve(cfm_factor, mj_lambdas, solve_restitution, solve_friction)
}
AnyVelocityConstraint::Nongrouped(c) => {
c.solve(cfm_factor, mj_lambdas, solve_normal, solve_friction)
c.solve(cfm_factor, mj_lambdas, solve_restitution, solve_friction)
}
#[cfg(feature = "simd-is-enabled")]
AnyVelocityConstraint::GroupedGround(c) => {
c.solve(cfm_factor, mj_lambdas, solve_normal, solve_friction)
c.solve(cfm_factor, mj_lambdas, solve_restitution, solve_friction)
}
#[cfg(feature = "simd-is-enabled")]
AnyVelocityConstraint::Grouped(c) => {
c.solve(cfm_factor, mj_lambdas, solve_normal, solve_friction)
c.solve(cfm_factor, mj_lambdas, solve_restitution, solve_friction)
}
AnyVelocityConstraint::NongroupedGeneric(c) => c.solve(
cfm_factor,
jacobians,
mj_lambdas,
generic_mj_lambdas,
solve_restitution,
solve_friction,
),
AnyVelocityConstraint::NongroupedGenericGround(c) => c.solve(
cfm_factor,
jacobians,
generic_mj_lambdas,
solve_restitution,
solve_friction,
),
AnyVelocityConstraint::Empty => unreachable!(),
}
}
@@ -87,6 +111,8 @@ impl AnyVelocityConstraint {
AnyVelocityConstraint::GroupedGround(c) => c.writeback_impulses(manifold_all),
#[cfg(feature = "simd-is-enabled")]
AnyVelocityConstraint::Grouped(c) => c.writeback_impulses(manifold_all),
AnyVelocityConstraint::NongroupedGeneric(c) => c.writeback_impulses(manifold_all),
AnyVelocityConstraint::NongroupedGenericGround(c) => c.writeback_impulses(manifold_all),
AnyVelocityConstraint::Empty => unreachable!(),
}
}