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Remove code related to point-point kinematics.

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This commit is contained in:
Crozet Sébastien
2020-12-31 10:02:51 +01:00
parent eea888af93
commit 348a339fe3
9 changed files with 36 additions and 409 deletions
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24
src/dynamics/solver/categorization.rs
View File

@@ -1,27 +1,7 @@
use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex, KinematicsCategory};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
pub(crate) fn categorize_position_contacts(
bodies: &RigidBodySet,
manifolds: &[&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],
out_plane_point_ground: &mut Vec<ContactManifoldIndex>,
out_plane_point: &mut Vec<ContactManifoldIndex>,
) {
for manifold_i in manifold_indices {
let manifold = &manifolds[*manifold_i];
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
if !rb1.is_dynamic() || !rb2.is_dynamic() {
out_plane_point_ground.push(*manifold_i)
} else {
out_plane_point.push(*manifold_i)
}
}
}
pub(crate) fn categorize_velocity_contacts(
pub(crate) fn categorize_contacts(
bodies: &RigidBodySet,
manifolds: &[&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],

4
src/dynamics/solver/parallel_velocity_solver.rs
View File

@@ -1,6 +1,6 @@
use super::ParallelInteractionGroups;
use super::{AnyJointVelocityConstraint, AnyVelocityConstraint, DeltaVel, ThreadContext};
use crate::dynamics::solver::categorization::{categorize_joints, categorize_velocity_contacts};
use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
use crate::dynamics::solver::{InteractionGroups, VelocityConstraint, VelocityGroundConstraint};
use crate::dynamics::{IntegrationParameters, JointGraphEdge, RigidBodySet};
use crate::geometry::ContactManifold;
@@ -165,7 +165,7 @@ macro_rules! impl_init_constraints_group {
impl_init_constraints_group!(
AnyVelocityConstraint,
&mut ContactManifold,
categorize_velocity_contacts,
categorize_contacts,
group_manifolds,
VelocityConstraint::num_active_constraints,
AnyVelocityConstraint::Empty

115
src/dynamics/solver/position_constraint.rs
View File

@@ -2,7 +2,7 @@ use crate::dynamics::solver::PositionGroundConstraint;
#[cfg(feature = "simd-is-enabled")]
use crate::dynamics::solver::{WPositionConstraint, WPositionGroundConstraint};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, KinematicsCategory};
use crate::geometry::ContactManifold;
use crate::math::{
AngularInertia, Isometry, Point, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS,
};
@@ -10,17 +10,11 @@ use crate::utils::{WAngularInertia, WCross, WDot};
pub(crate) enum AnyPositionConstraint {
#[cfg(feature = "simd-is-enabled")]
GroupedPointPointGround(WPositionGroundConstraint),
GroupedGround(WPositionGroundConstraint),
NonGroupedGround(PositionGroundConstraint),
#[cfg(feature = "simd-is-enabled")]
GroupedPlanePointGround(WPositionGroundConstraint),
NongroupedPointPointGround(PositionGroundConstraint),
NongroupedPlanePointGround(PositionGroundConstraint),
#[cfg(feature = "simd-is-enabled")]
GroupedPointPoint(WPositionConstraint),
#[cfg(feature = "simd-is-enabled")]
GroupedPlanePoint(WPositionConstraint),
NongroupedPointPoint(PositionConstraint),
NongroupedPlanePoint(PositionConstraint),
GroupedNonGround(WPositionConstraint),
NonGroupedNonGround(PositionConstraint),
#[allow(dead_code)] // The Empty variant is only used with parallel code.
Empty,
}
@@ -29,29 +23,11 @@ impl AnyPositionConstraint {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
match self {
#[cfg(feature = "simd-is-enabled")]
AnyPositionConstraint::GroupedPointPointGround(c) => {
c.solve_point_point(params, positions)
}
AnyPositionConstraint::GroupedGround(c) => c.solve(params, positions),
AnyPositionConstraint::NonGroupedGround(c) => c.solve(params, positions),
#[cfg(feature = "simd-is-enabled")]
AnyPositionConstraint::GroupedPlanePointGround(c) => {
c.solve_plane_point(params, positions)
}
AnyPositionConstraint::NongroupedPointPointGround(c) => {
c.solve_point_point(params, positions)
}
AnyPositionConstraint::NongroupedPlanePointGround(c) => {
c.solve_plane_point(params, positions)
}
#[cfg(feature = "simd-is-enabled")]
AnyPositionConstraint::GroupedPointPoint(c) => c.solve_point_point(params, positions),
#[cfg(feature = "simd-is-enabled")]
AnyPositionConstraint::GroupedPlanePoint(c) => c.solve_plane_point(params, positions),
AnyPositionConstraint::NongroupedPointPoint(c) => {
c.solve_point_point(params, positions)
}
AnyPositionConstraint::NongroupedPlanePoint(c) => {
c.solve_plane_point(params, positions)
}
AnyPositionConstraint::GroupedNonGround(c) => c.solve(params, positions),
AnyPositionConstraint::NonGroupedNonGround(c) => c.solve(params, positions),
AnyPositionConstraint::Empty => unreachable!(),
}
}
@@ -124,80 +100,15 @@ impl PositionConstraint {
};
if push {
if manifold.kinematics.category == KinematicsCategory::PointPoint {
out_constraints.push(AnyPositionConstraint::NongroupedPointPoint(constraint));
} else {
out_constraints.push(AnyPositionConstraint::NongroupedPlanePoint(constraint));
}
out_constraints.push(AnyPositionConstraint::NonGroupedNonGround(constraint));
} else {
if manifold.kinematics.category == KinematicsCategory::PointPoint {
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NongroupedPointPoint(constraint);
} else {
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NongroupedPlanePoint(constraint);
}
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NonGroupedNonGround(constraint);
}
}
}
pub fn solve_point_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32>],
) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos1 = positions[self.rb1];
let mut pos2 = positions[self.rb2];
let allowed_err = params.allowed_linear_error;
for k in 0..self.num_contacts as usize {
let target_dist = -self.dists[k] - allowed_err;
let p1 = pos1 * self.local_p1[k];
let p2 = pos2 * self.local_p2[k];
let dpos = p2 - p1;
let sqdist = dpos.norm_squared();
// NOTE: only works for the point-point case.
if sqdist < target_dist * target_dist {
let dist = sqdist.sqrt();
let n = dpos / dist;
let err = ((dist - target_dist) * self.erp).max(-self.max_linear_correction);
let dp1 = p1.coords - pos1.translation.vector;
let dp2 = p2.coords - pos2.translation.vector;
let gcross1 = dp1.gcross(n);
let gcross2 = -dp2.gcross(n);
let ii_gcross1 = self.ii1.transform_vector(gcross1);
let ii_gcross2 = self.ii2.transform_vector(gcross2);
// Compute impulse.
let inv_r =
self.im1 + self.im2 + gcross1.gdot(ii_gcross1) + gcross2.gdot(ii_gcross2);
let impulse = err / inv_r;
// Apply impulse.
let tra1 = Translation::from(n * (impulse * self.im1));
let tra2 = Translation::from(n * (-impulse * self.im2));
let rot1 = Rotation::new(ii_gcross1 * impulse);
let rot2 = Rotation::new(ii_gcross2 * impulse);
pos1 = Isometry::from_parts(tra1 * pos1.translation, rot1 * pos1.rotation);
pos2 = Isometry::from_parts(tra2 * pos2.translation, rot2 * pos2.rotation);
}
}
positions[self.rb1] = pos1;
positions[self.rb2] = pos2;
}
pub fn solve_plane_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32>],
) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos1 = positions[self.rb1];

77
src/dynamics/solver/position_constraint_wide.rs
View File

@@ -1,6 +1,6 @@
use super::AnyPositionConstraint;
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, KinematicsCategory};
use crate::geometry::ContactManifold;
use crate::math::{
AngularInertia, Isometry, Point, Rotation, SimdReal, Translation, Vector, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
@@ -86,82 +86,15 @@ impl WPositionConstraint {
}
if push {
if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
out_constraints.push(AnyPositionConstraint::GroupedPointPoint(constraint));
} else {
out_constraints.push(AnyPositionConstraint::GroupedPlanePoint(constraint));
}
out_constraints.push(AnyPositionConstraint::GroupedNonGround(constraint));
} else {
if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPointPoint(constraint);
} else {
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPlanePoint(constraint);
}
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedNonGround(constraint);
}
}
}
pub fn solve_point_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32>],
) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);
let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
let allowed_err = SimdReal::splat(params.allowed_linear_error);
for k in 0..self.num_contacts as usize {
let target_dist = -self.dists[k] - allowed_err;
let p1 = pos1 * self.local_p1[k];
let p2 = pos2 * self.local_p2[k];
let dpos = p2 - p1;
let sqdist = dpos.norm_squared();
if sqdist.simd_lt(target_dist * target_dist).any() {
let dist = sqdist.simd_sqrt();
let n = dpos / dist;
let err = ((dist - target_dist) * self.erp)
.simd_clamp(-self.max_linear_correction, SimdReal::zero());
let dp1 = p1.coords - pos1.translation.vector;
let dp2 = p2.coords - pos2.translation.vector;
let gcross1 = dp1.gcross(n);
let gcross2 = -dp2.gcross(n);
let ii_gcross1 = self.ii1.transform_vector(gcross1);
let ii_gcross2 = self.ii2.transform_vector(gcross2);
// Compute impulse.
let inv_r =
self.im1 + self.im2 + gcross1.gdot(ii_gcross1) + gcross2.gdot(ii_gcross2);
let impulse = err / inv_r;
// Apply impulse.
pos1.translation = Translation::from(n * (impulse * self.im1)) * pos1.translation;
pos1.rotation = Rotation::new(ii_gcross1 * impulse) * pos1.rotation;
pos2.translation = Translation::from(n * (-impulse * self.im2)) * pos2.translation;
pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
}
}
for ii in 0..SIMD_WIDTH {
positions[self.rb1[ii]] = pos1.extract(ii);
}
for ii in 0..SIMD_WIDTH {
positions[self.rb2[ii]] = pos2.extract(ii);
}
}
pub fn solve_plane_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32>],
) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);

68
src/dynamics/solver/position_ground_constraint.rs
View File

@@ -1,6 +1,6 @@
use super::AnyPositionConstraint;
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, KinematicsCategory};
use crate::geometry::ContactManifold;
use crate::math::{
AngularInertia, Isometry, Point, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS,
};
@@ -68,73 +68,15 @@ impl PositionGroundConstraint {
};
if push {
if manifold.kinematics.category == KinematicsCategory::PointPoint {
out_constraints.push(AnyPositionConstraint::NongroupedPointPointGround(
constraint,
));
} else {
out_constraints.push(AnyPositionConstraint::NongroupedPlanePointGround(
constraint,
));
}
out_constraints.push(AnyPositionConstraint::NonGroupedGround(constraint));
} else {
if manifold.kinematics.category == KinematicsCategory::PointPoint {
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NongroupedPointPointGround(constraint);
} else {
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NongroupedPlanePointGround(constraint);
}
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NonGroupedGround(constraint);
}
}
}
pub fn solve_point_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32>],
) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos2 = positions[self.rb2];
let allowed_err = params.allowed_linear_error;
for k in 0..self.num_contacts as usize {
let target_dist = -self.dists[k] - allowed_err;
let p1 = self.p1[k];
let p2 = pos2 * self.local_p2[k];
let dpos = p2 - p1;
let sqdist = dpos.norm_squared();
// NOTE: only works for the point-point case.
if sqdist < target_dist * target_dist {
let dist = sqdist.sqrt();
let n = dpos / dist;
let err = ((dist - target_dist) * self.erp).max(-self.max_linear_correction);
let dp2 = p2.coords - pos2.translation.vector;
let gcross2 = -dp2.gcross(n);
let ii_gcross2 = self.ii2.transform_vector(gcross2);
// Compute impulse.
let inv_r = self.im2 + gcross2.gdot(ii_gcross2);
let impulse = err / inv_r;
// Apply impulse.
let tra2 = Translation::from(n * (-impulse * self.im2));
let rot2 = Rotation::new(ii_gcross2 * impulse);
pos2 = Isometry::from_parts(tra2 * pos2.translation, rot2 * pos2.rotation);
}
}
positions[self.rb2] = pos2;
}
pub fn solve_plane_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32>],
) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos2 = positions[self.rb2];

66
src/dynamics/solver/position_ground_constraint_wide.rs
View File

@@ -1,6 +1,6 @@
use super::AnyPositionConstraint;
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, KinematicsCategory};
use crate::geometry::ContactManifold;
use crate::math::{
AngularInertia, Isometry, Point, Rotation, SimdReal, Translation, Vector, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
@@ -84,71 +84,15 @@ impl WPositionGroundConstraint {
}
if push {
if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
out_constraints
.push(AnyPositionConstraint::GroupedPointPointGround(constraint));
} else {
out_constraints
.push(AnyPositionConstraint::GroupedPlanePointGround(constraint));
}
out_constraints.push(AnyPositionConstraint::GroupedGround(constraint));
} else {
if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPointPointGround(constraint);
} else {
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPlanePointGround(constraint);
}
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedGround(constraint);
}
}
}
pub fn solve_point_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32>],
) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
let allowed_err = SimdReal::splat(params.allowed_linear_error);
for k in 0..self.num_contacts as usize {
let target_dist = -self.dists[k] - allowed_err;
let p1 = self.p1[k];
let p2 = pos2 * self.local_p2[k];
let dpos = p2 - p1;
let sqdist = dpos.norm_squared();
if sqdist.simd_lt(target_dist * target_dist).any() {
let dist = sqdist.simd_sqrt();
let n = dpos / dist;
let err = ((dist - target_dist) * self.erp)
.simd_clamp(-self.max_linear_correction, SimdReal::zero());
let dp2 = p2.coords - pos2.translation.vector;
let gcross2 = -dp2.gcross(n);
let ii_gcross2 = self.ii2.transform_vector(gcross2);
// Compute impulse.
let inv_r = self.im2 + gcross2.gdot(ii_gcross2);
let impulse = err / inv_r;
// Apply impulse.
pos2.translation = Translation::from(n * (-impulse * self.im2)) * pos2.translation;
pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
}
}
for ii in 0..SIMD_WIDTH {
positions[self.rb2[ii]] = pos2.extract(ii);
}
}
pub fn solve_plane_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32>],
) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);

85
src/dynamics/solver/position_solver.rs
View File

@@ -3,7 +3,7 @@ use super::{
};
#[cfg(feature = "simd-is-enabled")]
use super::{WPositionConstraint, WPositionGroundConstraint};
use crate::dynamics::solver::categorization::{categorize_joints, categorize_position_contacts};
use crate::dynamics::solver::categorization::categorize_joints;
use crate::dynamics::{
solver::AnyPositionConstraint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
};
@@ -77,8 +77,6 @@ impl PositionSolver {
joints: &[JointGraphEdge],
joint_constraint_indices: &[JointIndex],
) {
// self.part
// .init_constraints(island_id, params, bodies, manifolds, manifold_indices);
self.joint_part.init_constraints(
island_id,
params,
@@ -117,87 +115,6 @@ impl PositionSolver {
}
}
impl PositionSolverPart {
pub fn init_constraints(
&mut self,
island_id: usize,
params: &IntegrationParameters,
bodies: &RigidBodySet,
manifolds_all: &[&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],
) {
self.plane_point_ground_manifolds.clear();
self.plane_point_manifolds.clear();
categorize_position_contacts(
bodies,
manifolds_all,
manifold_indices,
&mut self.plane_point_ground_manifolds,
&mut self.plane_point_manifolds,
);
self.plane_point_groups.clear_groups();
self.plane_point_groups.group_manifolds(
island_id,
bodies,
manifolds_all,
&self.plane_point_manifolds,
);
self.plane_point_ground_groups.clear_groups();
self.plane_point_ground_groups.group_manifolds(
island_id,
bodies,
manifolds_all,
&self.plane_point_ground_manifolds,
);
self.constraints.clear();
/*
* Init non-ground contact constraints.
*/
#[cfg(feature = "simd-is-enabled")]
{
compute_grouped_constraints(
params,
bodies,
manifolds_all,
&self.plane_point_groups.grouped_interactions,
&mut self.constraints,
);
}
compute_nongrouped_constraints(
params,
bodies,
manifolds_all,
&self.plane_point_groups.nongrouped_interactions,
&mut self.constraints,
);
/*
* Init ground contact constraints.
*/
#[cfg(feature = "simd-is-enabled")]
{
compute_grouped_ground_constraints(
params,
bodies,
manifolds_all,
&self.plane_point_ground_groups.grouped_interactions,
&mut self.constraints,
);
}
compute_nongrouped_ground_constraints(
params,
bodies,
manifolds_all,
&self.plane_point_ground_groups.nongrouped_interactions,
&mut self.constraints,
);
}
}
impl PositionSolverJointPart {
pub fn init_constraints(
&mut self,

4
src/dynamics/solver/velocity_solver.rs
View File

@@ -3,7 +3,7 @@ use super::{
};
#[cfg(feature = "simd-is-enabled")]
use super::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::solver::categorization::{categorize_joints, categorize_velocity_contacts};
use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
use crate::dynamics::solver::{
AnyPositionConstraint, PositionConstraint, PositionGroundConstraint, WPositionConstraint,
WPositionGroundConstraint,
@@ -144,7 +144,7 @@ impl VelocitySolverPart<AnyVelocityConstraint> {
) {
self.not_ground_interactions.clear();
self.ground_interactions.clear();
categorize_velocity_contacts(
categorize_contacts(
bodies,
manifolds,
manifold_indices,

2
src/geometry/mod.rs
View File

@@ -11,7 +11,7 @@ pub use self::interaction_graph::{
pub use self::narrow_phase::NarrowPhase;
pub use self::pair_filter::{ContactPairFilter, PairFilterContext, ProximityPairFilter};
pub use cdl::query::{KinematicsCategory, TrackedContact};
pub use cdl::query::TrackedContact;
pub type Contact = cdl::query::TrackedContact<ContactData>;
pub type ContactManifold = cdl::query::ContactManifold<ContactManifoldData, ContactData>;