nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove code related to point-point kinematics.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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];