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Try using solver contacts again, but in a more cache-coherent way.

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This commit is contained in:
Crozet Sébastien
2020-12-30 17:30:07 +01:00
parent 7545e06cb1
commit 43628c8846
11 changed files with 165 additions and 263 deletions
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51
src/dynamics/solver/position_ground_constraint_wide.rs
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@@ -15,8 +15,8 @@ pub(crate) struct WPositionGroundConstraint {
// NOTE: the points are relative to the center of masses.
pub p1: [Point<SimdReal>; MAX_MANIFOLD_POINTS],
pub local_p2: [Point<SimdReal>; MAX_MANIFOLD_POINTS],
pub dists: [SimdReal; MAX_MANIFOLD_POINTS],
pub n1: Vector<SimdReal>,
pub radius: SimdReal,
pub im2: SimdReal,
pub ii2: AngularInertia<SimdReal>,
pub erp: SimdReal,
@@ -49,34 +49,17 @@ impl WPositionGroundConstraint {
let sqrt_ii2: AngularInertia<SimdReal> =
AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
let local_n1 = Vector::from(
array![|ii| if flipped[ii] { manifolds[ii].local_n2 } else { manifolds[ii].local_n1 }; SIMD_WIDTH],
);
let local_n2 = Vector::from(
array![|ii| if flipped[ii] { manifolds[ii].local_n1 } else { manifolds[ii].local_n2 }; SIMD_WIDTH],
let n1 = Vector::from(
array![|ii| if flipped[ii] { -manifolds[ii].data.normal } else { manifolds[ii].data.normal }; SIMD_WIDTH],
);
let delta1 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].data.delta2 } else { manifolds[ii].data.delta1 }; SIMD_WIDTH],
);
let delta2 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].data.delta1 } else { manifolds[ii].data.delta2 }; SIMD_WIDTH],
);
let radius1 = SimdReal::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
let radius2 = SimdReal::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
let coll_pos1 =
delta1 * Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let radius = radius1 + radius2 /*- SimdReal::splat(params.allowed_linear_error)*/;
let num_active_contacts = manifolds[0].num_active_contacts();
let n1 = coll_pos1 * local_n1;
for l in (0..manifolds[0].num_active_contacts()).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii| &manifolds[ii].active_contacts()[l..]; SIMD_WIDTH];
for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..num_active_contacts]; SIMD_WIDTH];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
let mut constraint = WPositionGroundConstraint {
@@ -84,7 +67,7 @@ impl WPositionGroundConstraint {
p1: [Point::origin(); MAX_MANIFOLD_POINTS],
local_p2: [Point::origin(); MAX_MANIFOLD_POINTS],
n1,
radius,
dists: [SimdReal::zero(); MAX_MANIFOLD_POINTS],
im2,
ii2: sqrt_ii2.squared(),
erp: SimdReal::splat(params.erp),
@@ -93,15 +76,11 @@ impl WPositionGroundConstraint {
};
for i in 0..num_points {
let local_p1 = Point::from(
array![|ii| if flipped[ii] { manifold_points[ii][i].local_p2 } else { manifold_points[ii][i].local_p1 }; SIMD_WIDTH],
);
let local_p2 = Point::from(
array![|ii| if flipped[ii] { manifold_points[ii][i].local_p1 } else { manifold_points[ii][i].local_p2 }; SIMD_WIDTH],
);
constraint.p1[i] = coll_pos1 * local_p1 - n1 * radius1;
constraint.local_p2[i] = delta2 * (local_p2 - local_n2 * radius2);
let point = Point::from(array![|ii| manifold_points[ii][i].point; SIMD_WIDTH]);
let dist = SimdReal::from(array![|ii| manifold_points[ii][i].dist; SIMD_WIDTH]);
constraint.p1[i] = point;
constraint.local_p2[i] = pos2.inverse_transform_point(&point);
constraint.dists[i] = dist;
}
if push {
@@ -132,9 +111,9 @@ impl WPositionGroundConstraint {
// Compute jacobians.
let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
let allowed_err = SimdReal::splat(params.allowed_linear_error);
let target_dist = self.radius - allowed_err;
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];
@@ -174,9 +153,9 @@ impl WPositionGroundConstraint {
// Compute jacobians.
let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
let allowed_err = SimdReal::splat(params.allowed_linear_error);
let target_dist = self.radius - allowed_err;
for k in 0..self.num_contacts as usize {
let target_dist = -self.dists[k] - allowed_err;
let n1 = self.n1;
let p1 = self.p1[k];
let p2 = pos2 * self.local_p2[k];