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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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39
src/dynamics/solver/velocity_constraint_wide.rs
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@@ -72,9 +72,6 @@ impl WVelocityConstraint {
let rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH];
let rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH];
let delta1 = Isometry::from(array![|ii| manifolds[ii].data.delta1; SIMD_WIDTH]);
let delta2 = Isometry::from(array![|ii| manifolds[ii].data.delta2; SIMD_WIDTH]);
let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii1: AngularInertia<SimdReal> =
AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
@@ -82,7 +79,6 @@ impl WVelocityConstraint {
let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
let pos1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
@@ -92,27 +88,24 @@ impl WVelocityConstraint {
let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
let coll_pos1 = pos1 * delta1;
let coll_pos2 = pos2 * delta2;
let force_dir1 = coll_pos1 * -Vector::from(array![|ii| manifolds[ii].local_n1; SIMD_WIDTH]);
let force_dir1 = -Vector::from(array![|ii| manifolds[ii].data.normal; SIMD_WIDTH]);
let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let friction = SimdReal::from(array![|ii| manifolds[ii].data.friction; SIMD_WIDTH]);
let restitution = SimdReal::from(array![|ii| manifolds[ii].data.restitution; SIMD_WIDTH]);
let restitution_velocity_threshold = SimdReal::splat(params.restitution_velocity_threshold);
let warmstart_multiplier =
SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff);
let num_active_contacts = manifolds[0].num_active_contacts();
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 = WVelocityConstraint {
@@ -120,7 +113,7 @@ impl WVelocityConstraint {
elements: [WVelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im1,
im2,
limit: friction,
limit: SimdReal::splat(0.0),
mj_lambda1,
mj_lambda2,
manifold_id,
@@ -129,24 +122,24 @@ impl WVelocityConstraint {
};
for k in 0..num_points {
// FIXME: can we avoid the multiplications by coll_pos1/coll_pos2 here?
// By working as much as possible in local-space.
let p1 = coll_pos1
* Point::from(array![|ii| manifold_points[ii][k].local_p1; SIMD_WIDTH]);
let p2 = coll_pos2
* Point::from(array![|ii| manifold_points[ii][k].local_p2; SIMD_WIDTH]);
let friction =
SimdReal::from(array![|ii| manifold_points[ii][k].friction; SIMD_WIDTH]);
let restitution =
SimdReal::from(array![|ii| manifold_points[ii][k].restitution; SIMD_WIDTH]);
let point = Point::from(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]);
let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
let impulse =
SimdReal::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]);
let dp1 = p1 - world_com1;
let dp2 = p2 - world_com2;
let dp1 = point - world_com1;
let dp2 = point - world_com2;
let vel1 = linvel1 + angvel1.gcross(dp1);
let vel2 = linvel2 + angvel2.gcross(dp2);
constraint.limit = friction;
// Normal part.
{
let gcross1 = ii1.transform_vector(dp1.gcross(force_dir1));