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

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

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

49
src/dynamics/solver/velocity_ground_constraint_wide.rs
View File

@@ -86,46 +86,31 @@ impl WVelocityGroundConstraint {
let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
let pos1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let pos2 = Isometry::from(array![|ii| rbs2[ii].position; 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 coll_pos1 = pos1 * delta1;
let coll_pos2 = pos2 * delta2;
let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
let force_dir1 = coll_pos1
* -Vector::from(
array![|ii| if flipped[ii] { manifolds[ii].local_n2 } else { manifolds[ii].local_n1 }; SIMD_WIDTH],
);
let force_dir1 = Vector::from(
array![|ii| if flipped[ii] { manifolds[ii].data.normal } else { -manifolds[ii].data.normal }; 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 = WVelocityGroundConstraint {
dir1: force_dir1,
elements: [WVelocityGroundConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im2,
limit: friction,
limit: SimdReal::splat(0.0),
mj_lambda2,
manifold_id,
manifold_contact_id: l,
@@ -133,25 +118,23 @@ impl WVelocityGroundConstraint {
};
for k in 0..num_points {
let p1 = coll_pos1
* Point::from(
array![|ii| if flipped[ii] { manifold_points[ii][k].local_p2 } else { manifold_points[ii][k].local_p1 }; SIMD_WIDTH],
);
let p2 = coll_pos2
* Point::from(
array![|ii| if flipped[ii] { manifold_points[ii][k].local_p1 } else { 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 gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));