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Improve cfm configuration using the critical damping factor

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This commit is contained in:
Sébastien Crozet
2022-01-23 16:50:02 +01:00
parent b7bf80550d
commit 78c8bc6cde
14 changed files with 196 additions and 122 deletions
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2
.gitignore vendored
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@@ -6,4 +6,4 @@ target
.DS_Store
package-lock.json
**/*.csv
.vscode/
.history

56
src/dynamics/integration_parameters.rs
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@@ -29,13 +29,11 @@ pub struct IntegrationParameters {
/// A good non-zero value is around `0.2`.
/// (default `0.0`).
pub erp: Real,
/// 0-1: multiplier applied to each accumulated impulse during constraints resolution.
/// This is similar to the concept of CFN (Constraint Force Mixing) except that it is
/// a multiplicative factor instead of an additive factor.
/// Larger values lead to stiffer constraints (1.0 being completely stiff).
/// Smaller values lead to more compliant constraints.
pub delassus_inv_factor: Real,
/// 0-1: the damping ratio used by the springs for Baumgarte constraints stabilization.
/// Lower values make the constraints more compliant (more "springy", allowing more visible penetrations
/// before stabilization).
/// (default `0.25`).
pub damping_ratio: Real,
/// Amount of penetration the engine wont attempt to correct (default: `0.001m`).
pub allowed_linear_error: Real,
@@ -89,10 +87,42 @@ impl IntegrationParameters {
}
}
/// Convenience: `erp / dt`
#[inline]
pub(crate) fn erp_inv_dt(&self) -> Real {
self.erp * self.inv_dt()
/// The ERP coefficient, multiplied by the inverse timestep length.
pub fn erp_inv_dt(&self) -> Real {
0.8 / self.dt
}
/// The CFM factor to be used in the constraints resolution.
pub fn cfm_factor(&self) -> Real {
// Compute CFM assuming a critically damped spring multiplied by the dampingratio.
let inv_erp_minus_one = 1.0 / self.erp - 1.0;
// let stiffness = 4.0 * damping_ratio * damping_ratio * projected_mass
// / (dt * dt * inv_erp_minus_one * inv_erp_minus_one);
// let damping = 4.0 * damping_ratio * damping_ratio * projected_mass
// / (dt * inv_erp_minus_one);
// let cfm = 1.0 / (dt * dt * stiffness + dt * damping);
// NOTE: This simplies to cfm = cfm_coefff / projected_mass:
let cfm_coeff = inv_erp_minus_one * inv_erp_minus_one
/ ((1.0 + inv_erp_minus_one) * 4.0 * self.damping_ratio * self.damping_ratio);
// Furthermore, we use this coefficient inside of the impulse resolution.
// Surprisingly, several simplifications happen there.
// Let `m` the projected mass of the constraint.
// Let `m’` the projected mass that includes CFM: `m’ = 1 / (1 / m + cfm_coeff / m) = m / (1 + cfm_coeff)`
// We have:
// new_impulse = old_impulse - m’ (delta_vel - cfm * old_impulse)
// = old_impulse - m / (1 + cfm_coeff) * (delta_vel - cfm_coeff / m * old_impulse)
// = old_impulse * (1 - cfm_coeff / (1 + cfm_coeff)) - m / (1 + cfm_coeff) * delta_vel
// = old_impulse / (1 + cfm_coeff) - m * delta_vel / (1 + cfm_coeff)
// = 1 / (1 + cfm_coeff) * (old_impulse - m * delta_vel)
// So, setting cfm_factor = 1 / (1 + cfm_coeff).
// We obtain:
// new_impulse = cfm_factor * (old_impulse - m * delta_vel)
//
// The value returned by this function is this cfm_factor that can be used directly
// in the constraints solver.
1.0 / (1.0 + cfm_coeff)
}
}
@@ -103,14 +133,14 @@ impl Default for IntegrationParameters {
min_ccd_dt: 1.0 / 60.0 / 100.0,
velocity_solve_fraction: 1.0,
erp: 0.8,
delassus_inv_factor: 0.75,
damping_ratio: 0.25,
allowed_linear_error: 0.001, // 0.005
prediction_distance: 0.002,
max_velocity_iterations: 4,
max_velocity_friction_iterations: 8,
max_stabilization_iterations: 1,
interleave_restitution_and_friction_resolution: true, // Enabling this makes a big difference for 2D stability.
// FIXME: what is the optimal value for min_island_size?
// TODO: what is the optimal value for min_island_size?
// It should not be too big so that we don't end up with
// huge islands that don't fit in cache.
// However we don't want it to be too small and end up with

5
src/dynamics/solver/generic_velocity_constraint.rs
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@@ -23,6 +23,7 @@ pub(crate) enum AnyGenericVelocityConstraint {
impl AnyGenericVelocityConstraint {
pub fn solve(
&mut self,
cfm_factor: Real,
jacobians: &DVector<Real>,
mj_lambdas: &mut [DeltaVel<Real>],
generic_mj_lambdas: &mut DVector<Real>,
@@ -31,6 +32,7 @@ impl AnyGenericVelocityConstraint {
) {
match self {
AnyGenericVelocityConstraint::Nongrouped(c) => c.solve(
cfm_factor,
jacobians,
mj_lambdas,
generic_mj_lambdas,
@@ -38,6 +40,7 @@ impl AnyGenericVelocityConstraint {
solve_friction,
),
AnyGenericVelocityConstraint::NongroupedGround(c) => c.solve(
cfm_factor,
jacobians,
generic_mj_lambdas,
solve_restitution,
@@ -379,6 +382,7 @@ impl GenericVelocityConstraint {
pub fn solve(
&mut self,
cfm_factor: Real,
jacobians: &DVector<Real>,
mj_lambdas: &mut [DeltaVel<Real>],
generic_mj_lambdas: &mut DVector<Real>,
@@ -400,6 +404,7 @@ impl GenericVelocityConstraint {
let elements = &mut self.velocity_constraint.elements
[..self.velocity_constraint.num_contacts as usize];
VelocityConstraintElement::generic_solve_group(
cfm_factor,
elements,
jacobians,
&self.velocity_constraint.dir1,

8
src/dynamics/solver/generic_velocity_constraint_element.rs
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@@ -243,6 +243,7 @@ impl VelocityConstraintNormalPart<Real> {
#[inline]
pub fn generic_solve(
&mut self,
cfm_factor: Real,
j_id: usize,
jacobians: &DVector<Real>,
dir1: &Vector<Real>,
@@ -261,7 +262,7 @@ impl VelocityConstraintNormalPart<Real> {
+ mj_lambda2.dvel(j_id2, ndofs2, jacobians, &-dir1, &self.gcross2, mj_lambdas)
+ self.rhs;
let new_impulse = (self.impulse - self.r * dvel).max(0.0);
let new_impulse = cfm_factor * (self.impulse - self.r * dvel).max(0.0);
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
@@ -291,6 +292,7 @@ impl VelocityConstraintNormalPart<Real> {
impl VelocityConstraintElement<Real> {
#[inline]
pub fn generic_solve_group(
cfm_factor: Real,
elements: &mut [Self],
jacobians: &DVector<Real>,
dir1: &Vector<Real>,
@@ -318,8 +320,8 @@ impl VelocityConstraintElement<Real> {
for element in elements.iter_mut() {
element.normal_part.generic_solve(
nrm_j_id, jacobians, &dir1, im1, im2, ndofs1, ndofs2, mj_lambda1, mj_lambda2,
mj_lambdas,
cfm_factor, nrm_j_id, jacobians, &dir1, im1, im2, ndofs1, ndofs2, mj_lambda1,
mj_lambda2, mj_lambdas,
);
nrm_j_id += j_step;
}

2
src/dynamics/solver/generic_velocity_ground_constraint.rs
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@@ -210,6 +210,7 @@ impl GenericVelocityGroundConstraint {
pub fn solve(
&mut self,
cfm_factor: Real,
jacobians: &DVector<Real>,
generic_mj_lambdas: &mut DVector<Real>,
solve_restitution: bool,
@@ -220,6 +221,7 @@ impl GenericVelocityGroundConstraint {
let elements = &mut self.velocity_constraint.elements
[..self.velocity_constraint.num_contacts as usize];
VelocityGroundConstraintElement::generic_solve_group(
cfm_factor,
elements,
jacobians,
self.velocity_constraint.limit,

6
src/dynamics/solver/generic_velocity_ground_constraint_element.rs
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@@ -75,6 +75,7 @@ impl VelocityGroundConstraintNormalPart<Real> {
#[inline]
pub fn generic_solve(
&mut self,
cfm_factor: Real,
j_id2: usize,
jacobians: &DVector<Real>,
ndofs2: usize,
@@ -86,7 +87,7 @@ impl VelocityGroundConstraintNormalPart<Real> {
.dot(&mj_lambdas.rows(mj_lambda2, ndofs2))
+ self.rhs;
let new_impulse = (self.impulse - self.r * dvel).max(0.0);
let new_impulse = cfm_factor * (self.impulse - self.r * dvel).max(0.0);
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
@@ -101,6 +102,7 @@ impl VelocityGroundConstraintNormalPart<Real> {
impl VelocityGroundConstraintElement<Real> {
#[inline]
pub fn generic_solve_group(
cfm_factor: Real,
elements: &mut [Self],
jacobians: &DVector<Real>,
limit: Real,
@@ -121,7 +123,7 @@ impl VelocityGroundConstraintElement<Real> {
for element in elements.iter_mut() {
element
.normal_part
.generic_solve(nrm_j_id, jacobians, ndofs2, mj_lambda2, mj_lambdas);
.generic_solve(cfm_factor, nrm_j_id, jacobians, ndofs2, mj_lambda2, mj_lambdas);
nrm_j_id += j_step;
}
}

2
src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs
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@@ -524,6 +524,6 @@ impl JointGenericVelocityGroundConstraint {
}
pub fn remove_bias_from_rhs(&mut self) {
self.rhs = self.rhs_wo_bias;
self.rhs = &mut self.rhs_wo_bias;
}
}

20
src/dynamics/solver/velocity_constraint.rs
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@@ -55,23 +55,26 @@ impl AnyVelocityConstraint {
pub fn solve(
&mut self,
cfm_factor: Real,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
) {
match self {
AnyVelocityConstraint::NongroupedGround(c) => {
c.solve(mj_lambdas, solve_normal, solve_friction)
c.solve(cfm_factor, mj_lambdas, solve_normal, solve_friction)
}
AnyVelocityConstraint::Nongrouped(c) => {
c.solve(mj_lambdas, solve_normal, solve_friction)
c.solve(cfm_factor, mj_lambdas, solve_normal, solve_friction)
}
#[cfg(feature = "simd-is-enabled")]
AnyVelocityConstraint::GroupedGround(c) => {
c.solve(mj_lambdas, solve_normal, solve_friction)
c.solve(cfm_factor, mj_lambdas, solve_normal, solve_friction)
}
#[cfg(feature = "simd-is-enabled")]
AnyVelocityConstraint::Grouped(c) => c.solve(mj_lambdas, solve_normal, solve_friction),
AnyVelocityConstraint::Grouped(c) => {
c.solve(cfm_factor, mj_lambdas, solve_normal, solve_friction)
}
AnyVelocityConstraint::Empty => unreachable!(),
}
}
@@ -236,7 +239,7 @@ impl VelocityConstraint {
.transform_vector(dp2.gcross(-force_dir1));
let imsum = mprops1.effective_inv_mass + mprops2.effective_inv_mass;
let r = params.delassus_inv_factor
let projected_mass = 1.0
/ (force_dir1.dot(&imsum.component_mul(&force_dir1))
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
@@ -251,14 +254,13 @@ impl VelocityConstraint {
let rhs_bias = /* is_resting
* */ erp_inv_dt
* (manifold_point.dist + params.allowed_linear_error).min(0.0);
constraint.elements[k].normal_part = VelocityConstraintNormalPart {
gcross1,
gcross2,
rhs: rhs_wo_bias + rhs_bias,
rhs_wo_bias,
impulse: 0.0,
r,
impulse: na::zero(),
r: projected_mass,
};
}
@@ -310,6 +312,7 @@ impl VelocityConstraint {
pub fn solve(
&mut self,
cfm_factor: Real,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
@@ -318,6 +321,7 @@ impl VelocityConstraint {
let mut mj_lambda2 = mj_lambdas[self.mj_lambda2 as usize];
VelocityConstraintElement::solve_group(
cfm_factor,
&mut self.elements[..self.num_contacts as usize],
&self.dir1,
#[cfg(feature = "dim3")]

6
src/dynamics/solver/velocity_constraint_element.rs
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@@ -131,6 +131,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> {
#[inline]
pub fn solve(
&mut self,
cfm_factor: N,
dir1: &Vector<N>,
im1: &Vector<N>,
im2: &Vector<N>,
@@ -143,7 +144,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> {
- dir1.dot(&mj_lambda2.linear)
+ self.gcross2.gdot(mj_lambda2.angular)
+ self.rhs;
let new_impulse = (self.impulse - self.r * dvel).simd_max(N::zero());
let new_impulse = cfm_factor * (self.impulse - self.r * dvel).simd_max(N::zero());
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
@@ -171,6 +172,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintElement<N> {
#[inline]
pub fn solve_group(
cfm_factor: N,
elements: &mut [Self],
dir1: &Vector<N>,
#[cfg(feature = "dim3")] tangent1: &Vector<N>,
@@ -191,7 +193,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintElement<N> {
for element in elements.iter_mut() {
element
.normal_part
.solve(&dir1, im1, im2, mj_lambda1, mj_lambda2);
.solve(cfm_factor, &dir1, im1, im2, mj_lambda1, mj_lambda2);
}
}

13
src/dynamics/solver/velocity_constraint_wide.rs
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@@ -48,9 +48,8 @@ impl WVelocityConstraint {
let inv_dt = SimdReal::splat(params.inv_dt());
let velocity_solve_fraction = SimdReal::splat(params.velocity_solve_fraction);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let delassus_inv_factor = SimdReal::splat(params.delassus_inv_factor);
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let handles1 = gather![|ii| manifolds[ii].data.rigid_body1.unwrap()];
let handles2 = gather![|ii| manifolds[ii].data.rigid_body2.unwrap()];
@@ -121,7 +120,6 @@ impl WVelocityConstraint {
let dist = SimdReal::from(gather![|ii| manifold_points[ii][k].dist]);
let tangent_velocity =
Vector::from(gather![|ii| manifold_points[ii][k].tangent_velocity]);
let dp1 = point - world_com1;
let dp2 = point - world_com2;
@@ -137,10 +135,11 @@ impl WVelocityConstraint {
let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
let imsum = im1 + im2;
let r = delassus_inv_factor
let projected_mass = SimdReal::splat(1.0)
/ (force_dir1.dot(&imsum.component_mul(&force_dir1))
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
let projected_velocity = (vel1 - vel2).dot(&force_dir1);
let mut rhs_wo_bias =
(SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity;
@@ -154,8 +153,8 @@ impl WVelocityConstraint {
gcross2,
rhs: rhs_wo_bias + rhs_bias,
rhs_wo_bias,
impulse: na::zero(),
r,
impulse: SimdReal::splat(0.0),
r: projected_mass,
};
}
@@ -202,6 +201,7 @@ impl WVelocityConstraint {
pub fn solve(
&mut self,
cfm_factor: Real,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
@@ -221,6 +221,7 @@ impl WVelocityConstraint {
};
VelocityConstraintElement::solve_group(
SimdReal::splat(cfm_factor),
&mut self.elements[..self.num_contacts as usize],
&self.dir1,
#[cfg(feature = "dim3")]

8
src/dynamics/solver/velocity_ground_constraint.rs
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@@ -153,7 +153,7 @@ impl VelocityGroundConstraint {
.effective_world_inv_inertia_sqrt
.transform_vector(dp2.gcross(-force_dir1));
let r = params.delassus_inv_factor
let projected_mass = 1.0
/ (force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1))
+ gcross2.gdot(gcross2));
@@ -172,8 +172,8 @@ impl VelocityGroundConstraint {
gcross2,
rhs: rhs_wo_bias + rhs_bias,
rhs_wo_bias,
impulse: 0.0,
r,
impulse: na::zero(),
r: projected_mass,
};
}
@@ -219,6 +219,7 @@ impl VelocityGroundConstraint {
pub fn solve(
&mut self,
cfm_factor: Real,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
@@ -226,6 +227,7 @@ impl VelocityGroundConstraint {
let mut mj_lambda2 = mj_lambdas[self.mj_lambda2 as usize];
VelocityGroundConstraintElement::solve_group(
cfm_factor,
&mut self.elements[..self.num_contacts as usize],
&self.dir1,
#[cfg(feature = "dim3")]

16
src/dynamics/solver/velocity_ground_constraint_element.rs
View File

@@ -109,12 +109,17 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintNormalPart<N> {
}
#[inline]
pub fn solve(&mut self, dir1: &Vector<N>, im2: &Vector<N>, mj_lambda2: &mut DeltaVel<N>)
where
pub fn solve(
&mut self,
cfm_factor: N,
dir1: &Vector<N>,
im2: &Vector<N>,
mj_lambda2: &mut DeltaVel<N>,
) where
AngVector<N>: WDot<AngVector<N>, Result = N>,
{
let dvel = -dir1.dot(&mj_lambda2.linear) + self.gcross2.gdot(mj_lambda2.angular) + self.rhs;
let new_impulse = (self.impulse - self.r * dvel).simd_max(N::zero());
let new_impulse = cfm_factor * (self.impulse - self.r * dvel).simd_max(N::zero());
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
@@ -139,6 +144,7 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintElement<N> {
#[inline]
pub fn solve_group(
cfm_factor: N,
elements: &mut [Self],
dir1: &Vector<N>,
#[cfg(feature = "dim3")] tangent1: &Vector<N>,
@@ -155,7 +161,9 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintElement<N> {
// Solve penetration.
if solve_normal {
for element in elements.iter_mut() {
element.normal_part.solve(&dir1, im2, mj_lambda2);
element
.normal_part
.solve(cfm_factor, &dir1, im2, mj_lambda2);
}
}

10
src/dynamics/solver/velocity_ground_constraint_wide.rs
View File

@@ -43,9 +43,8 @@ impl WVelocityGroundConstraint {
{
let inv_dt = SimdReal::splat(params.inv_dt());
let velocity_solve_fraction = SimdReal::splat(params.velocity_solve_fraction);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let delassus_inv_factor = SimdReal::splat(params.delassus_inv_factor);
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let mut handles1 = gather![|ii| manifolds[ii].data.rigid_body1];
let mut handles2 = gather![|ii| manifolds[ii].data.rigid_body2];
@@ -143,8 +142,9 @@ impl WVelocityGroundConstraint {
{
let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
let r = delassus_inv_factor
let projected_mass = SimdReal::splat(1.0)
/ (force_dir1.dot(&im2.component_mul(&force_dir1)) + gcross2.gdot(gcross2));
let projected_velocity = (vel1 - vel2).dot(&force_dir1);
let mut rhs_wo_bias =
(SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity;
@@ -158,7 +158,7 @@ impl WVelocityGroundConstraint {
rhs: rhs_wo_bias + rhs_bias,
rhs_wo_bias,
impulse: na::zero(),
r,
r: projected_mass,
};
}
@@ -199,6 +199,7 @@ impl WVelocityGroundConstraint {
pub fn solve(
&mut self,
cfm_factor: Real,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
@@ -211,6 +212,7 @@ impl WVelocityGroundConstraint {
};
VelocityGroundConstraintElement::solve_group(
SimdReal::splat(cfm_factor),
&mut self.elements[..self.num_contacts as usize],
&self.dir1,
#[cfg(feature = "dim3")]

164
src/dynamics/solver/velocity_solver.rs
View File

@@ -50,6 +50,7 @@ impl VelocitySolver {
+ ComponentSetMut<RigidBodyActivation>
+ ComponentSet<RigidBodyDamping>,
{
let cfm_factor = params.cfm_factor();
self.mj_lambdas.clear();
self.mj_lambdas
.resize(islands.active_island(island_id).len(), DeltaVel::zero());
@@ -93,18 +94,36 @@ impl VelocitySolver {
}
for constraint in &mut *contact_constraints {
constraint.solve(&mut self.mj_lambdas[..], true, solve_friction);
constraint.solve(cfm_factor, &mut self.mj_lambdas[..], true, false);
}
for constraint in &mut *generic_contact_constraints {
constraint.solve(
cfm_factor,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
true,
solve_friction,
false,
);
}
if solve_friction {
for constraint in &mut *contact_constraints {
constraint.solve(cfm_factor, &mut self.mj_lambdas[..], false, true);
}
for constraint in &mut *generic_contact_constraints {
constraint.solve(
cfm_factor,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
false,
true,
);
}
}
}
let remaining_friction_iterations =
@@ -118,11 +137,12 @@ impl VelocitySolver {
for _ in 0..remaining_friction_iterations {
for constraint in &mut *contact_constraints {
constraint.solve(&mut self.mj_lambdas[..], false, true);
constraint.solve(cfm_factor, &mut self.mj_lambdas[..], false, true);
}
for constraint in &mut *generic_contact_constraints {
constraint.solve(
cfm_factor,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
@@ -147,10 +167,7 @@ impl VelocitySolver {
multibody.velocities += mj_lambdas;
multibody.integrate(params.dt);
multibody.forward_kinematics(bodies, false);
if params.max_stabilization_iterations > 0 {
multibody.velocities = prev_vels;
}
multibody.velocities = prev_vels;
}
} else {
let (ids, mprops): (&RigidBodyIds, &RigidBodyMassProps) =
@@ -177,88 +194,85 @@ impl VelocitySolver {
new_poss.next_position =
new_vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
bodies.set_internal(handle.0, new_poss);
if params.max_stabilization_iterations == 0 {
bodies.set_internal(handle.0, new_vels);
}
}
}
if params.max_stabilization_iterations > 0 {
for joint in &mut *joint_constraints {
joint.remove_bias_from_rhs();
for joint in &mut *joint_constraints {
joint.remove_bias_from_rhs();
}
for constraint in &mut *contact_constraints {
constraint.remove_bias_from_rhs();
}
for constraint in &mut *generic_contact_constraints {
constraint.remove_bias_from_rhs();
}
for _ in 0..params.max_stabilization_iterations {
for constraint in &mut *joint_constraints {
constraint.solve(
generic_joint_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
);
}
for constraint in &mut *contact_constraints {
constraint.remove_bias_from_rhs();
constraint.solve(1.0, &mut self.mj_lambdas[..], true, false);
}
for constraint in &mut *generic_contact_constraints {
constraint.remove_bias_from_rhs();
constraint.solve(
1.0,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
true,
false,
);
}
for _ in 0..params.max_stabilization_iterations {
for constraint in &mut *joint_constraints {
constraint.solve(
generic_joint_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
);
}
for constraint in &mut *contact_constraints {
constraint.solve(&mut self.mj_lambdas[..], true, true);
}
for constraint in &mut *generic_contact_constraints {
constraint.solve(
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
true,
true,
);
}
for constraint in &mut *contact_constraints {
constraint.solve(1.0, &mut self.mj_lambdas[..], false, true);
}
// Update velocities.
for handle in islands.active_island(island_id) {
if let Some(link) = multibodies.rigid_body_link(*handle).copied() {
let multibody = multibodies
.get_multibody_mut_internal(link.multibody)
.unwrap();
for constraint in &mut *generic_contact_constraints {
constraint.solve(
1.0,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
false,
true,
);
}
}
if link.id == 0 || link.id == 1 && !multibody.root_is_dynamic {
let mj_lambdas = self
.generic_mj_lambdas
.rows(multibody.solver_id, multibody.ndofs());
multibody.velocities += mj_lambdas;
}
} else {
let (ids, mprops): (&RigidBodyIds, &RigidBodyMassProps) =
bodies.index_bundle(handle.0);
// Update velocities.
for handle in islands.active_island(island_id) {
if let Some(link) = multibodies.rigid_body_link(*handle).copied() {
let multibody = multibodies
.get_multibody_mut_internal(link.multibody)
.unwrap();
let dvel = self.mj_lambdas[ids.active_set_offset];
let dangvel = mprops
.effective_world_inv_inertia_sqrt
.transform_vector(dvel.angular);
// let mut curr_vel_pseudo_energy = 0.0;
bodies.map_mut_internal(handle.0, |vels: &mut RigidBodyVelocity| {
// curr_vel_pseudo_energy = vels.pseudo_kinetic_energy();
vels.linvel += dvel.linear;
vels.angvel += dangvel;
});
// let impulse_vel_pseudo_energy = RigidBodyVelocity {
// linvel: dvel.linear,
// angvel: dangvel,
// }
// .pseudo_kinetic_energy();
//
// bodies.map_mut_internal(handle.0, |activation: &mut RigidBodyActivation| {
// activation.energy =
// impulse_vel_pseudo_energy.max(curr_vel_pseudo_energy / 5.0);
// });
if link.id == 0 || link.id == 1 && !multibody.root_is_dynamic {
let mj_lambdas = self
.generic_mj_lambdas
.rows(multibody.solver_id, multibody.ndofs());
multibody.velocities += mj_lambdas;
}
} else {
let (ids, mprops): (&RigidBodyIds, &RigidBodyMassProps) =
bodies.index_bundle(handle.0);
let dvel = self.mj_lambdas[ids.active_set_offset];
let dangvel = mprops
.effective_world_inv_inertia_sqrt
.transform_vector(dvel.angular);
bodies.map_mut_internal(handle.0, |vels: &mut RigidBodyVelocity| {
vels.linvel += dvel.linear;
vels.angvel += dangvel;
});
}
}