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Rigid-body: don’t clear forces at end of timestep + don’t wake-up a rigid-body if the modified property is equal to the old value.

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This commit is contained in:
Sébastien Crozet
2022-03-13 15:29:22 +01:00
committed by Sébastien Crozet
parent 1535db87c7
commit 8e07d8799f
3 changed files with 299 additions and 223 deletions
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65
src/dynamics/rigid_body_components.rs
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@@ -202,7 +202,8 @@ where
bitflags::bitflags! {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Flags affecting the behavior of the constraints solver for a given contact manifold.
pub struct RigidBodyMassPropsFlags: u8 {
// FIXME: rename this to LockedAxes
pub struct LockedAxes: u8 {
/// Flag indicating that the rigid-body cannot translate along the `X` axis.
const TRANSLATION_LOCKED_X = 1 << 0;
/// Flag indicating that the rigid-body cannot translate along the `Y` axis.
@@ -228,7 +229,7 @@ bitflags::bitflags! {
/// The mass properties of this rigid-bodies.
pub struct RigidBodyMassProps {
/// Flags for locking rotation and translation.
pub flags: RigidBodyMassPropsFlags,
pub flags: LockedAxes,
/// The local mass properties of the rigid-body.
pub local_mprops: MassProperties,
/// The world-space center of mass of the rigid-body.
@@ -243,7 +244,7 @@ pub struct RigidBodyMassProps {
impl Default for RigidBodyMassProps {
fn default() -> Self {
Self {
flags: RigidBodyMassPropsFlags::empty(),
flags: LockedAxes::empty(),
local_mprops: MassProperties::zero(),
world_com: Point::origin(),
effective_inv_mass: Vector::zero(),
@@ -252,8 +253,8 @@ impl Default for RigidBodyMassProps {
}
}
impl From<RigidBodyMassPropsFlags> for RigidBodyMassProps {
fn from(flags: RigidBodyMassPropsFlags) -> Self {
impl From<LockedAxes> for RigidBodyMassProps {
fn from(flags: LockedAxes) -> Self {
Self {
flags,
..Self::default()
@@ -299,60 +300,39 @@ impl RigidBodyMassProps {
self.local_mprops.world_inv_inertia_sqrt(&position.rotation);
// Take into account translation/rotation locking.
if self
.flags
.contains(RigidBodyMassPropsFlags::TRANSLATION_LOCKED_X)
{
if self.flags.contains(LockedAxes::TRANSLATION_LOCKED_X) {
self.effective_inv_mass.x = 0.0;
}
if self
.flags
.contains(RigidBodyMassPropsFlags::TRANSLATION_LOCKED_Y)
{
if self.flags.contains(LockedAxes::TRANSLATION_LOCKED_Y) {
self.effective_inv_mass.y = 0.0;
}
#[cfg(feature = "dim3")]
if self
.flags
.contains(RigidBodyMassPropsFlags::TRANSLATION_LOCKED_Z)
{
if self.flags.contains(LockedAxes::TRANSLATION_LOCKED_Z) {
self.effective_inv_mass.z = 0.0;
}
#[cfg(feature = "dim2")]
{
if self
.flags
.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z)
{
if self.flags.contains(LockedAxes::ROTATION_LOCKED_Z) {
self.effective_world_inv_inertia_sqrt = 0.0;
}
}
#[cfg(feature = "dim3")]
{
if self
.flags
.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_X)
{
if self.flags.contains(LockedAxes::ROTATION_LOCKED_X) {
self.effective_world_inv_inertia_sqrt.m11 = 0.0;
self.effective_world_inv_inertia_sqrt.m12 = 0.0;
self.effective_world_inv_inertia_sqrt.m13 = 0.0;
}
if self
.flags
.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_Y)
{
if self.flags.contains(LockedAxes::ROTATION_LOCKED_Y) {
self.effective_world_inv_inertia_sqrt.m22 = 0.0;
self.effective_world_inv_inertia_sqrt.m12 = 0.0;
self.effective_world_inv_inertia_sqrt.m23 = 0.0;
}
if self
.flags
.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z)
{
if self.flags.contains(LockedAxes::ROTATION_LOCKED_Z) {
self.effective_world_inv_inertia_sqrt.m33 = 0.0;
self.effective_world_inv_inertia_sqrt.m13 = 0.0;
self.effective_world_inv_inertia_sqrt.m23 = 0.0;
@@ -659,6 +639,10 @@ pub struct RigidBodyForces {
/// Gravity is multiplied by this scaling factor before it's
/// applied to this rigid-body.
pub gravity_scale: Real,
// Forces applied by the user.
pub user_force: Vector<Real>,
// Torque applied by the user.
pub user_torque: AngVector<Real>,
}
impl Default for RigidBodyForces {
@@ -667,6 +651,8 @@ impl Default for RigidBodyForces {
force: na::zero(),
torque: na::zero(),
gravity_scale: 1.0,
user_force: na::zero(),
user_torque: na::zero(),
}
}
}
@@ -692,8 +678,13 @@ impl RigidBodyForces {
/// Adds to `self` the gravitational force that would result in a gravitational acceleration
/// equal to `gravity`.
pub fn add_gravity_acceleration(&mut self, gravity: &Vector<Real>, mass: &Vector<Real>) {
self.force += gravity.component_mul(&mass) * self.gravity_scale;
pub fn compute_effective_force_and_torque(
&mut self,
gravity: &Vector<Real>,
mass: &Vector<Real>,
) {
self.force = self.user_force + gravity.component_mul(&mass) * self.gravity_scale;
self.torque = self.user_torque;
}
/// Applies a force at the given world-space point of the rigid-body with the given mass properties.
@@ -703,8 +694,8 @@ impl RigidBodyForces {
force: Vector<Real>,
point: Point<Real>,
) {
self.force += force;
self.torque += (point - rb_mprops.world_com).gcross(force);
self.user_force += force;
self.user_torque += (point - rb_mprops.world_com).gcross(force);
}
}