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Fix constraints resolution with non-identity relative collider position.

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This commit is contained in:
Sébastien Crozet
2020-09-01 14:02:59 +02:00
parent 03b437f278
commit 9622827dc6
11 changed files with 118 additions and 75 deletions
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16
src/dynamics/solver/position_ground_constraint_wide.rs
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@@ -54,16 +54,24 @@ impl WPositionGroundConstraint {
array![|ii| if flipped[ii] { manifolds[ii].local_n1 } else { manifolds[ii].local_n2 }; SIMD_WIDTH],
);
let delta1 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].delta2 } else { manifolds[ii].delta1 }; SIMD_WIDTH],
);
let delta2 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].delta1 } else { manifolds[ii].delta2 }; SIMD_WIDTH],
);
let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
let radius2 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
let position1 = Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
let coll_pos1 =
delta1 * Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let radius = radius1 + radius2 /*- SimdFloat::splat(params.allowed_linear_error)*/;
let n1 = position1 * local_n1;
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];
@@ -90,8 +98,8 @@ impl WPositionGroundConstraint {
array![|ii| if flipped[ii] { manifold_points[ii][i].local_p1 } else { manifold_points[ii][i].local_p2 }; SIMD_WIDTH],
);
constraint.p1[i] = position1 * local_p1 - n1 * radius1;
constraint.local_p2[i] = local_p2 - local_n2 * radius2;
constraint.p1[i] = coll_pos1 * local_p1 - n1 * radius1;
constraint.local_p2[i] = delta2 * (local_p2 - local_n2 * radius2);
}
if push {