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Perform contact sorting in the narrow-phase directly.

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This commit is contained in:
Crozet Sébastien
2020-12-31 11:16:03 +01:00
parent 64507a68e1
commit 967145a949
21 changed files with 116 additions and 206 deletions
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8
src/dynamics/rigid_body_set.rs
View File

@@ -20,13 +20,9 @@ pub struct BodyPair {
}
impl BodyPair {
pub(crate) fn new(body1: RigidBodyHandle, body2: RigidBodyHandle) -> Self {
pub fn new(body1: RigidBodyHandle, body2: RigidBodyHandle) -> Self {
BodyPair { body1, body2 }
}
pub(crate) fn swap(self) -> Self {
Self::new(self.body2, self.body1)
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -479,7 +475,7 @@ impl RigidBodySet {
if let Some(contacts) = narrow_phase.contacts_with(*collider_handle) {
for inter in contacts {
for manifold in &inter.2.manifolds {
if manifold.num_active_contacts > 0 {
if !manifold.data.solver_contacts.is_empty() {
let other = crate::utils::other_handle(
(inter.0, inter.1),
*collider_handle,

4
src/dynamics/solver/interaction_groups.rs
View File

@@ -338,7 +338,7 @@ impl InteractionGroups {
let mut occupied_mask = 0u128;
let max_interaction_points = interaction_indices
.iter()
.map(|i| interactions[*i].num_active_contacts)
.map(|i| interactions[*i].data.num_active_contacts())
.max()
.unwrap_or(1);
@@ -351,7 +351,7 @@ impl InteractionGroups {
// FIXME: how could we avoid iterating
// on each interaction at every iteration on k?
if interaction.num_active_contacts != k {
if interaction.data.num_active_contacts() != k {
continue;
}

8
src/dynamics/solver/position_constraint.rs
View File

@@ -66,9 +66,13 @@ impl PositionConstraint {
) {
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts];
for (l, manifold_points) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() {
for (l, manifold_points) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
let mut local_p1 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut dists = [0.0; MAX_MANIFOLD_POINTS];

6
src/dynamics/solver/position_constraint_wide.rs
View File

@@ -8,7 +8,7 @@ use crate::math::{
use crate::utils::{WAngularInertia, WCross, WDot};
use num::Zero;
use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue};
use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
pub(crate) struct WPositionConstraint {
pub rb1: [usize; SIMD_WIDTH],
@@ -55,10 +55,10 @@ impl WPositionConstraint {
let rb1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let num_active_contacts = manifolds[0].num_active_contacts();
let num_active_contacts = manifolds[0].data.num_active_contacts();
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 manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..]; SIMD_WIDTH];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
let mut constraint = WPositionConstraint {

9
src/dynamics/solver/position_ground_constraint.rs
View File

@@ -39,9 +39,12 @@ impl PositionGroundConstraint {
manifold.data.normal
};
let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts];
for (l, manifold_contacts) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() {
for (l, manifold_contacts) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
let mut p1 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut dists = [0.0; MAX_MANIFOLD_POINTS];

6
src/dynamics/solver/position_ground_constraint_wide.rs
View File

@@ -8,7 +8,7 @@ use crate::math::{
use crate::utils::{WAngularInertia, WCross, WDot};
use num::Zero;
use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue};
use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
pub(crate) struct WPositionGroundConstraint {
pub rb2: [usize; SIMD_WIDTH],
@@ -56,10 +56,10 @@ impl WPositionGroundConstraint {
let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let num_active_contacts = manifolds[0].num_active_contacts();
let num_active_contacts = manifolds[0].data.num_active_contacts();
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 manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..]; SIMD_WIDTH];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
let mut constraint = WPositionGroundConstraint {

14
src/dynamics/solver/position_solver.rs
View File

@@ -1,16 +1,6 @@
use super::{
AnyJointPositionConstraint, InteractionGroups, PositionConstraint, PositionGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
use super::{WPositionConstraint, WPositionGroundConstraint};
use crate::dynamics::solver::categorization::categorize_joints;
use crate::dynamics::{
solver::AnyPositionConstraint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use super::AnyJointPositionConstraint;
use crate::dynamics::{solver::AnyPositionConstraint, IntegrationParameters, RigidBodySet};
use crate::math::Isometry;
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
pub(crate) struct PositionSolver {
positions: Vec<Isometry<f32>>,

4
src/dynamics/solver/solver_constraints.rs
View File

@@ -9,13 +9,11 @@ use crate::dynamics::solver::{
PositionGroundConstraint, WPositionConstraint, WPositionGroundConstraint,
};
use crate::dynamics::{
solver::{AnyVelocityConstraint, DeltaVel},
IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
solver::AnyVelocityConstraint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
use crate::utils::WAngularInertia;
pub(crate) struct SolverConstraints<VelocityConstraint, PositionConstraint> {
pub not_ground_interactions: Vec<usize>,

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

@@ -150,9 +150,13 @@ impl VelocityConstraint {
let mj_lambda2 = rb2.active_set_offset;
let force_dir1 = -manifold.data.normal;
let warmstart_coeff = manifold.data.warmstart_multiplier * params.warmstart_coeff;
let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts];
for (l, manifold_points) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() {
for (l, manifold_points) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
#[cfg(not(target_arch = "wasm32"))]
let mut constraint = VelocityConstraint {
dir1: force_dir1,
@@ -383,7 +387,7 @@ impl VelocityConstraint {
let k_base = self.manifold_contact_id;
for k in 0..self.num_contacts as usize {
let active_contacts = manifold.active_contacts_mut();
let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
active_contacts[k_base + k].data.impulse = self.elements[k].normal_part.impulse;
#[cfg(feature = "dim2")]
{

7
src/dynamics/solver/velocity_constraint_wide.rs
View File

@@ -2,8 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{
AngVector, AngularInertia, Isometry, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
AngVector, AngularInertia, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
use num::Zero;
@@ -100,7 +99,7 @@ impl WVelocityConstraint {
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();
let num_active_contacts = manifolds[0].data.num_active_contacts();
for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii|
@@ -333,7 +332,7 @@ impl WVelocityConstraint {
for ii in 0..SIMD_WIDTH {
let manifold = &mut manifolds_all[self.manifold_id[ii]];
let k_base = self.manifold_contact_id;
let active_contacts = manifold.active_contacts_mut();
let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
active_contacts[k_base + k].data.impulse = impulses[ii];
#[cfg(feature = "dim2")]

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

@@ -76,9 +76,13 @@ impl VelocityGroundConstraint {
let mj_lambda2 = rb2.active_set_offset;
let warmstart_coeff = manifold.data.warmstart_multiplier * params.warmstart_coeff;
let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts];
for (l, manifold_points) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() {
for (l, manifold_points) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
#[cfg(not(target_arch = "wasm32"))]
let mut constraint = VelocityGroundConstraint {
dir1: force_dir1,
@@ -268,7 +272,7 @@ impl VelocityGroundConstraint {
let k_base = self.manifold_contact_id;
for k in 0..self.num_contacts as usize {
let active_contacts = manifold.active_contacts_mut();
let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
active_contacts[k_base + k].data.impulse = self.elements[k].normal_part.impulse;
#[cfg(feature = "dim2")]
{

9
src/dynamics/solver/velocity_ground_constraint_wide.rs
View File

@@ -2,8 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{
AngVector, AngularInertia, Isometry, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
AngVector, AngularInertia, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
use num::Zero;
@@ -100,10 +99,10 @@ impl WVelocityGroundConstraint {
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();
let num_active_contacts = manifolds[0].data.num_active_contacts();
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 manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..]; SIMD_WIDTH];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
let mut constraint = WVelocityGroundConstraint {
@@ -283,7 +282,7 @@ impl WVelocityGroundConstraint {
for ii in 0..SIMD_WIDTH {
let manifold = &mut manifolds_all[self.manifold_id[ii]];
let k_base = self.manifold_contact_id;
let active_contacts = manifold.active_contacts_mut();
let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
active_contacts[k_base + k].data.impulse = impulses[ii];
#[cfg(feature = "dim2")]

17
src/dynamics/solver/velocity_solver.rs
View File

@@ -1,20 +1,9 @@
use super::{
AnyJointVelocityConstraint, InteractionGroups, VelocityConstraint, VelocityGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
use super::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
use crate::dynamics::solver::{
AnyJointPositionConstraint, AnyPositionConstraint, PositionConstraint,
PositionGroundConstraint, WPositionConstraint, WPositionGroundConstraint,
};
use super::AnyJointVelocityConstraint;
use crate::dynamics::{
solver::{AnyVelocityConstraint, DeltaVel},
IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
IntegrationParameters, JointGraphEdge, RigidBodySet,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
use crate::geometry::ContactManifold;
use crate::utils::WAngularInertia;
pub(crate) struct VelocitySolver {