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feat: implement new "small-steps" solver + joint improvements

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This commit is contained in:
Sébastien Crozet
2024-01-21 21:02:23 +01:00
parent 9ac3503b87
commit 9b87f06a85
76 changed files with 6672 additions and 4305 deletions
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25
src/dynamics/joint/generic_joint.rs
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@@ -1,7 +1,7 @@
use crate::dynamics::solver::MotorParameters;
use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint, RopeJoint};
use crate::math::{Isometry, Point, Real, Rotation, UnitVector, Vector, SPATIAL_DIM};
use crate::utils::{WBasis, WReal};
use crate::utils::{SimdBasis, SimdRealCopy};
#[cfg(feature = "dim3")]
use crate::dynamics::SphericalJoint;
@@ -121,7 +121,7 @@ pub struct JointLimits<N> {
pub impulse: N,
}
impl<N: WReal> Default for JointLimits<N> {
impl<N: SimdRealCopy> Default for JointLimits<N> {
fn default() -> Self {
Self {
min: -N::splat(Real::MAX),
@@ -131,6 +131,16 @@ impl<N: WReal> Default for JointLimits<N> {
}
}
impl<N: SimdRealCopy> From<[N; 2]> for JointLimits<N> {
fn from(value: [N; 2]) -> Self {
Self {
min: value[0],
max: value[1],
impulse: N::splat(0.0),
}
}
}
/// A joint’s motor along one of its degrees of freedom.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
@@ -210,14 +220,23 @@ pub struct GenericJoint {
/// The degrees-of-freedoms motorised by this joint.
pub motor_axes: JointAxesMask,
/// The coupled degrees of freedom of this joint.
///
/// Note that coupling degrees of freedoms (DoF) changes the interpretation of the coupled joint’s limits and motors.
/// If multiple linear DoF are limited/motorized, only the limits/motor configuration for the first
/// coupled linear DoF is applied to all coupled linear DoF. Similarly, if multiple angular DoF are limited/motorized
/// only the limits/motor configuration for the first coupled angular DoF is applied to all coupled angular DoF.
pub coupled_axes: JointAxesMask,
/// The limits, along each degrees of freedoms of this joint.
///
/// Note that the limit must also be explicitly enabled by the `limit_axes` bitmask.
/// For coupled degrees of freedoms (DoF), only the first linear (resp. angular) coupled DoF limit and `limit_axis`
/// bitmask is applied to the coupled linear (resp. angular) axes.
pub limits: [JointLimits<Real>; SPATIAL_DIM],
/// The motors, along each degrees of freedoms of this joint.
///
/// Note that the mostor must also be explicitly enabled by the `motors` bitmask.
/// Note that the motor must also be explicitly enabled by the `motor_axes` bitmask.
/// For coupled degrees of freedoms (DoF), only the first linear (resp. angular) coupled DoF motor and `motor_axes`
/// bitmask is applied to the coupled linear (resp. angular) axes.
pub motors: [JointMotor; SPATIAL_DIM],
/// Are contacts between the attached rigid-bodies enabled?
pub contacts_enabled: bool,