feat: implement new "small-steps" solver + joint improvements
This commit is contained in:
Sébastien Crozet
@@ -0,0 +1,370 @@
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use super::{TwoBodyConstraintElement, TwoBodyConstraintNormalPart};
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use crate::dynamics::solver::solver_body::SolverBody;
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use crate::dynamics::solver::{ContactPointInfos, SolverVel};
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use crate::dynamics::{
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IntegrationParameters, MultibodyJointSet, RigidBodyIds, RigidBodyMassProps, RigidBodySet,
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RigidBodyVelocity,
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};
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use crate::geometry::{ContactManifold, ContactManifoldIndex};
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use crate::math::{
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AngVector, AngularInertia, Isometry, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
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SIMD_WIDTH,
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};
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#[cfg(feature = "dim2")]
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use crate::utils::SimdBasis;
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use crate::utils::{self, SimdAngularInertia, SimdCross, SimdDot};
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use num::Zero;
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use parry::math::SimdBool;
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use simba::simd::{SimdPartialOrd, SimdValue};
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct TwoBodyConstraintBuilderSimd {
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infos: [super::ContactPointInfos<SimdReal>; MAX_MANIFOLD_POINTS],
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}
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impl TwoBodyConstraintBuilderSimd {
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pub fn generate(
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manifold_id: [ContactManifoldIndex; SIMD_WIDTH],
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manifolds: [&ContactManifold; SIMD_WIDTH],
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bodies: &RigidBodySet,
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out_builders: &mut [TwoBodyConstraintBuilderSimd],
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out_constraints: &mut [TwoBodyConstraintSimd],
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) {
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for ii in 0..SIMD_WIDTH {
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assert_eq!(manifolds[ii].data.relative_dominance, 0);
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}
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let handles1 = gather![|ii| manifolds[ii].data.rigid_body1.unwrap()];
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let handles2 = gather![|ii| manifolds[ii].data.rigid_body2.unwrap()];
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let vels1: [&RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| &bodies[handles1[ii]].vels];
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let vels2: [&RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| &bodies[handles2[ii]].vels];
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let ids1: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| &bodies[handles1[ii]].ids];
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let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| &bodies[handles2[ii]].ids];
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let mprops1: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| &bodies[handles1[ii]].mprops];
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let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| &bodies[handles2[ii]].mprops];
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let poss1 = Isometry::from(gather![|ii| bodies[handles1[ii]].pos.position]);
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let poss2 = Isometry::from(gather![|ii| bodies[handles2[ii]].pos.position]);
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let world_com1 = Point::from(gather![|ii| mprops1[ii].world_com]);
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let im1 = Vector::from(gather![|ii| mprops1[ii].effective_inv_mass]);
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let ii1: AngularInertia<SimdReal> =
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AngularInertia::from(gather![|ii| mprops1[ii].effective_world_inv_inertia_sqrt]);
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let linvel1 = Vector::from(gather![|ii| vels1[ii].linvel]);
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let angvel1 = AngVector::<SimdReal>::from(gather![|ii| vels1[ii].angvel]);
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let world_com2 = Point::from(gather![|ii| mprops2[ii].world_com]);
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let im2 = Vector::from(gather![|ii| mprops2[ii].effective_inv_mass]);
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let ii2: AngularInertia<SimdReal> =
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AngularInertia::from(gather![|ii| mprops2[ii].effective_world_inv_inertia_sqrt]);
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let linvel2 = Vector::from(gather![|ii| vels2[ii].linvel]);
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let angvel2 = AngVector::<SimdReal>::from(gather![|ii| vels2[ii].angvel]);
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let force_dir1 = -Vector::from(gather![|ii| manifolds[ii].data.normal]);
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let solver_vel1 = gather![|ii| ids1[ii].active_set_offset];
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let solver_vel2 = gather![|ii| ids2[ii].active_set_offset];
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let num_active_contacts = manifolds[0].data.num_active_contacts();
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#[cfg(feature = "dim2")]
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let tangents1 = force_dir1.orthonormal_basis();
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#[cfg(feature = "dim3")]
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let tangents1 = super::compute_tangent_contact_directions(&force_dir1, &linvel1, &linvel2);
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for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
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let manifold_points =
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gather![|ii| &manifolds[ii].data.solver_contacts[l..num_active_contacts]];
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let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
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let constraint = &mut out_constraints[l / MAX_MANIFOLD_POINTS];
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let builder = &mut out_builders[l / MAX_MANIFOLD_POINTS];
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constraint.dir1 = force_dir1;
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constraint.im1 = im1;
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constraint.im2 = im2;
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constraint.solver_vel1 = solver_vel1;
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constraint.solver_vel2 = solver_vel2;
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constraint.manifold_id = manifold_id;
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constraint.num_contacts = num_points as u8;
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#[cfg(feature = "dim3")]
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{
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constraint.tangent1 = tangents1[0];
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}
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for k in 0..num_points {
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let friction = SimdReal::from(gather![|ii| manifold_points[ii][k].friction]);
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let restitution = SimdReal::from(gather![|ii| manifold_points[ii][k].restitution]);
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let is_bouncy = SimdReal::from(gather![
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|ii| manifold_points[ii][k].is_bouncy() as u32 as Real
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]);
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let dist = SimdReal::from(gather![|ii| manifold_points[ii][k].dist]);
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let point = Point::from(gather![|ii| manifold_points[ii][k].point]);
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let tangent_velocity =
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Vector::from(gather![|ii| manifold_points[ii][k].tangent_velocity]);
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let dp1 = point - world_com1;
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let dp2 = point - world_com2;
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let vel1 = linvel1 + angvel1.gcross(dp1);
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let vel2 = linvel2 + angvel2.gcross(dp2);
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constraint.limit = friction;
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constraint.manifold_contact_id[k] = gather![|ii| manifold_points[ii][k].contact_id];
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// Normal part.
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let normal_rhs_wo_bias;
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{
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let gcross1 = ii1.transform_vector(dp1.gcross(force_dir1));
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let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
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let imsum = im1 + im2;
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let projected_mass = utils::simd_inv(
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force_dir1.dot(&imsum.component_mul(&force_dir1))
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+ gcross1.gdot(gcross1)
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+ gcross2.gdot(gcross2),
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);
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let projected_velocity = (vel1 - vel2).dot(&force_dir1);
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normal_rhs_wo_bias = is_bouncy * restitution * projected_velocity;
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constraint.elements[k].normal_part = TwoBodyConstraintNormalPart {
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gcross1,
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gcross2,
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rhs: na::zero(),
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rhs_wo_bias: na::zero(),
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impulse: SimdReal::splat(0.0),
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total_impulse: SimdReal::splat(0.0),
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r: projected_mass,
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};
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}
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// tangent parts.
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constraint.elements[k].tangent_part.impulse = na::zero();
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for j in 0..DIM - 1 {
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let gcross1 = ii1.transform_vector(dp1.gcross(tangents1[j]));
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let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j]));
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let imsum = im1 + im2;
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let r = tangents1[j].dot(&imsum.component_mul(&tangents1[j]))
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+ gcross1.gdot(gcross1)
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+ gcross2.gdot(gcross2);
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let rhs_wo_bias = tangent_velocity.dot(&tangents1[j]);
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constraint.elements[k].tangent_part.gcross1[j] = gcross1;
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constraint.elements[k].tangent_part.gcross2[j] = gcross2;
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constraint.elements[k].tangent_part.rhs_wo_bias[j] = rhs_wo_bias;
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constraint.elements[k].tangent_part.rhs[j] = rhs_wo_bias;
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constraint.elements[k].tangent_part.r[j] = if cfg!(feature = "dim2") {
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utils::simd_inv(r)
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} else {
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r
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};
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}
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#[cfg(feature = "dim3")]
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{
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constraint.elements[k].tangent_part.r[2] = SimdReal::splat(2.0)
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* (constraint.elements[k].tangent_part.gcross1[0]
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.gdot(constraint.elements[k].tangent_part.gcross1[1])
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+ constraint.elements[k].tangent_part.gcross2[0]
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.gdot(constraint.elements[k].tangent_part.gcross2[1]));
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}
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// Builder.
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let infos = ContactPointInfos {
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local_p1: poss1.inverse_transform_point(&point),
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local_p2: poss2.inverse_transform_point(&point),
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tangent_vel: tangent_velocity,
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dist,
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normal_rhs_wo_bias,
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};
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builder.infos[k] = infos;
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}
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}
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}
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pub fn update(
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&self,
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params: &IntegrationParameters,
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solved_dt: Real,
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bodies: &[SolverBody],
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_multibodies: &MultibodyJointSet,
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constraint: &mut TwoBodyConstraintSimd,
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) {
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let cfm_factor = SimdReal::splat(params.cfm_factor());
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let dt = SimdReal::splat(params.dt);
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let inv_dt = SimdReal::splat(params.inv_dt());
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let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
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let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
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let max_penetration_correction = SimdReal::splat(params.max_penetration_correction);
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let rb1 = gather![|ii| &bodies[constraint.solver_vel1[ii]]];
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let rb2 = gather![|ii| &bodies[constraint.solver_vel2[ii]]];
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let ccd_thickness = SimdReal::from(gather![|ii| rb1[ii].ccd_thickness])
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+ SimdReal::from(gather![|ii| rb2[ii].ccd_thickness]);
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let poss1 = Isometry::from(gather![|ii| rb1[ii].position]);
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let poss2 = Isometry::from(gather![|ii| rb2[ii].position]);
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let all_infos = &self.infos[..constraint.num_contacts as usize];
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let all_elements = &mut constraint.elements[..constraint.num_contacts as usize];
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#[cfg(feature = "dim2")]
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let tangents1 = constraint.dir1.orthonormal_basis();
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#[cfg(feature = "dim3")]
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let tangents1 = [
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constraint.tangent1,
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constraint.dir1.cross(&constraint.tangent1),
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];
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let mut is_fast_contact = SimdBool::splat(false);
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let solved_dt = SimdReal::splat(solved_dt);
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for (info, element) in all_infos.iter().zip(all_elements.iter_mut()) {
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// NOTE: the tangent velocity is equivalent to an additional movement of the first body’s surface.
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let p1 = poss1 * info.local_p1 + info.tangent_vel * solved_dt;
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let p2 = poss2 * info.local_p2;
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let dist = info.dist + (p1 - p2).dot(&constraint.dir1);
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// Normal part.
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{
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let rhs_wo_bias =
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info.normal_rhs_wo_bias + dist.simd_max(SimdReal::zero()) * inv_dt;
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let rhs_bias = (dist + allowed_lin_err)
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.simd_clamp(-max_penetration_correction, SimdReal::zero())
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* erp_inv_dt;
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let new_rhs = rhs_wo_bias + rhs_bias;
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let total_impulse = element.normal_part.total_impulse + element.normal_part.impulse;
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is_fast_contact =
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is_fast_contact | (-new_rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5));
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element.normal_part.rhs_wo_bias = rhs_wo_bias;
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element.normal_part.rhs = new_rhs;
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element.normal_part.total_impulse = total_impulse;
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element.normal_part.impulse = na::zero();
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}
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// tangent parts.
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{
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element.tangent_part.total_impulse += element.tangent_part.impulse;
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element.tangent_part.impulse = na::zero();
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for j in 0..DIM - 1 {
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let bias = (p1 - p2).dot(&tangents1[j]) * inv_dt;
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element.tangent_part.rhs[j] = element.tangent_part.rhs_wo_bias[j] + bias;
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}
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}
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}
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constraint.cfm_factor = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor);
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}
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}
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct TwoBodyConstraintSimd {
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pub dir1: Vector<SimdReal>, // Non-penetration force direction for the first body.
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#[cfg(feature = "dim3")]
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pub tangent1: Vector<SimdReal>, // One of the friction force directions.
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pub elements: [TwoBodyConstraintElement<SimdReal>; MAX_MANIFOLD_POINTS],
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pub num_contacts: u8,
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pub im1: Vector<SimdReal>,
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pub im2: Vector<SimdReal>,
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pub cfm_factor: SimdReal,
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pub limit: SimdReal,
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pub solver_vel1: [usize; SIMD_WIDTH],
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pub solver_vel2: [usize; SIMD_WIDTH],
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pub manifold_id: [ContactManifoldIndex; SIMD_WIDTH],
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pub manifold_contact_id: [[u8; SIMD_WIDTH]; MAX_MANIFOLD_POINTS],
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}
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impl TwoBodyConstraintSimd {
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pub fn solve(
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&mut self,
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solver_vels: &mut [SolverVel<Real>],
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solve_normal: bool,
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solve_friction: bool,
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) {
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let mut solver_vel1 = SolverVel {
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linear: Vector::from(gather![
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|ii| solver_vels[self.solver_vel1[ii] as usize].linear
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]),
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angular: AngVector::from(gather![
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|ii| solver_vels[self.solver_vel1[ii] as usize].angular
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]),
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};
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let mut solver_vel2 = SolverVel {
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linear: Vector::from(gather![
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|ii| solver_vels[self.solver_vel2[ii] as usize].linear
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]),
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angular: AngVector::from(gather![
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|ii| solver_vels[self.solver_vel2[ii] as usize].angular
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]),
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};
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TwoBodyConstraintElement::solve_group(
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self.cfm_factor,
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&mut self.elements[..self.num_contacts as usize],
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&self.dir1,
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#[cfg(feature = "dim3")]
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&self.tangent1,
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&self.im1,
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&self.im2,
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self.limit,
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&mut solver_vel1,
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&mut solver_vel2,
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solve_normal,
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solve_friction,
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);
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for ii in 0..SIMD_WIDTH {
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solver_vels[self.solver_vel1[ii] as usize].linear = solver_vel1.linear.extract(ii);
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solver_vels[self.solver_vel1[ii] as usize].angular = solver_vel1.angular.extract(ii);
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}
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for ii in 0..SIMD_WIDTH {
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solver_vels[self.solver_vel2[ii] as usize].linear = solver_vel2.linear.extract(ii);
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solver_vels[self.solver_vel2[ii] as usize].angular = solver_vel2.angular.extract(ii);
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}
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}
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pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
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for k in 0..self.num_contacts as usize {
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let impulses: [_; SIMD_WIDTH] = self.elements[k].normal_part.impulse.into();
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#[cfg(feature = "dim2")]
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let tangent_impulses: [_; SIMD_WIDTH] = self.elements[k].tangent_part.impulse[0].into();
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#[cfg(feature = "dim3")]
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let tangent_impulses = self.elements[k].tangent_part.impulse;
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for ii in 0..SIMD_WIDTH {
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let manifold = &mut manifolds_all[self.manifold_id[ii]];
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let contact_id = self.manifold_contact_id[k][ii];
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let active_contact = &mut manifold.points[contact_id as usize];
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active_contact.data.impulse = impulses[ii];
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#[cfg(feature = "dim2")]
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{
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active_contact.data.tangent_impulse = tangent_impulses[ii];
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}
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#[cfg(feature = "dim3")]
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{
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active_contact.data.tangent_impulse = tangent_impulses.extract(ii);
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}
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}
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}
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}
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pub fn remove_cfm_and_bias_from_rhs(&mut self) {
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self.cfm_factor = SimdReal::splat(1.0);
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for elt in &mut self.elements {
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elt.normal_part.rhs = elt.normal_part.rhs_wo_bias;
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elt.tangent_part.rhs = elt.tangent_part.rhs_wo_bias;
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}
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}
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}
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