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fix: avoid perpetual movement when the target ang motor position is overshot

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This commit is contained in:
Sébastien Crozet
2023-07-10 09:14:16 +02:00
parent 9f3b5c8642
commit a05622cfe9
6 changed files with 165 additions and 57 deletions
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41
src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
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@@ -5,6 +5,7 @@ use crate::dynamics::solver::joint_constraint::SolverBody;
use crate::dynamics::solver::MotorParameters;
use crate::dynamics::{IntegrationParameters, JointIndex, JointLimits};
use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM};
use crate::utils;
use crate::utils::{IndexMut2, WCrossMatrix, WDot, WQuat, WReal};
use na::SMatrix;
@@ -289,7 +290,7 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
let half = N::splat(0.5);
let s_limits = [(limits[0] * half).simd_sin(), (limits[1] * half).simd_sin()];
#[cfg(feature = "dim2")]
let s_ang = self.ang_err.im;
let s_ang = (self.ang_err.angle() * half).simd_sin();
#[cfg(feature = "dim3")]
let s_ang = self.ang_err.imag()[limited_axis];
let min_enabled = s_ang.simd_lt(s_limits[0]);
@@ -353,19 +354,15 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
let mut rhs_wo_bias = N::zero();
if motor_params.erp_inv_dt != N::zero() {
let half = N::splat(0.5);
#[cfg(feature = "dim2")]
{
let s_ang_dist = self.ang_err.angle();
let s_target_ang = motor_params.target_pos;
rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi()) / N::simd_two_pi()
* motor_params.erp_inv_dt;
}
let s_ang_dist = (self.ang_err.angle() * half).simd_sin();
#[cfg(feature = "dim3")]
{
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.simd_sin();
rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
}
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = (motor_params.target_pos * half).simd_sin();
rhs_wo_bias += utils::smallest_abs_diff_between_sin_angles(s_ang_dist, s_target_ang)
* motor_params.erp_inv_dt;
}
let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel);
@@ -801,19 +798,15 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
let mut rhs_wo_bias = N::zero();
if motor_params.erp_inv_dt != N::zero() {
let half = N::splat(0.5);
#[cfg(feature = "dim2")]
{
let s_ang_dist = self.ang_err.angle();
let s_target_ang = motor_params.target_pos;
rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi()) / N::simd_two_pi()
* motor_params.erp_inv_dt;
}
let s_ang_dist = (self.ang_err.angle() * half).simd_sin();
#[cfg(feature = "dim3")]
{
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.simd_sin();
rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
}
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = (motor_params.target_pos * half).simd_sin();
rhs_wo_bias += utils::smallest_abs_diff_between_sin_angles(s_ang_dist, s_target_ang)
* motor_params.erp_inv_dt;
}
let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel);
@@ -852,7 +845,7 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
let half = N::splat(0.5);
let s_limits = [(limits[0] * half).simd_sin(), (limits[1] * half).simd_sin()];
#[cfg(feature = "dim2")]
let s_ang = self.ang_err.im;
let s_ang = (self.ang_err.angle() * half).simd_sin();
#[cfg(feature = "dim3")]
let s_ang = self.ang_err.imag()[limited_axis];
let min_enabled = s_ang.simd_lt(s_limits[0]);