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Allow locking individual translational axes

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This commit is contained in:
Sébastien Crozet
2022-01-09 22:15:36 +01:00
parent 2bfceadf06
commit b631fe9193
16 changed files with 216 additions and 105 deletions
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11
src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
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@@ -355,7 +355,7 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
// Use the modified Gram-Schmidt orthogonalization.
for j in 0..len {
let c_j = &mut constraints[j];
let dot_jj = c_j.lin_jac.norm_squared() * imsum
let dot_jj = c_j.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
+ c_j.ang_jac1.gdot(c_j.ang_jac1)
+ c_j.ang_jac2.gdot(c_j.ang_jac2);
let inv_dot_jj = crate::utils::simd_inv(dot_jj);
@@ -370,7 +370,7 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
for i in (j + 1)..len {
let (c_i, c_j) = constraints.index_mut_const(i, j);
let dot_ij = c_i.lin_jac.dot(&c_j.lin_jac) * imsum
let dot_ij = c_i.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
+ c_i.ang_jac1.gdot(c_j.ang_jac1)
+ c_i.ang_jac2.gdot(c_j.ang_jac2);
let coeff = dot_ij * inv_dot_jj;
@@ -672,7 +672,8 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
// Use the modified Gram-Schmidt orthogonalization.
for j in 0..len {
let c_j = &mut constraints[j];
let dot_jj = c_j.lin_jac.norm_squared() * imsum + c_j.ang_jac2.gdot(c_j.ang_jac2);
let dot_jj = c_j.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
+ c_j.ang_jac2.gdot(c_j.ang_jac2);
let inv_dot_jj = crate::utils::simd_inv(dot_jj);
c_j.inv_lhs = inv_dot_jj; // Don’t forget to update the inv_lhs.
@@ -685,8 +686,8 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
for i in (j + 1)..len {
let (c_i, c_j) = constraints.index_mut_const(i, j);
let dot_ij =
c_i.lin_jac.dot(&c_j.lin_jac) * imsum + c_i.ang_jac2.gdot(c_j.ang_jac2);
let dot_ij = c_i.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
+ c_i.ang_jac2.gdot(c_j.ang_jac2);
let coeff = dot_ij * inv_dot_jj;
c_i.lin_jac -= c_j.lin_jac * coeff;