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Outsource the Shape trait, wquadtree, and shape types.

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This commit is contained in:
Crozet Sébastien
2020-12-14 15:51:43 +01:00
parent 9bf1321f8f
commit cc6d1b9730
47 changed files with 444 additions and 3363 deletions
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48
src/dynamics/solver/position_constraint_wide.rs
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@@ -2,7 +2,7 @@ use super::AnyPositionConstraint;
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, KinematicsCategory};
use crate::math::{
AngularInertia, Isometry, Point, Rotation, SimdFloat, Translation, Vector, MAX_MANIFOLD_POINTS,
AngularInertia, Isometry, Point, Rotation, SimdReal, Translation, Vector, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WCross, WDot};
@@ -14,16 +14,16 @@ pub(crate) struct WPositionConstraint {
pub rb1: [usize; SIMD_WIDTH],
pub rb2: [usize; SIMD_WIDTH],
// NOTE: the points are relative to the center of masses.
pub local_p1: [Point<SimdFloat>; MAX_MANIFOLD_POINTS],
pub local_p2: [Point<SimdFloat>; MAX_MANIFOLD_POINTS],
pub local_n1: Vector<SimdFloat>,
pub radius: SimdFloat,
pub im1: SimdFloat,
pub im2: SimdFloat,
pub ii1: AngularInertia<SimdFloat>,
pub ii2: AngularInertia<SimdFloat>,
pub erp: SimdFloat,
pub max_linear_correction: SimdFloat,
pub local_p1: [Point<SimdReal>; MAX_MANIFOLD_POINTS],
pub local_p2: [Point<SimdReal>; MAX_MANIFOLD_POINTS],
pub local_n1: Vector<SimdReal>,
pub radius: SimdReal,
pub im1: SimdReal,
pub im2: SimdReal,
pub ii1: AngularInertia<SimdReal>,
pub ii2: AngularInertia<SimdReal>,
pub erp: SimdReal,
pub max_linear_correction: SimdReal,
pub num_contacts: u8,
}
@@ -38,18 +38,18 @@ impl WPositionConstraint {
let rbs1 = array![|ii| bodies.get(manifolds[ii].data.body_pair.body1).unwrap(); SIMD_WIDTH];
let rbs2 = array![|ii| bodies.get(manifolds[ii].data.body_pair.body2).unwrap(); SIMD_WIDTH];
let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let sqrt_ii1: AngularInertia<SimdFloat> =
let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let sqrt_ii1: AngularInertia<SimdReal> =
AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let sqrt_ii2: AngularInertia<SimdFloat> =
let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let sqrt_ii2: AngularInertia<SimdReal> =
AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
let local_n1 = Vector::from(array![|ii| manifolds[ii].local_n1; SIMD_WIDTH]);
let local_n2 = Vector::from(array![|ii| manifolds[ii].local_n2; SIMD_WIDTH]);
let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
let radius2 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
let radius1 = SimdReal::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
let radius2 = SimdReal::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
let delta1 = Isometry::from(array![|ii| manifolds[ii].data.delta1; SIMD_WIDTH]);
let delta2 = Isometry::from(array![|ii| manifolds[ii].data.delta2; SIMD_WIDTH]);
@@ -57,7 +57,7 @@ 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 radius = radius1 + radius2 /*- SimdFloat::splat(params.allowed_linear_error)*/;
let radius = radius1 + radius2 /*- SimdReal::splat(params.allowed_linear_error)*/;
for l in (0..manifolds[0].num_active_contacts()).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii| &manifolds[ii].active_contacts()[l..]; SIMD_WIDTH];
@@ -74,8 +74,8 @@ impl WPositionConstraint {
im2,
ii1: sqrt_ii1.squared(),
ii2: sqrt_ii2.squared(),
erp: SimdFloat::splat(params.erp),
max_linear_correction: SimdFloat::splat(params.max_linear_correction),
erp: SimdReal::splat(params.erp),
max_linear_correction: SimdReal::splat(params.max_linear_correction),
num_contacts: num_points as u8,
};
@@ -119,7 +119,7 @@ impl WPositionConstraint {
// Compute jacobians.
let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);
let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
let allowed_err = SimdFloat::splat(params.allowed_linear_error);
let allowed_err = SimdReal::splat(params.allowed_linear_error);
let target_dist = self.radius - allowed_err;
for k in 0..self.num_contacts as usize {
@@ -133,7 +133,7 @@ impl WPositionConstraint {
let dist = sqdist.simd_sqrt();
let n = dpos / dist;
let err = ((dist - target_dist) * self.erp)
.simd_clamp(-self.max_linear_correction, SimdFloat::zero());
.simd_clamp(-self.max_linear_correction, SimdReal::zero());
let dp1 = p1.coords - pos1.translation.vector;
let dp2 = p2.coords - pos2.translation.vector;
@@ -173,7 +173,7 @@ impl WPositionConstraint {
// Compute jacobians.
let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);
let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
let allowed_err = SimdFloat::splat(params.allowed_linear_error);
let allowed_err = SimdReal::splat(params.allowed_linear_error);
let target_dist = self.radius - allowed_err;
for k in 0..self.num_contacts as usize {
@@ -188,7 +188,7 @@ impl WPositionConstraint {
// NOTE: only works for the point-point case.
let p1 = p2 - n1 * dist;
let err = ((dist - target_dist) * self.erp)
.simd_clamp(-self.max_linear_correction, SimdFloat::zero());
.simd_clamp(-self.max_linear_correction, SimdReal::zero());
let dp1 = p1.coords - pos1.translation.vector;
let dp2 = p2.coords - pos2.translation.vector;