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Make revolute joint actuation work properly even when SIMD is enabled.

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This commit is contained in:
Crozet Sébastien
2021-02-19 17:32:09 +01:00
parent e9f17f32e8
commit dc8ccc0c30
10 changed files with 176 additions and 93 deletions
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6
src/dynamics/solver/interaction_groups.rs
View File

@@ -214,6 +214,12 @@ impl InteractionGroups {
continue;
}
if !interaction.supports_simd_constraints() {
// This joint does not support simd constraints yet.
self.nongrouped_interactions.push(*interaction_i);
continue;
}
let ijoint = interaction.params.type_id();
let i1 = body1.active_set_offset;
let i2 = body2.active_set_offset;

31
src/dynamics/solver/joint_constraint/joint_constraint.rs
View File

@@ -7,8 +7,7 @@ use super::{RevoluteVelocityConstraint, RevoluteVelocityGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
use super::{
WBallVelocityConstraint, WBallVelocityGroundConstraint, WFixedVelocityConstraint,
WFixedVelocityGroundConstraint, WGenericPositionConstraint, WGenericPositionGroundConstraint,
WGenericVelocityConstraint, WGenericVelocityGroundConstraint, WPrismaticVelocityConstraint,
WFixedVelocityGroundConstraint, WPrismaticVelocityConstraint,
WPrismaticVelocityGroundConstraint,
};
#[cfg(feature = "dim3")]
@@ -122,12 +121,12 @@ impl AnyJointVelocityConstraint {
params, joint_id, rbs1, rbs2, joints,
))
}
JointParams::GenericJoint(_) => {
let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
AnyJointVelocityConstraint::WGenericConstraint(
WGenericVelocityConstraint::from_params(params, joint_id, rbs1, rbs2, joints),
)
}
// JointParams::GenericJoint(_) => {
// let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
// AnyJointVelocityConstraint::WGenericConstraint(
// WGenericVelocityConstraint::from_params(params, joint_id, rbs1, rbs2, joints),
// )
// }
JointParams::PrismaticJoint(_) => {
let joints =
array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH];
@@ -221,14 +220,14 @@ impl AnyJointVelocityConstraint {
),
)
}
JointParams::GenericJoint(_) => {
let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
AnyJointVelocityConstraint::WGenericGroundConstraint(
WGenericVelocityGroundConstraint::from_params(
params, joint_id, rbs1, rbs2, joints, flipped,
),
)
}
// JointParams::GenericJoint(_) => {
// let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
// AnyJointVelocityConstraint::WGenericGroundConstraint(
// WGenericVelocityGroundConstraint::from_params(
// params, joint_id, rbs1, rbs2, joints, flipped,
// ),
// )
// }
JointParams::PrismaticJoint(_) => {
let joints =
array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH];

28
src/dynamics/solver/joint_constraint/joint_position_constraint.rs
View File

@@ -10,8 +10,8 @@ use super::{WRevolutePositionConstraint, WRevolutePositionGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
use super::{
WBallPositionConstraint, WBallPositionGroundConstraint, WFixedPositionConstraint,
WFixedPositionGroundConstraint, WGenericPositionConstraint, WGenericPositionGroundConstraint,
WPrismaticPositionConstraint, WPrismaticPositionGroundConstraint,
WFixedPositionGroundConstraint, WPrismaticPositionConstraint,
WPrismaticPositionGroundConstraint,
};
use crate::dynamics::solver::DeltaVel;
use crate::dynamics::{IntegrationParameters, Joint, JointParams, RigidBodySet};
@@ -99,12 +99,12 @@ impl AnyJointPositionConstraint {
rbs1, rbs2, joints,
))
}
JointParams::GenericJoint(_) => {
let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
AnyJointPositionConstraint::WGenericJoint(WGenericPositionConstraint::from_params(
rbs1, rbs2, joints,
))
}
// JointParams::GenericJoint(_) => {
// let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
// AnyJointPositionConstraint::WGenericJoint(WGenericPositionConstraint::from_params(
// rbs1, rbs2, joints,
// ))
// }
JointParams::PrismaticJoint(_) => {
let joints =
array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH];
@@ -180,12 +180,12 @@ impl AnyJointPositionConstraint {
WFixedPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped),
)
}
JointParams::GenericJoint(_) => {
let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
AnyJointPositionConstraint::WGenericGroundConstraint(
WGenericPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped),
)
}
// JointParams::GenericJoint(_) => {
// let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
// AnyJointPositionConstraint::WGenericGroundConstraint(
// WGenericPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped),
// )
// }
JointParams::PrismaticJoint(_) => {
let joints =
array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH];

21
src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs
View File

@@ -56,24 +56,25 @@ impl RevoluteVelocityConstraint {
rb1.position * joint.basis1[0],
rb1.position * joint.basis1[1],
]);
let basis_filter1 = basis1 * basis1.transpose();
let basis2 = Matrix3x2::from_columns(&[
let basis_projection1 = basis1 * basis1.transpose();
let basis_projection_half2 = Matrix3x2::from_columns(&[
rb2.position * joint.basis2[0],
rb2.position * joint.basis2[1],
]);
let basis_filter2 = basis2 * basis2.transpose();
let basis2 = basis_filter2 * basis1;
let basis_projection2 = basis_projection_half2 * basis_projection_half2.transpose();
let basis2 = basis_projection2 * basis1;
let im1 = rb1.effective_inv_mass;
let im2 = rb2.effective_inv_mass;
let ii1 = rb1.effective_world_inv_inertia_sqrt.squared();
let r1 = anchor1 - rb1.world_com;
let r1_mat = basis_filter1 * r1.gcross_matrix();
let r1_mat = basis_projection1 * r1.gcross_matrix();
let ii2 = rb2.effective_world_inv_inertia_sqrt.squared();
let r2 = anchor2 - rb2.world_com;
let r2_mat = basis_filter2 * r2.gcross_matrix();
let r2_mat = basis_projection2 * r2.gcross_matrix();
let mut lhs = Matrix5::zeros();
let lhs00 =
@@ -318,15 +319,15 @@ impl RevoluteVelocityGroundConstraint {
anchor1 = rb1.position * joint.local_anchor2;
anchor2 = rb2.position * joint.local_anchor1;
basis2 = Matrix3x2::from_columns(&[
rb2.position * joint.basis2[0],
rb2.position * joint.basis2[1],
rb2.position * joint.basis1[0],
rb2.position * joint.basis1[1],
]);
} else {
anchor1 = rb1.position * joint.local_anchor1;
anchor2 = rb2.position * joint.local_anchor2;
basis2 = Matrix3x2::from_columns(&[
rb2.position * joint.basis1[0],
rb2.position * joint.basis1[1],
rb2.position * joint.basis2[0],
rb2.position * joint.basis2[1],
]);
};

151
src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs
View File

@@ -4,9 +4,11 @@ use crate::dynamics::solver::DeltaVel;
use crate::dynamics::{
IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RevoluteJoint, RigidBody,
};
use crate::math::{AngVector, AngularInertia, Isometry, Point, Real, SimdReal, Vector, SIMD_WIDTH};
use crate::math::{
AngVector, AngularInertia, Isometry, Point, Real, Rotation, SimdReal, Vector, SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
use na::{Cholesky, Matrix3, Matrix3x2, Matrix5, Vector5, U2, U3};
#[derive(Debug)]
pub(crate) struct WRevoluteVelocityConstraint {
@@ -15,14 +17,16 @@ pub(crate) struct WRevoluteVelocityConstraint {
joint_id: [JointIndex; SIMD_WIDTH],
r1: Vector<SimdReal>,
r2: Vector<SimdReal>,
r1_mat: Matrix3<SimdReal>,
r2_mat: Matrix3<SimdReal>,
inv_lhs: Matrix5<SimdReal>,
rhs: Vector5<SimdReal>,
impulse: Vector5<SimdReal>,
axis1: [Vector<Real>; SIMD_WIDTH],
basis1: Matrix3x2<SimdReal>,
basis2: Matrix3x2<SimdReal>,
im1: SimdReal,
im2: SimdReal,
@@ -37,7 +41,7 @@ impl WRevoluteVelocityConstraint {
joint_id: [JointIndex; SIMD_WIDTH],
rbs1: [&RigidBody; SIMD_WIDTH],
rbs2: [&RigidBody; SIMD_WIDTH],
cparams: [&RevoluteJoint; SIMD_WIDTH],
joints: [&RevoluteJoint; SIMD_WIDTH],
) -> Self {
let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
@@ -59,18 +63,27 @@ impl WRevoluteVelocityConstraint {
);
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let local_anchor1 = Point::from(array![|ii| cparams[ii].local_anchor1; SIMD_WIDTH]);
let local_anchor2 = Point::from(array![|ii| cparams[ii].local_anchor2; SIMD_WIDTH]);
let local_anchor1 = Point::from(array![|ii| joints[ii].local_anchor1; SIMD_WIDTH]);
let local_anchor2 = Point::from(array![|ii| joints[ii].local_anchor2; SIMD_WIDTH]);
let local_basis1 = [
Vector::from(array![|ii| cparams[ii].basis1[0]; SIMD_WIDTH]),
Vector::from(array![|ii| cparams[ii].basis1[1]; SIMD_WIDTH]),
Vector::from(array![|ii| joints[ii].basis1[0]; SIMD_WIDTH]),
Vector::from(array![|ii| joints[ii].basis1[1]; SIMD_WIDTH]),
];
let impulse = Vector5::from(array![|ii| cparams[ii].impulse; SIMD_WIDTH]);
let local_basis2 = [
Vector::from(array![|ii| joints[ii].basis2[0]; SIMD_WIDTH]),
Vector::from(array![|ii| joints[ii].basis2[1]; SIMD_WIDTH]),
];
let impulse = Vector5::from(array![|ii| joints[ii].impulse; SIMD_WIDTH]);
let anchor1 = position1 * local_anchor1;
let anchor2 = position2 * local_anchor2;
let basis1 =
Matrix3x2::from_columns(&[position1 * local_basis1[0], position1 * local_basis1[1]]);
let basis_projection1 = basis1 * basis1.transpose();
let basis_projection_half2 =
Matrix3x2::from_columns(&[position2 * local_basis2[0], position2 * local_basis2[1]]);
let basis_projection2 = basis_projection_half2 * basis_projection_half2.transpose();
let basis2 = basis_projection2 * basis1;
// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
// .unwrap_or_else(Rotation::identity)
@@ -81,19 +94,19 @@ impl WRevoluteVelocityConstraint {
// Though we may want to test if that does not introduce any instability.
let ii1 = ii1_sqrt.squared();
let r1 = anchor1 - world_com1;
let r1_mat = r1.gcross_matrix();
let r1_mat = basis_projection1 * r1.gcross_matrix();
let ii2 = ii2_sqrt.squared();
let r2 = anchor2 - world_com2;
let r2_mat = r2.gcross_matrix();
let r2_mat = basis_projection2 * r2.gcross_matrix();
let mut lhs = Matrix5::zeros();
let lhs00 =
ii2.quadform(&r2_mat).add_diagonal(im2) + ii1.quadform(&r1_mat).add_diagonal(im1);
let lhs10 = basis1.tr_mul(&(ii2 * r2_mat + ii1 * r1_mat));
let lhs11 = (ii1 + ii2).quadform3x2(&basis1).into_matrix();
let lhs10 = basis1.tr_mul(&(ii2 * r2_mat)) + basis2.tr_mul(&(ii1 * r1_mat));
let lhs11 = (ii1.quadform3x2(&basis1) + ii2.quadform3x2(&basis2)).into_matrix();
// Note that cholesky won't read the upper-right part
// Note that Cholesky won't read the upper-right part
// of lhs so we don't have to fill it.
lhs.fixed_slice_mut::<U3, U3>(0, 0)
.copy_from(&lhs00.into_matrix());
@@ -103,23 +116,46 @@ impl WRevoluteVelocityConstraint {
let inv_lhs = Cholesky::new_unchecked(lhs).inverse();
let lin_rhs = linvel2 + angvel2.gcross(r2) - linvel1 - angvel1.gcross(r1);
let ang_rhs = basis1.tr_mul(&(angvel2 - angvel1));
let ang_rhs = basis2.tr_mul(&angvel2) - basis1.tr_mul(&angvel1);
let rhs = Vector5::new(lin_rhs.x, lin_rhs.y, lin_rhs.z, ang_rhs.x, ang_rhs.y);
/*
* Adjust the warmstart impulse.
* If the velocity along the free axis is somewhat high,
* we need to adjust the angular warmstart impulse because it
* may have a direction that is too different than last frame,
* making it counter-productive.
*/
let warmstart_coeff = SimdReal::splat(params.warmstart_coeff);
let mut impulse = impulse * warmstart_coeff;
let axis1 = array![|ii| rbs1[ii].position * *joints[ii].local_axis1; SIMD_WIDTH];
let rotated_impulse = Vector::from(array![|ii| {
let axis_rot = Rotation::rotation_between(&joints[ii].prev_axis1, &axis1[ii])
.unwrap_or_else(Rotation::identity);
axis_rot * joints[ii].world_ang_impulse
}; SIMD_WIDTH]);
let rotated_basis_impulse = basis1.tr_mul(&rotated_impulse);
impulse[3] = rotated_basis_impulse.x * warmstart_coeff;
impulse[4] = rotated_basis_impulse.y * warmstart_coeff;
WRevoluteVelocityConstraint {
joint_id,
mj_lambda1,
mj_lambda2,
im1,
ii1_sqrt,
axis1,
basis1,
basis2,
im2,
ii2_sqrt,
impulse: impulse * SimdReal::splat(params.warmstart_coeff),
impulse,
inv_lhs,
rhs,
r1,
r2,
r1_mat,
r2_mat,
}
}
@@ -141,18 +177,20 @@ impl WRevoluteVelocityConstraint {
),
};
let lin_impulse = self.impulse.fixed_rows::<U3>(0).into_owned();
let ang_impulse = self.basis1 * self.impulse.fixed_rows::<U2>(3).into_owned();
let lin_impulse1 = self.impulse.fixed_rows::<U3>(0).into_owned();
let lin_impulse2 = self.impulse.fixed_rows::<U3>(0).into_owned();
let ang_impulse1 = self.basis1 * self.impulse.fixed_rows::<U2>(3).into_owned();
let ang_impulse2 = self.basis2 * self.impulse.fixed_rows::<U2>(3).into_owned();
mj_lambda1.linear += lin_impulse * self.im1;
mj_lambda1.linear += lin_impulse1 * self.im1;
mj_lambda1.angular += self
.ii1_sqrt
.transform_vector(ang_impulse + self.r1.gcross(lin_impulse));
.transform_vector(ang_impulse1 + self.r1_mat * lin_impulse1);
mj_lambda2.linear -= lin_impulse * self.im2;
mj_lambda2.linear -= lin_impulse2 * self.im2;
mj_lambda2.angular -= self
.ii2_sqrt
.transform_vector(ang_impulse + self.r2.gcross(lin_impulse));
.transform_vector(ang_impulse2 + self.r2_mat * lin_impulse2);
for ii in 0..SIMD_WIDTH {
mj_lambdas[self.mj_lambda1[ii] as usize].linear = mj_lambda1.linear.extract(ii);
@@ -184,26 +222,28 @@ impl WRevoluteVelocityConstraint {
let ang_vel1 = self.ii1_sqrt.transform_vector(mj_lambda1.angular);
let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular);
let lin_dvel = mj_lambda2.linear + ang_vel2.gcross(self.r2)
- mj_lambda1.linear
- ang_vel1.gcross(self.r1);
let ang_dvel = self.basis1.tr_mul(&(ang_vel2 - ang_vel1));
let lin_dvel = (mj_lambda2.linear - self.r2_mat * ang_vel2)
- (mj_lambda1.linear - self.r1_mat * ang_vel1);
let ang_dvel = self.basis2.tr_mul(&ang_vel2) - self.basis1.tr_mul(&ang_vel1);
let rhs =
Vector5::new(lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y) + self.rhs;
let impulse = self.inv_lhs * rhs;
self.impulse += impulse;
let lin_impulse = impulse.fixed_rows::<U3>(0).into_owned();
let ang_impulse = self.basis1 * impulse.fixed_rows::<U2>(3).into_owned();
let lin_impulse1 = impulse.fixed_rows::<U3>(0).into_owned();
let lin_impulse2 = impulse.fixed_rows::<U3>(0).into_owned();
let ang_impulse1 = self.basis1 * impulse.fixed_rows::<U2>(3).into_owned();
let ang_impulse2 = self.basis2 * impulse.fixed_rows::<U2>(3).into_owned();
mj_lambda1.linear += lin_impulse * self.im1;
mj_lambda1.linear += lin_impulse1 * self.im1;
mj_lambda1.angular += self
.ii1_sqrt
.transform_vector(ang_impulse + self.r1.gcross(lin_impulse));
.transform_vector(ang_impulse1 + self.r1_mat * lin_impulse1);
mj_lambda2.linear -= lin_impulse * self.im2;
mj_lambda2.linear -= lin_impulse2 * self.im2;
mj_lambda2.angular -= self
.ii2_sqrt
.transform_vector(ang_impulse + self.r2.gcross(lin_impulse));
.transform_vector(ang_impulse2 + self.r2_mat * lin_impulse2);
for ii in 0..SIMD_WIDTH {
mj_lambdas[self.mj_lambda1[ii] as usize].linear = mj_lambda1.linear.extract(ii);
@@ -216,10 +256,15 @@ impl WRevoluteVelocityConstraint {
}
pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
let rot_part = self.impulse.fixed_rows::<U2>(3).into_owned();
let world_ang_impulse = self.basis1 * rot_part;
for ii in 0..SIMD_WIDTH {
let joint = &mut joints_all[self.joint_id[ii]].weight;
if let JointParams::RevoluteJoint(rev) = &mut joint.params {
rev.impulse = self.impulse.extract(ii)
rev.impulse = self.impulse.extract(ii);
rev.world_ang_impulse = world_ang_impulse.extract(ii);
rev.prev_axis1 = self.axis1[ii];
}
}
}
@@ -237,7 +282,7 @@ pub(crate) struct WRevoluteVelocityGroundConstraint {
rhs: Vector5<SimdReal>,
impulse: Vector5<SimdReal>,
basis1: Matrix3x2<SimdReal>,
basis2: Matrix3x2<SimdReal>,
im2: SimdReal,
@@ -250,7 +295,7 @@ impl WRevoluteVelocityGroundConstraint {
joint_id: [JointIndex; SIMD_WIDTH],
rbs1: [&RigidBody; SIMD_WIDTH],
rbs2: [&RigidBody; SIMD_WIDTH],
cparams: [&RevoluteJoint; SIMD_WIDTH],
joints: [&RevoluteJoint; SIMD_WIDTH],
flipped: [bool; SIMD_WIDTH],
) -> Self {
let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
@@ -267,22 +312,22 @@ impl WRevoluteVelocityGroundConstraint {
array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
);
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let impulse = Vector5::from(array![|ii| cparams[ii].impulse; SIMD_WIDTH]);
let impulse = Vector5::from(array![|ii| joints[ii].impulse; SIMD_WIDTH]);
let local_anchor1 = Point::from(
array![|ii| if flipped[ii] { cparams[ii].local_anchor2 } else { cparams[ii].local_anchor1 }; SIMD_WIDTH],
array![|ii| if flipped[ii] { joints[ii].local_anchor2 } else { joints[ii].local_anchor1 }; SIMD_WIDTH],
);
let local_anchor2 = Point::from(
array![|ii| if flipped[ii] { cparams[ii].local_anchor1 } else { cparams[ii].local_anchor2 }; SIMD_WIDTH],
array![|ii| if flipped[ii] { joints[ii].local_anchor1 } else { joints[ii].local_anchor2 }; SIMD_WIDTH],
);
let basis1 = Matrix3x2::from_columns(&[
position1
let basis2 = Matrix3x2::from_columns(&[
position2
* Vector::from(
array![|ii| if flipped[ii] { cparams[ii].basis2[0] } else { cparams[ii].basis1[0] }; SIMD_WIDTH],
array![|ii| if flipped[ii] { joints[ii].basis1[0] } else { joints[ii].basis2[0] }; SIMD_WIDTH],
),
position1
position2
* Vector::from(
array![|ii| if flipped[ii] { cparams[ii].basis2[1] } else { cparams[ii].basis1[1] }; SIMD_WIDTH],
array![|ii| if flipped[ii] { joints[ii].basis1[1] } else { joints[ii].basis2[1] }; SIMD_WIDTH],
),
]);
@@ -301,8 +346,8 @@ impl WRevoluteVelocityGroundConstraint {
let mut lhs = Matrix5::zeros();
let lhs00 = ii2.quadform(&r2_mat).add_diagonal(im2);
let lhs10 = basis1.tr_mul(&(ii2 * r2_mat));
let lhs11 = ii2.quadform3x2(&basis1).into_matrix();
let lhs10 = basis2.tr_mul(&(ii2 * r2_mat));
let lhs11 = ii2.quadform3x2(&basis2).into_matrix();
// Note that cholesky won't read the upper-right part
// of lhs so we don't have to fill it.
@@ -314,7 +359,7 @@ impl WRevoluteVelocityGroundConstraint {
let inv_lhs = Cholesky::new_unchecked(lhs).inverse();
let lin_rhs = linvel2 + angvel2.gcross(r2) - linvel1 - angvel1.gcross(r1);
let ang_rhs = basis1.tr_mul(&(angvel2 - angvel1));
let ang_rhs = basis2.tr_mul(&(angvel2 - angvel1));
let rhs = Vector5::new(lin_rhs.x, lin_rhs.y, lin_rhs.z, ang_rhs.x, ang_rhs.y);
WRevoluteVelocityGroundConstraint {
@@ -323,7 +368,7 @@ impl WRevoluteVelocityGroundConstraint {
im2,
ii2_sqrt,
impulse: impulse * SimdReal::splat(params.warmstart_coeff),
basis1,
basis2,
inv_lhs,
rhs,
r2,
@@ -341,7 +386,7 @@ impl WRevoluteVelocityGroundConstraint {
};
let lin_impulse = self.impulse.fixed_rows::<U3>(0).into_owned();
let ang_impulse = self.basis1 * self.impulse.fixed_rows::<U2>(3).into_owned();
let ang_impulse = self.basis2 * self.impulse.fixed_rows::<U2>(3).into_owned();
mj_lambda2.linear -= lin_impulse * self.im2;
mj_lambda2.angular -= self
@@ -366,13 +411,13 @@ impl WRevoluteVelocityGroundConstraint {
let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular);
let lin_dvel = mj_lambda2.linear + ang_vel2.gcross(self.r2);
let ang_dvel = self.basis1.tr_mul(&ang_vel2);
let ang_dvel = self.basis2.tr_mul(&ang_vel2);
let rhs =
Vector5::new(lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y) + self.rhs;
let impulse = self.inv_lhs * rhs;
self.impulse += impulse;
let lin_impulse = impulse.fixed_rows::<U3>(0).into_owned();
let ang_impulse = self.basis1 * impulse.fixed_rows::<U2>(3).into_owned();
let ang_impulse = self.basis2 * impulse.fixed_rows::<U2>(3).into_owned();
mj_lambda2.linear -= lin_impulse * self.im2;
mj_lambda2.angular -= self