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Implement multibody joints and the new solver

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This commit is contained in:
Sébastien Crozet
2022-01-02 14:47:40 +01:00
parent b45d4b5ac2
commit f74b8401ad
182 changed files with 9871 additions and 12645 deletions
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6
benchmarks3d/Cargo.toml
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@@ -2,7 +2,7 @@
name = "rapier-benchmarks-3d"
version = "0.1.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ]
edition = "2018"
edition = "2021"
[features]
parallel = [ "rapier3d/parallel", "rapier_testbed3d/parallel" ]
@@ -16,10 +16,10 @@ rand = "0.8"
Inflector = "0.11"
[dependencies.rapier_testbed3d]
path = "../build/rapier_testbed3d"
path = "../crates/rapier_testbed3d"
[dependencies.rapier3d]
path = "../build/rapier3d"
path = "../crates/rapier3d"
[[bin]]
name = "all_benchmarks3"

8
benchmarks3d/all_benchmarks3.rs
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@@ -58,10 +58,10 @@ pub fn main() {
("Stacks", stacks3::init_world),
("Pyramid", pyramid3::init_world),
("Trimesh", trimesh3::init_world),
("Joint ball", joint_ball3::init_world),
("Joint fixed", joint_fixed3::init_world),
("Joint revolute", joint_revolute3::init_world),
("Joint prismatic", joint_prismatic3::init_world),
("ImpulseJoint ball", joint_ball3::init_world),
("ImpulseJoint fixed", joint_fixed3::init_world),
("ImpulseJoint revolute", joint_revolute3::init_world),
("ImpulseJoint prismatic", joint_prismatic3::init_world),
("Keva tower", keva3::init_world),
];

5
benchmarks3d/balls3.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Create the balls
@@ -48,6 +49,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

5
benchmarks3d/boxes3.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -58,6 +59,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

5
benchmarks3d/capsules3.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -59,6 +60,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

5
benchmarks3d/ccd3.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -73,6 +74,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

5
benchmarks3d/compound3.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -66,6 +67,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

5
benchmarks3d/convex_polyhedron3.rs
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@@ -9,7 +9,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -73,6 +74,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

5
benchmarks3d/heightfield3.rs
View File

@@ -8,7 +8,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -73,6 +74,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

13
benchmarks3d/joint_ball3.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let rad = 0.4;
let num = 100;
@@ -36,16 +37,16 @@ pub fn init_world(testbed: &mut Testbed) {
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift]);
joints.insert(parent_handle, child_handle, joint);
let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
// Horizontal joint.
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
joints.insert(parent_handle, child_handle, joint);
let joint = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
@@ -55,6 +56,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![-110.0, -46.0, 170.0], point![54.0, -38.0, 29.0]);
}

19
benchmarks3d/joint_fixed3.rs
View File

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let rad = 0.4;
let num = 5;
@@ -49,22 +50,16 @@ pub fn init_world(testbed: &mut Testbed) {
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry::identity(),
Isometry::translation(0.0, 0.0, -shift),
);
joints.insert(parent_handle, child_handle, joint);
let joint = FixedJoint::new().local_anchor2(point![0.0, 0.0, -shift]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
// Horizontal joint.
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new(
Isometry::identity(),
Isometry::translation(-shift, 0.0, 0.0),
);
joints.insert(parent_handle, child_handle, joint);
let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
@@ -77,6 +72,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
}

22
benchmarks3d/joint_prismatic3.rs
View File

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let rad = 0.4;
let num = 5;
@@ -47,19 +48,10 @@ pub fn init_world(testbed: &mut Testbed) {
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let z = Vector::z();
let mut prism = PrismaticJoint::new(
Point::origin(),
axis,
z,
point![0.0, 0.0, -shift],
axis,
z,
);
prism.limits_enabled = true;
prism.limits[0] = -2.0;
prism.limits[1] = 2.0;
joints.insert(curr_parent, curr_child, prism);
let prism = PrismaticJoint::new(axis)
.local_anchor2(point![0.0, 0.0, -shift])
.limit_axis([-2.0, 0.0]);
impulse_joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child;
}
@@ -70,6 +62,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
}

24
benchmarks3d/joint_revolute3.rs
View File

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let rad = 0.4;
let num = 10;
@@ -49,22 +50,21 @@ pub fn init_world(testbed: &mut Testbed) {
colliders.insert_with_parent(collider, handles[k], &mut bodies);
}
// Setup four joints.
let o = Point::origin();
// Setup four impulse_joints.
let x = Vector::x_axis();
let z = Vector::z_axis();
let revs = [
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![shift, 0.0, 0.0]),
];
joints.insert(curr_parent, handles[0], revs[0]);
joints.insert(handles[0], handles[1], revs[1]);
joints.insert(handles[1], handles[2], revs[2]);
joints.insert(handles[2], handles[3], revs[3]);
impulse_joints.insert(curr_parent, handles[0], revs[0]);
impulse_joints.insert(handles[0], handles[1], revs[1]);
impulse_joints.insert(handles[1], handles[2], revs[2]);
impulse_joints.insert(handles[2], handles[3], revs[3]);
curr_parent = handles[3];
}
@@ -74,6 +74,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]);
}

5
benchmarks3d/keva3.rs
View File

@@ -83,7 +83,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -132,6 +133,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

5
benchmarks3d/pyramid3.rs
View File

@@ -41,7 +41,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -73,6 +74,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

5
benchmarks3d/stacks3.rs
View File

@@ -101,7 +101,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -183,6 +184,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

5
benchmarks3d/trimesh3.rs
View File

@@ -8,7 +8,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -78,6 +79,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}