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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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289
src/dynamics/joint/prismatic_joint.rs
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@@ -1,250 +1,91 @@
use crate::dynamics::SpringModel;
use crate::math::{Isometry, Point, Real, Vector, DIM};
use crate::utils::WBasis;
use na::Unit;
#[cfg(feature = "dim2")]
use na::Vector2;
#[cfg(feature = "dim3")]
use na::Vector5;
use crate::dynamics::joint::{JointAxesMask, JointData};
use crate::dynamics::{JointAxis, MotorModel};
use crate::math::{Point, Real, UnitVector};
#[derive(Copy, Clone, PartialEq)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A joint that removes all relative motion between two bodies, except for the translations along one axis.
#[derive(Copy, Clone, Debug, PartialEq)]
pub struct PrismaticJoint {
/// Where the prismatic joint is attached on the first body, expressed in the local space of the first attached body.
pub local_anchor1: Point<Real>,
/// Where the prismatic joint is attached on the second body, expressed in the local space of the second attached body.
pub local_anchor2: Point<Real>,
pub(crate) local_axis1: Unit<Vector<Real>>,
pub(crate) local_axis2: Unit<Vector<Real>>,
pub(crate) basis1: [Vector<Real>; DIM - 1],
pub(crate) basis2: [Vector<Real>; DIM - 1],
/// The impulse applied by this joint on the first body.
///
/// The impulse applied to the second body is given by `-impulse`.
#[cfg(feature = "dim3")]
pub impulse: Vector5<Real>,
/// The impulse applied by this joint on the first body.
///
/// The impulse applied to the second body is given by `-impulse`.
#[cfg(feature = "dim2")]
pub impulse: Vector2<Real>,
/// Whether or not this joint should enforce translational limits along its axis.
pub limits_enabled: bool,
/// The min an max relative position of the attached bodies along this joint's axis.
pub limits: [Real; 2],
/// The impulse applied by this joint on the first body to enforce the position limit along this joint's axis.
///
/// The impulse applied to the second body is given by `-impulse`.
pub limits_impulse: Real,
/// The target relative angular velocity the motor will attempt to reach.
pub motor_target_vel: Real,
/// The target relative angle along the joint axis the motor will attempt to reach.
pub motor_target_pos: Real,
/// The motor's stiffness.
/// See the documentation of `SpringModel` for more information on this parameter.
pub motor_stiffness: Real,
/// The motor's damping.
/// See the documentation of `SpringModel` for more information on this parameter.
pub motor_damping: Real,
/// The maximal impulse the motor is able to deliver.
pub motor_max_impulse: Real,
/// The angular impulse applied by the motor.
pub motor_impulse: Real,
/// The spring-like model used by the motor to reach the target velocity and .
pub motor_model: SpringModel,
data: JointData,
}
impl PrismaticJoint {
/// Creates a new prismatic joint with the given point of applications and axis, all expressed
/// in the local-space of the affected bodies.
#[cfg(feature = "dim2")]
pub fn new(
local_anchor1: Point<Real>,
local_axis1: Unit<Vector<Real>>,
local_anchor2: Point<Real>,
local_axis2: Unit<Vector<Real>>,
) -> Self {
Self {
local_anchor1,
local_anchor2,
local_axis1,
local_axis2,
basis1: local_axis1.orthonormal_basis(),
basis2: local_axis2.orthonormal_basis(),
impulse: na::zero(),
limits_enabled: false,
limits: [-Real::MAX, Real::MAX],
limits_impulse: 0.0,
motor_target_vel: 0.0,
motor_target_pos: 0.0,
motor_stiffness: 0.0,
motor_damping: 0.0,
motor_max_impulse: Real::MAX,
motor_impulse: 0.0,
motor_model: SpringModel::VelocityBased,
}
pub fn new(axis: UnitVector<Real>) -> Self {
#[cfg(feature = "dim2")]
let mask = JointAxesMask::Y | JointAxesMask::ANG_X;
#[cfg(feature = "dim3")]
let mask = JointAxesMask::Y
| JointAxesMask::Z
| JointAxesMask::ANG_X
| JointAxesMask::ANG_Y
| JointAxesMask::ANG_Z;
let data = JointData::default()
.lock_axes(mask)
.local_axis1(axis)
.local_axis2(axis);
Self { data }
}
/// Creates a new prismatic joint with the given point of applications and axis, all expressed
/// in the local-space of the affected bodies.
///
/// The local tangent are vector orthogonal to the local axis. It is used to compute a basis orthonormal
/// to the joint's axis. If this tangent is set to zero, te orthonormal basis will be automatically
/// computed arbitrarily.
#[cfg(feature = "dim3")]
pub fn new(
local_anchor1: Point<Real>,
local_axis1: Unit<Vector<Real>>,
local_tangent1: Vector<Real>,
local_anchor2: Point<Real>,
local_axis2: Unit<Vector<Real>>,
local_tangent2: Vector<Real>,
) -> Self {
let basis1 = if let Some(local_bitangent1) =
Unit::try_new(local_axis1.cross(&local_tangent1), 1.0e-3)
{
[
local_bitangent1.cross(&local_axis1),
local_bitangent1.into_inner(),
]
} else {
local_axis1.orthonormal_basis()
};
let basis2 = if let Some(local_bitangent2) =
Unit::try_new(local_axis2.cross(&local_tangent2), 2.0e-3)
{
[
local_bitangent2.cross(&local_axis2),
local_bitangent2.into_inner(),
]
} else {
local_axis2.orthonormal_basis()
};
Self {
local_anchor1,
local_anchor2,
local_axis1,
local_axis2,
basis1,
basis2,
impulse: na::zero(),
limits_enabled: false,
limits: [-Real::MAX, Real::MAX],
limits_impulse: 0.0,
motor_target_vel: 0.0,
motor_target_pos: 0.0,
motor_stiffness: 0.0,
motor_damping: 0.0,
motor_max_impulse: Real::MAX,
motor_impulse: 0.0,
motor_model: SpringModel::VelocityBased,
}
#[must_use]
pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
self.data = self.data.local_anchor1(anchor1);
self
}
/// The local axis of this joint, expressed in the local-space of the first attached body.
pub fn local_axis1(&self) -> Unit<Vector<Real>> {
self.local_axis1
}
/// The local axis of this joint, expressed in the local-space of the second attached body.
pub fn local_axis2(&self) -> Unit<Vector<Real>> {
self.local_axis2
}
/// Can a SIMD constraint be used for resolving this joint?
pub fn supports_simd_constraints(&self) -> bool {
// SIMD revolute constraints don't support motors right now.
self.motor_max_impulse == 0.0 || (self.motor_stiffness == 0.0 && self.motor_damping == 0.0)
}
// FIXME: precompute this?
#[cfg(feature = "dim2")]
pub(crate) fn local_frame1(&self) -> Isometry<Real> {
use na::{Matrix2, Rotation2, UnitComplex};
let mat = Matrix2::from_columns(&[self.local_axis1.into_inner(), self.basis1[0]]);
let rotmat = Rotation2::from_matrix_unchecked(mat);
let rotation = UnitComplex::from_rotation_matrix(&rotmat);
let translation = self.local_anchor1.coords.into();
Isometry::from_parts(translation, rotation)
}
// FIXME: precompute this?
#[cfg(feature = "dim2")]
pub(crate) fn local_frame2(&self) -> Isometry<Real> {
use na::{Matrix2, Rotation2, UnitComplex};
let mat = Matrix2::from_columns(&[self.local_axis2.into_inner(), self.basis2[0]]);
let rotmat = Rotation2::from_matrix_unchecked(mat);
let rotation = UnitComplex::from_rotation_matrix(&rotmat);
let translation = self.local_anchor2.coords.into();
Isometry::from_parts(translation, rotation)
}
// FIXME: precompute this?
#[cfg(feature = "dim3")]
pub(crate) fn local_frame1(&self) -> Isometry<Real> {
use na::{Matrix3, Rotation3, UnitQuaternion};
let mat = Matrix3::from_columns(&[
self.local_axis1.into_inner(),
self.basis1[0],
self.basis1[1],
]);
let rotmat = Rotation3::from_matrix_unchecked(mat);
let rotation = UnitQuaternion::from_rotation_matrix(&rotmat);
let translation = self.local_anchor1.coords.into();
Isometry::from_parts(translation, rotation)
}
// FIXME: precompute this?
#[cfg(feature = "dim3")]
pub(crate) fn local_frame2(&self) -> Isometry<Real> {
use na::{Matrix3, Rotation3, UnitQuaternion};
let mat = Matrix3::from_columns(&[
self.local_axis2.into_inner(),
self.basis2[0],
self.basis2[1],
]);
let rotmat = Rotation3::from_matrix_unchecked(mat);
let rotation = UnitQuaternion::from_rotation_matrix(&rotmat);
let translation = self.local_anchor2.coords.into();
Isometry::from_parts(translation, rotation)
#[must_use]
pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
self.data = self.data.local_anchor2(anchor2);
self
}
/// Set the spring-like model used by the motor to reach the desired target velocity and position.
pub fn configure_motor_model(&mut self, model: SpringModel) {
self.motor_model = model;
pub fn motor_model(mut self, model: MotorModel) -> Self {
self.data = self.data.motor_model(JointAxis::X, model);
self
}
/// Sets the target velocity this motor needs to reach.
pub fn configure_motor_velocity(&mut self, target_vel: Real, factor: Real) {
self.configure_motor(self.motor_target_pos, target_vel, 0.0, factor)
pub fn motor_velocity(mut self, target_vel: Real, factor: Real) -> Self {
self.data = self.data.motor_velocity(JointAxis::X, target_vel, factor);
self
}
/// Sets the target position this motor needs to reach.
pub fn configure_motor_position(&mut self, target_pos: Real, stiffness: Real, damping: Real) {
self.configure_motor(target_pos, 0.0, stiffness, damping)
/// Sets the target angle this motor needs to reach.
pub fn motor_position(mut self, target_pos: Real, stiffness: Real, damping: Real) -> Self {
self.data = self
.data
.motor_position(JointAxis::X, target_pos, stiffness, damping);
self
}
/// Configure both the target position and target velocity of the motor.
pub fn configure_motor(
&mut self,
/// Configure both the target angle and target velocity of the motor.
pub fn motor_axis(
mut self,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real,
) {
self.motor_target_vel = target_vel;
self.motor_target_pos = target_pos;
self.motor_stiffness = stiffness;
self.motor_damping = damping;
) -> Self {
self.data = self
.data
.motor_axis(JointAxis::X, target_pos, target_vel, stiffness, damping);
self
}
pub fn motor_max_impulse(mut self, max_impulse: Real) -> Self {
self.data = self.data.motor_max_impulse(JointAxis::X, max_impulse);
self
}
#[must_use]
pub fn limit_axis(mut self, limits: [Real; 2]) -> Self {
self.data = self.data.limit_axis(JointAxis::X, limits);
self
}
}
impl Into<JointData> for PrismaticJoint {
fn into(self) -> JointData {
self.data
}
}