Implement multibody joints and the new solver

2022-01-02 14:47:40 +01:00
parent b45d4b5ac2
commit f74b8401ad
182 changed files with 9871 additions and 12645 deletions
--- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs
@@ -0,0 +1,529 @@
+use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::WritebackId;
+use crate::dynamics::solver::joint_constraint::{JointVelocityConstraintBuilder, SolverBody};
+use crate::dynamics::solver::DeltaVel;
+use crate::dynamics::{IntegrationParameters, JointData, JointGraphEdge, JointIndex, Multibody};
+use crate::math::{Isometry, Real, DIM};
+use crate::prelude::SPATIAL_DIM;
+use na::{DVector, DVectorSlice, DVectorSliceMut};
+
+#[derive(Debug, Copy, Clone)]
+pub struct JointGenericVelocityConstraint {
+    pub is_rigid_body1: bool,
+    pub is_rigid_body2: bool,
+    pub mj_lambda1: usize,
+    pub mj_lambda2: usize,
+
+    pub ndofs1: usize,
+    pub j_id1: usize,
+    pub ndofs2: usize,
+    pub j_id2: usize,
+
+    pub joint_id: JointIndex,
+
+    pub impulse: Real,
+    pub impulse_bounds: [Real; 2],
+    pub inv_lhs: Real,
+    pub rhs: Real,
+    pub rhs_wo_bias: Real,
+
+    pub writeback_id: WritebackId,
+}
+
+impl JointGenericVelocityConstraint {
+    pub fn invalid() -> Self {
+        Self {
+            is_rigid_body1: false,
+            is_rigid_body2: false,
+            mj_lambda1: 0,
+            mj_lambda2: 0,
+            ndofs1: 0,
+            j_id1: 0,
+            ndofs2: 0,
+            j_id2: 0,
+            joint_id: 0,
+            impulse: 0.0,
+            impulse_bounds: [-Real::MAX, Real::MAX],
+            inv_lhs: 0.0,
+            rhs: 0.0,
+            rhs_wo_bias: 0.0,
+            writeback_id: WritebackId::Dof(0),
+        }
+    }
+
+    pub fn lock_axes(
+        params: &IntegrationParameters,
+        joint_id: JointIndex,
+        body1: &SolverBody<Real, 1>,
+        body2: &SolverBody<Real, 1>,
+        mb1: Option<(&Multibody, usize)>,
+        mb2: Option<(&Multibody, usize)>,
+        frame1: &Isometry<Real>,
+        frame2: &Isometry<Real>,
+        joint: &JointData,
+        jacobians: &mut DVector<Real>,
+        j_id: &mut usize,
+        out: &mut [Self],
+    ) -> usize {
+        let mut len = 0;
+        let locked_axes = joint.locked_axes.bits();
+        let motor_axes = joint.motor_axes.bits();
+        let limit_axes = joint.limit_axes.bits();
+
+        let builder = JointVelocityConstraintBuilder::new(
+            frame1,
+            frame2,
+            &body1.world_com,
+            &body2.world_com,
+            locked_axes,
+        );
+
+        for i in 0..DIM {
+            if locked_axes & (1 << i) != 0 {
+                out[len] = builder.lock_linear_generic(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    body2,
+                    mb1,
+                    mb2,
+                    i,
+                    WritebackId::Dof(i),
+                );
+                len += 1;
+            }
+        }
+        for i in DIM..SPATIAL_DIM {
+            if locked_axes & (1 << i) != 0 {
+                out[len] = builder.lock_angular_generic(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    body2,
+                    mb1,
+                    mb2,
+                    i - DIM,
+                    WritebackId::Dof(i),
+                );
+                len += 1;
+            }
+        }
+
+        for i in 0..DIM {
+            if motor_axes & (1 << i) != 0 {
+                out[len] = builder.motor_linear_generic(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    body2,
+                    mb1,
+                    mb2,
+                    // locked_ang_axes,
+                    i,
+                    &joint.motors[i].motor_params(params.dt),
+                    WritebackId::Motor(i),
+                );
+                len += 1;
+            }
+        }
+
+        for i in DIM..SPATIAL_DIM {
+            if (motor_axes >> DIM) & (1 << i) != 0 {
+                out[len] = builder.motor_angular_generic(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    body2,
+                    mb1,
+                    mb2,
+                    i - DIM,
+                    &joint.motors[i].motor_params(params.dt),
+                    WritebackId::Motor(i),
+                );
+                len += 1;
+            }
+        }
+
+        for i in 0..DIM {
+            if limit_axes & (1 << i) != 0 {
+                out[len] = builder.limit_linear_generic(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    body2,
+                    mb1,
+                    mb2,
+                    i,
+                    [joint.limits[i].min, joint.limits[i].max],
+                    WritebackId::Limit(i),
+                );
+                len += 1;
+            }
+        }
+
+        for i in DIM..SPATIAL_DIM {
+            if limit_axes & (1 << i) != 0 {
+                out[len] = builder.limit_angular_generic(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    body2,
+                    mb1,
+                    mb2,
+                    i - DIM,
+                    [joint.limits[i].min, joint.limits[i].max],
+                    WritebackId::Limit(i),
+                );
+                len += 1;
+            }
+        }
+
+        JointVelocityConstraintBuilder::finalize_generic_constraints(jacobians, &mut out[..len]);
+        len
+    }
+
+    fn wj_id1(&self) -> usize {
+        self.j_id1 + self.ndofs1
+    }
+
+    fn wj_id2(&self) -> usize {
+        self.j_id2 + self.ndofs2
+    }
+
+    fn mj_lambda1<'a>(
+        &self,
+        mj_lambdas: &'a [DeltaVel<Real>],
+        generic_mj_lambdas: &'a DVector<Real>,
+    ) -> DVectorSlice<'a, Real> {
+        if self.is_rigid_body1 {
+            mj_lambdas[self.mj_lambda1].as_vector_slice()
+        } else {
+            generic_mj_lambdas.rows(self.mj_lambda1, self.ndofs1)
+        }
+    }
+
+    fn mj_lambda1_mut<'a>(
+        &self,
+        mj_lambdas: &'a mut [DeltaVel<Real>],
+        generic_mj_lambdas: &'a mut DVector<Real>,
+    ) -> DVectorSliceMut<'a, Real> {
+        if self.is_rigid_body1 {
+            mj_lambdas[self.mj_lambda1].as_vector_slice_mut()
+        } else {
+            generic_mj_lambdas.rows_mut(self.mj_lambda1, self.ndofs1)
+        }
+    }
+
+    fn mj_lambda2<'a>(
+        &self,
+        mj_lambdas: &'a [DeltaVel<Real>],
+        generic_mj_lambdas: &'a DVector<Real>,
+    ) -> DVectorSlice<'a, Real> {
+        if self.is_rigid_body2 {
+            mj_lambdas[self.mj_lambda2].as_vector_slice()
+        } else {
+            generic_mj_lambdas.rows(self.mj_lambda2, self.ndofs2)
+        }
+    }
+
+    fn mj_lambda2_mut<'a>(
+        &self,
+        mj_lambdas: &'a mut [DeltaVel<Real>],
+        generic_mj_lambdas: &'a mut DVector<Real>,
+    ) -> DVectorSliceMut<'a, Real> {
+        if self.is_rigid_body2 {
+            mj_lambdas[self.mj_lambda2].as_vector_slice_mut()
+        } else {
+            generic_mj_lambdas.rows_mut(self.mj_lambda2, self.ndofs2)
+        }
+    }
+
+    pub fn solve(
+        &mut self,
+        jacobians: &DVector<Real>,
+        mj_lambdas: &mut [DeltaVel<Real>],
+        generic_mj_lambdas: &mut DVector<Real>,
+    ) {
+        let jacobians = jacobians.as_slice();
+
+        let mj_lambda1 = self.mj_lambda1(mj_lambdas, generic_mj_lambdas);
+        let j1 = DVectorSlice::from_slice(&jacobians[self.j_id1..], self.ndofs1);
+        let vel1 = j1.dot(&mj_lambda1);
+
+        let mj_lambda2 = self.mj_lambda2(mj_lambdas, generic_mj_lambdas);
+        let j2 = DVectorSlice::from_slice(&jacobians[self.j_id2..], self.ndofs2);
+        let vel2 = j2.dot(&mj_lambda2);
+
+        let dvel = self.rhs + (vel2 - vel1);
+        let total_impulse = na::clamp(
+            self.impulse + self.inv_lhs * dvel,
+            self.impulse_bounds[0],
+            self.impulse_bounds[1],
+        );
+        let delta_impulse = total_impulse - self.impulse;
+        self.impulse = total_impulse;
+
+        let mut mj_lambda1 = self.mj_lambda1_mut(mj_lambdas, generic_mj_lambdas);
+        let wj1 = DVectorSlice::from_slice(&jacobians[self.wj_id1()..], self.ndofs1);
+        mj_lambda1.axpy(delta_impulse, &wj1, 1.0);
+
+        let mut mj_lambda2 = self.mj_lambda2_mut(mj_lambdas, generic_mj_lambdas);
+        let wj2 = DVectorSlice::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
+        mj_lambda2.axpy(-delta_impulse, &wj2, 1.0);
+    }
+
+    pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
+        let joint = &mut joints_all[self.joint_id].weight;
+        match self.writeback_id {
+            WritebackId::Dof(i) => joint.impulses[i] = self.impulse,
+            WritebackId::Limit(i) => joint.data.limits[i].impulse = self.impulse,
+            WritebackId::Motor(i) => joint.data.motors[i].impulse = self.impulse,
+        }
+    }
+
+    pub fn remove_bias_from_rhs(&mut self) {
+        self.rhs = self.rhs_wo_bias;
+    }
+}
+
+#[derive(Debug, Copy, Clone)]
+pub struct JointGenericVelocityGroundConstraint {
+    pub mj_lambda2: usize,
+    pub ndofs2: usize,
+    pub j_id2: usize,
+
+    pub joint_id: JointIndex,
+
+    pub impulse: Real,
+    pub impulse_bounds: [Real; 2],
+    pub inv_lhs: Real,
+    pub rhs: Real,
+    pub rhs_wo_bias: Real,
+
+    pub writeback_id: WritebackId,
+}
+
+impl JointGenericVelocityGroundConstraint {
+    pub fn invalid() -> Self {
+        Self {
+            mj_lambda2: crate::INVALID_USIZE,
+            ndofs2: 0,
+            j_id2: crate::INVALID_USIZE,
+            joint_id: 0,
+            impulse: 0.0,
+            impulse_bounds: [-Real::MAX, Real::MAX],
+            inv_lhs: 0.0,
+            rhs: 0.0,
+            rhs_wo_bias: 0.0,
+            writeback_id: WritebackId::Dof(0),
+        }
+    }
+
+    pub fn lock_axes(
+        params: &IntegrationParameters,
+        joint_id: JointIndex,
+        body1: &SolverBody<Real, 1>,
+        body2: &SolverBody<Real, 1>,
+        mb2: (&Multibody, usize),
+        frame1: &Isometry<Real>,
+        frame2: &Isometry<Real>,
+        joint: &JointData,
+        jacobians: &mut DVector<Real>,
+        j_id: &mut usize,
+        out: &mut [Self],
+    ) -> usize {
+        let mut len = 0;
+        let locked_axes = joint.locked_axes.bits();
+        let motor_axes = joint.motor_axes.bits();
+        let limit_axes = joint.limit_axes.bits();
+
+        let builder = JointVelocityConstraintBuilder::new(
+            frame1,
+            frame2,
+            &body1.world_com,
+            &body2.world_com,
+            locked_axes,
+        );
+
+        for i in 0..DIM {
+            if locked_axes & (1 << i) != 0 {
+                out[len] = builder.lock_linear_generic_ground(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    mb2,
+                    i,
+                    WritebackId::Dof(i),
+                );
+                len += 1;
+            }
+        }
+        for i in DIM..SPATIAL_DIM {
+            if locked_axes & (1 << i) != 0 {
+                out[len] = builder.lock_angular_generic_ground(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    mb2,
+                    i - DIM,
+                    WritebackId::Dof(i),
+                );
+                len += 1;
+            }
+        }
+
+        for i in 0..DIM {
+            if motor_axes & (1 << i) != 0 {
+                out[len] = builder.motor_linear_generic_ground(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    body2,
+                    mb2,
+                    // locked_ang_axes,
+                    i,
+                    &joint.motors[i].motor_params(params.dt),
+                    WritebackId::Motor(i),
+                );
+                len += 1;
+            }
+        }
+
+        for i in DIM..SPATIAL_DIM {
+            if (motor_axes >> DIM) & (1 << i) != 0 {
+                out[len] = builder.motor_angular_generic_ground(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    body2,
+                    mb2,
+                    i - DIM,
+                    &joint.motors[i].motor_params(params.dt),
+                    WritebackId::Motor(i),
+                );
+                len += 1;
+            }
+        }
+
+        for i in 0..DIM {
+            if limit_axes & (1 << i) != 0 {
+                out[len] = builder.limit_linear_generic_ground(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    mb2,
+                    i,
+                    [joint.limits[i].min, joint.limits[i].max],
+                    WritebackId::Limit(i),
+                );
+                len += 1;
+            }
+        }
+
+        for i in DIM..SPATIAL_DIM {
+            if limit_axes & (1 << i) != 0 {
+                out[len] = builder.limit_angular_generic_ground(
+                    params,
+                    jacobians,
+                    j_id,
+                    joint_id,
+                    body1,
+                    mb2,
+                    i - DIM,
+                    [joint.limits[i].min, joint.limits[i].max],
+                    WritebackId::Limit(i),
+                );
+                len += 1;
+            }
+        }
+
+        JointVelocityConstraintBuilder::finalize_generic_constraints_ground(
+            jacobians,
+            &mut out[..len],
+        );
+        len
+    }
+
+    fn wj_id2(&self) -> usize {
+        self.j_id2 + self.ndofs2
+    }
+
+    fn mj_lambda2<'a>(
+        &self,
+        _mj_lambdas: &'a [DeltaVel<Real>],
+        generic_mj_lambdas: &'a DVector<Real>,
+    ) -> DVectorSlice<'a, Real> {
+        generic_mj_lambdas.rows(self.mj_lambda2, self.ndofs2)
+    }
+
+    fn mj_lambda2_mut<'a>(
+        &self,
+        _mj_lambdas: &'a mut [DeltaVel<Real>],
+        generic_mj_lambdas: &'a mut DVector<Real>,
+    ) -> DVectorSliceMut<'a, Real> {
+        generic_mj_lambdas.rows_mut(self.mj_lambda2, self.ndofs2)
+    }
+
+    pub fn solve(
+        &mut self,
+        jacobians: &DVector<Real>,
+        mj_lambdas: &mut [DeltaVel<Real>],
+        generic_mj_lambdas: &mut DVector<Real>,
+    ) {
+        let jacobians = jacobians.as_slice();
+
+        let mj_lambda2 = self.mj_lambda2(mj_lambdas, generic_mj_lambdas);
+        let j2 = DVectorSlice::from_slice(&jacobians[self.j_id2..], self.ndofs2);
+        let vel2 = j2.dot(&mj_lambda2);
+
+        let dvel = self.rhs + vel2;
+        let total_impulse = na::clamp(
+            self.impulse + self.inv_lhs * dvel,
+            self.impulse_bounds[0],
+            self.impulse_bounds[1],
+        );
+        let delta_impulse = total_impulse - self.impulse;
+        self.impulse = total_impulse;
+
+        let mut mj_lambda2 = self.mj_lambda2_mut(mj_lambdas, generic_mj_lambdas);
+        let wj2 = DVectorSlice::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
+        mj_lambda2.axpy(-delta_impulse, &wj2, 1.0);
+    }
+
+    pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
+        // FIXME: impulse writeback isn’t supported yet for internal multibody_joint constraints.
+        if self.joint_id != usize::MAX {
+            let joint = &mut joints_all[self.joint_id].weight;
+            match self.writeback_id {
+                WritebackId::Dof(i) => joint.impulses[i] = self.impulse,
+                WritebackId::Limit(i) => joint.data.limits[i].impulse = self.impulse,
+                WritebackId::Motor(i) => joint.data.motors[i].impulse = self.impulse,
+            }
+        }
+    }
+
+    pub fn remove_bias_from_rhs(&mut self) {
+        self.rhs = self.rhs_wo_bias;
+    }
+}