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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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93
src/dynamics/solver/velocity_ground_constraint_wide.rs
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@@ -11,7 +11,6 @@ use crate::math::{
#[cfg(feature = "dim2")]
use crate::utils::WBasis;
use crate::utils::{WAngularInertia, WCross, WDot};
use na::SimdComplexField;
use num::Zero;
use simba::simd::{SimdPartialOrd, SimdValue};
@@ -20,8 +19,6 @@ pub(crate) struct WVelocityGroundConstraint {
pub dir1: Vector<SimdReal>, // Non-penetration force direction for the first body.
#[cfg(feature = "dim3")]
pub tangent1: Vector<SimdReal>, // One of the friction force directions.
#[cfg(feature = "dim3")]
pub tangent_rot1: na::UnitComplex<SimdReal>, // Orientation of the tangent basis wrt. the reference basis.
pub elements: [VelocityGroundConstraintElement<SimdReal>; MAX_MANIFOLD_POINTS],
pub num_contacts: u8,
pub im2: SimdReal,
@@ -46,7 +43,8 @@ impl WVelocityGroundConstraint {
{
let inv_dt = SimdReal::splat(params.inv_dt());
let velocity_solve_fraction = SimdReal::splat(params.velocity_solve_fraction);
let velocity_based_erp_inv_dt = SimdReal::splat(params.velocity_based_erp_inv_dt());
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let mut handles1 = gather![|ii| manifolds[ii].data.rigid_body1];
let mut handles2 = gather![|ii| manifolds[ii].data.rigid_body2];
@@ -95,17 +93,12 @@ impl WVelocityGroundConstraint {
let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
let warmstart_multiplier =
SimdReal::from(gather![|ii| manifolds[ii].data.warmstart_multiplier]);
let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff);
let warmstart_correction_slope = SimdReal::splat(params.warmstart_correction_slope);
let num_active_contacts = manifolds[0].data.num_active_contacts();
#[cfg(feature = "dim2")]
let tangents1 = force_dir1.orthonormal_basis();
#[cfg(feature = "dim3")]
let (tangents1, tangent_rot1) =
super::compute_tangent_contact_directions(&force_dir1, &linvel1, &linvel2);
let tangents1 = super::compute_tangent_contact_directions(&force_dir1, &linvel1, &linvel2);
for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = gather![|ii| &manifolds[ii].data.solver_contacts[l..]];
@@ -115,8 +108,6 @@ impl WVelocityGroundConstraint {
dir1: force_dir1,
#[cfg(feature = "dim3")]
tangent1: tangents1[0],
#[cfg(feature = "dim3")]
tangent_rot1,
elements: [VelocityGroundConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im2,
limit: SimdReal::splat(0.0),
@@ -138,15 +129,11 @@ impl WVelocityGroundConstraint {
let tangent_velocity =
Vector::from(gather![|ii| manifold_points[ii][k].tangent_velocity]);
let impulse =
SimdReal::from(gather![|ii| manifold_points[ii][k].warmstart_impulse]);
let prev_rhs = SimdReal::from(gather![|ii| manifold_points[ii][k].prev_rhs]);
let dp1 = point - world_com1;
let dp2 = point - world_com2;
let vel1 = linvel1 + angvel1.gcross(dp1);
let vel2 = linvel2 + angvel2.gcross(dp2);
let warmstart_correction;
constraint.limit = friction;
constraint.manifold_contact_id[k] = gather![|ii| manifold_points[ii][k].contact_id];
@@ -157,36 +144,24 @@ impl WVelocityGroundConstraint {
let r = SimdReal::splat(1.0) / (im2 + gcross2.gdot(gcross2));
let projected_velocity = (vel1 - vel2).dot(&force_dir1);
let mut rhs =
let mut rhs_wo_bias =
(SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity;
rhs += dist.simd_max(SimdReal::zero()) * inv_dt;
rhs *= is_bouncy + is_resting * velocity_solve_fraction;
rhs +=
dist.simd_min(SimdReal::zero()) * (velocity_based_erp_inv_dt * is_resting);
warmstart_correction = (warmstart_correction_slope
/ (rhs - prev_rhs).simd_abs())
.simd_min(warmstart_coeff);
rhs_wo_bias += (dist + allowed_lin_err).simd_max(SimdReal::zero()) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting * velocity_solve_fraction;
let rhs_bias = (dist + allowed_lin_err).simd_min(SimdReal::zero())
* (erp_inv_dt/* * is_resting */);
constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
gcross2,
rhs,
impulse: impulse * warmstart_correction,
rhs: rhs_wo_bias + rhs_bias,
rhs_wo_bias,
impulse: na::zero(),
r,
};
}
// tangent parts.
#[cfg(feature = "dim2")]
let impulse = [SimdReal::from(gather![
|ii| manifold_points[ii][k].warmstart_tangent_impulse
]) * warmstart_correction];
#[cfg(feature = "dim3")]
let impulse = tangent_rot1
* na::Vector2::from(gather![
|ii| manifold_points[ii][k].warmstart_tangent_impulse
])
* warmstart_correction;
constraint.elements[k].tangent_part.impulse = impulse;
constraint.elements[k].tangent_part.impulse = na::zero();
for j in 0..DIM - 1 {
let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j]));
@@ -208,30 +183,12 @@ impl WVelocityGroundConstraint {
}
}
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
let mut mj_lambda2 = DeltaVel {
linear: Vector::from(gather![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear]),
angular: AngVector::from(gather![
|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular
]),
};
VelocityGroundConstraintElement::warmstart_group(
&self.elements[..self.num_contacts as usize],
&self.dir1,
#[cfg(feature = "dim3")]
&self.tangent1,
self.im2,
&mut mj_lambda2,
);
for ii in 0..SIMD_WIDTH {
mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii);
mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii);
}
}
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
pub fn solve(
&mut self,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
) {
let mut mj_lambda2 = DeltaVel {
linear: Vector::from(gather![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear]),
angular: AngVector::from(gather![
@@ -247,6 +204,8 @@ impl WVelocityGroundConstraint {
self.im2,
self.limit,
&mut mj_lambda2,
solve_normal,
solve_friction,
);
for ii in 0..SIMD_WIDTH {
@@ -258,20 +217,16 @@ impl WVelocityGroundConstraint {
// FIXME: duplicated code. This is exactly the same as in the non-ground velocity constraint.
pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
for k in 0..self.num_contacts as usize {
let rhs: [_; SIMD_WIDTH] = self.elements[k].normal_part.rhs.into();
let impulses: [_; SIMD_WIDTH] = self.elements[k].normal_part.impulse.into();
#[cfg(feature = "dim2")]
let tangent_impulses: [_; SIMD_WIDTH] = self.elements[k].tangent_part.impulse[0].into();
#[cfg(feature = "dim3")]
let tangent_impulses = self
.tangent_rot1
.inverse_transform_vector(&self.elements[k].tangent_part.impulse);
let tangent_impulses = self.elements[k].tangent_part.impulse;
for ii in 0..SIMD_WIDTH {
let manifold = &mut manifolds_all[self.manifold_id[ii]];
let contact_id = self.manifold_contact_id[k][ii];
let active_contact = &mut manifold.points[contact_id as usize];
active_contact.data.rhs = rhs[ii];
active_contact.data.impulse = impulses[ii];
#[cfg(feature = "dim2")]
@@ -285,4 +240,10 @@ impl WVelocityGroundConstraint {
}
}
}
pub fn remove_bias_from_rhs(&mut self) {
for elt in &mut self.elements {
elt.normal_part.rhs = elt.normal_part.rhs_wo_bias;
}
}
}