443 lines
17 KiB
Rust
443 lines
17 KiB
Rust
use crate::data::{BundleSet, ComponentSet};
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use crate::dynamics::solver::{GenericRhs, VelocityConstraint};
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use crate::dynamics::{
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IntegrationParameters, MultibodyJointSet, RigidBodyIds, RigidBodyMassProps, RigidBodyType,
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RigidBodyVelocity,
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};
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use crate::geometry::{ContactManifold, ContactManifoldIndex};
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use crate::math::{Real, DIM, MAX_MANIFOLD_POINTS};
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use crate::utils::{WAngularInertia, WCross, WDot};
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use super::{DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart};
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use crate::dynamics::solver::GenericVelocityGroundConstraint;
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#[cfg(feature = "dim2")]
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use crate::utils::WBasis;
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use na::DVector;
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#[derive(Copy, Clone, Debug)]
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pub(crate) enum AnyGenericVelocityConstraint {
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NongroupedGround(GenericVelocityGroundConstraint),
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Nongrouped(GenericVelocityConstraint),
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}
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impl AnyGenericVelocityConstraint {
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pub fn solve(
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&mut self,
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cfm_factor: Real,
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jacobians: &DVector<Real>,
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mj_lambdas: &mut [DeltaVel<Real>],
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generic_mj_lambdas: &mut DVector<Real>,
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solve_restitution: bool,
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solve_friction: bool,
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) {
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match self {
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AnyGenericVelocityConstraint::Nongrouped(c) => c.solve(
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cfm_factor,
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jacobians,
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mj_lambdas,
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generic_mj_lambdas,
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solve_restitution,
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solve_friction,
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),
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AnyGenericVelocityConstraint::NongroupedGround(c) => c.solve(
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cfm_factor,
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jacobians,
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generic_mj_lambdas,
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solve_restitution,
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solve_friction,
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),
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}
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}
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pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
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match self {
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AnyGenericVelocityConstraint::Nongrouped(c) => c.writeback_impulses(manifolds_all),
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AnyGenericVelocityConstraint::NongroupedGround(c) => {
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c.writeback_impulses(manifolds_all)
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}
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}
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}
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pub fn remove_bias_from_rhs(&mut self) {
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match self {
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AnyGenericVelocityConstraint::Nongrouped(c) => c.remove_bias_from_rhs(),
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AnyGenericVelocityConstraint::NongroupedGround(c) => c.remove_bias_from_rhs(),
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}
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}
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}
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct GenericVelocityConstraint {
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// We just build the generic constraint on top of the velocity constraint,
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// adding some information we can use in the generic case.
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pub velocity_constraint: VelocityConstraint,
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pub j_id: usize,
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pub ndofs1: usize,
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pub ndofs2: usize,
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pub generic_constraint_mask: u8,
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}
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impl GenericVelocityConstraint {
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pub fn generate<Bodies>(
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params: &IntegrationParameters,
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manifold_id: ContactManifoldIndex,
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manifold: &ContactManifold,
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bodies: &Bodies,
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multibodies: &MultibodyJointSet,
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out_constraints: &mut Vec<AnyGenericVelocityConstraint>,
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jacobians: &mut DVector<Real>,
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jacobian_id: &mut usize,
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push: bool,
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) where
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Bodies: ComponentSet<RigidBodyIds>
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+ ComponentSet<RigidBodyVelocity>
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+ ComponentSet<RigidBodyMassProps>
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+ ComponentSet<RigidBodyType>,
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{
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let inv_dt = params.inv_dt();
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let erp_inv_dt = params.erp_inv_dt();
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let handle1 = manifold.data.rigid_body1.unwrap();
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let handle2 = manifold.data.rigid_body2.unwrap();
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let (rb_ids1, rb_vels1, rb_mprops1, rb_type1): (
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&RigidBodyIds,
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&RigidBodyVelocity,
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&RigidBodyMassProps,
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&RigidBodyType,
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) = bodies.index_bundle(handle1.0);
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let (rb_ids2, rb_vels2, rb_mprops2, rb_type2): (
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&RigidBodyIds,
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&RigidBodyVelocity,
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&RigidBodyMassProps,
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&RigidBodyType,
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) = bodies.index_bundle(handle2.0);
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let multibody1 = multibodies
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.rigid_body_link(handle1)
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.map(|m| (&multibodies[m.multibody], m.id));
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let multibody2 = multibodies
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.rigid_body_link(handle2)
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.map(|m| (&multibodies[m.multibody], m.id));
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let mj_lambda1 = multibody1
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.map(|mb| mb.0.solver_id)
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.unwrap_or(if rb_type1.is_dynamic() {
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rb_ids1.active_set_offset
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} else {
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0
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});
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let mj_lambda2 = multibody2
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.map(|mb| mb.0.solver_id)
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.unwrap_or(if rb_type2.is_dynamic() {
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rb_ids2.active_set_offset
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} else {
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0
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});
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let force_dir1 = -manifold.data.normal;
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#[cfg(feature = "dim2")]
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let tangents1 = force_dir1.orthonormal_basis();
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#[cfg(feature = "dim3")]
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let tangents1 = super::compute_tangent_contact_directions(
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&force_dir1,
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&rb_vels1.linvel,
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&rb_vels2.linvel,
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);
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let multibodies_ndof = multibody1.map(|m| m.0.ndofs()).unwrap_or(0)
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+ multibody2.map(|m| m.0.ndofs()).unwrap_or(0);
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// For each solver contact we generate DIM constraints, and each constraints appends
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// the multibodies jacobian and weighted jacobians
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let required_jacobian_len =
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*jacobian_id + manifold.data.solver_contacts.len() * multibodies_ndof * 2 * DIM;
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if jacobians.nrows() < required_jacobian_len {
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jacobians.resize_vertically_mut(required_jacobian_len, 0.0);
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}
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for (_l, manifold_points) in manifold
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.data
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.solver_contacts
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.chunks(MAX_MANIFOLD_POINTS)
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.enumerate()
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{
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let chunk_j_id = *jacobian_id;
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let mut constraint = VelocityConstraint {
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dir1: force_dir1,
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#[cfg(feature = "dim3")]
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tangent1: tangents1[0],
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elements: [VelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS],
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im1: if rb_type1.is_dynamic() {
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rb_mprops1.effective_inv_mass
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} else {
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na::zero()
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},
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im2: if rb_type2.is_dynamic() {
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rb_mprops2.effective_inv_mass
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} else {
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na::zero()
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},
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limit: 0.0,
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mj_lambda1,
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mj_lambda2,
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manifold_id,
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manifold_contact_id: [0; MAX_MANIFOLD_POINTS],
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num_contacts: manifold_points.len() as u8,
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};
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for k in 0..manifold_points.len() {
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let manifold_point = &manifold_points[k];
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let dp1 = manifold_point.point - rb_mprops1.world_com;
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let dp2 = manifold_point.point - rb_mprops2.world_com;
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let vel1 = rb_vels1.linvel + rb_vels1.angvel.gcross(dp1);
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let vel2 = rb_vels2.linvel + rb_vels2.angvel.gcross(dp2);
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constraint.limit = manifold_point.friction;
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constraint.manifold_contact_id[k] = manifold_point.contact_id;
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// Normal part.
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{
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let torque_dir1 = dp1.gcross(force_dir1);
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let torque_dir2 = dp2.gcross(-force_dir1);
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let gcross1 = if rb_type1.is_dynamic() {
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rb_mprops1
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.effective_world_inv_inertia_sqrt
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.transform_vector(torque_dir1)
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} else {
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na::zero()
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};
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let gcross2 = if rb_type2.is_dynamic() {
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rb_mprops2
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.effective_world_inv_inertia_sqrt
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.transform_vector(torque_dir2)
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} else {
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na::zero()
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};
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let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
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mb1.fill_jacobians(
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*link_id1,
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force_dir1,
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#[cfg(feature = "dim2")]
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na::vector!(torque_dir1),
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#[cfg(feature = "dim3")]
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torque_dir1,
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jacobian_id,
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jacobians,
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)
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.0
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} else if rb_type1.is_dynamic() {
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force_dir1.dot(&rb_mprops1.effective_inv_mass.component_mul(&force_dir1))
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+ gcross1.gdot(gcross1)
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} else {
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0.0
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};
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let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
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mb2.fill_jacobians(
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*link_id2,
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-force_dir1,
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#[cfg(feature = "dim2")]
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na::vector!(torque_dir2),
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#[cfg(feature = "dim3")]
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torque_dir2,
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jacobian_id,
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jacobians,
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)
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.0
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} else if rb_type2.is_dynamic() {
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force_dir1.dot(&rb_mprops2.effective_inv_mass.component_mul(&force_dir1))
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+ gcross2.gdot(gcross2)
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} else {
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0.0
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};
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let r = crate::utils::inv(inv_r1 + inv_r2);
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let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
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let is_resting = 1.0 - is_bouncy;
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let mut rhs_wo_bias = (1.0 + is_bouncy * manifold_point.restitution)
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* (vel1 - vel2).dot(&force_dir1);
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rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
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rhs_wo_bias *= is_bouncy + is_resting * params.velocity_solve_fraction;
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let rhs_bias =
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/* is_resting * */ erp_inv_dt * manifold_point.dist.min(0.0);
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constraint.elements[k].normal_part = VelocityConstraintNormalPart {
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gcross1,
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gcross2,
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rhs: rhs_wo_bias + rhs_bias,
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rhs_wo_bias,
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impulse: na::zero(),
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r,
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};
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}
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// Tangent parts.
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{
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constraint.elements[k].tangent_part.impulse = na::zero();
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for j in 0..DIM - 1 {
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let torque_dir1 = dp1.gcross(tangents1[j]);
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let gcross1 = if rb_type1.is_dynamic() {
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rb_mprops1
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.effective_world_inv_inertia_sqrt
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.transform_vector(torque_dir1)
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} else {
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na::zero()
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};
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constraint.elements[k].tangent_part.gcross1[j] = gcross1;
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let torque_dir2 = dp2.gcross(-tangents1[j]);
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let gcross2 = if rb_type2.is_dynamic() {
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rb_mprops2
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.effective_world_inv_inertia_sqrt
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.transform_vector(torque_dir2)
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} else {
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na::zero()
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};
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constraint.elements[k].tangent_part.gcross2[j] = gcross2;
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let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
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mb1.fill_jacobians(
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*link_id1,
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tangents1[j],
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#[cfg(feature = "dim2")]
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na::vector![torque_dir1],
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#[cfg(feature = "dim3")]
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torque_dir1,
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jacobian_id,
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jacobians,
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)
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.0
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} else if rb_type1.is_dynamic() {
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force_dir1
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.dot(&rb_mprops1.effective_inv_mass.component_mul(&force_dir1))
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+ gcross1.gdot(gcross1)
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} else {
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0.0
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};
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let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
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mb2.fill_jacobians(
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*link_id2,
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-tangents1[j],
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#[cfg(feature = "dim2")]
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na::vector![torque_dir2],
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#[cfg(feature = "dim3")]
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torque_dir2,
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jacobian_id,
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jacobians,
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)
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.0
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} else if rb_type2.is_dynamic() {
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force_dir1
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.dot(&rb_mprops2.effective_inv_mass.component_mul(&force_dir1))
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+ gcross2.gdot(gcross2)
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} else {
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0.0
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};
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let r = crate::utils::inv(inv_r1 + inv_r2);
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let rhs =
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(vel1 - vel2 + manifold_point.tangent_velocity).dot(&tangents1[j]);
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constraint.elements[k].tangent_part.rhs[j] = rhs;
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// FIXME: in 3D, we should take into account gcross[0].dot(gcross[1])
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// in lhs. See the corresponding code on the `velocity_constraint.rs`
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// file.
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constraint.elements[k].tangent_part.r[j] = r;
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}
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}
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}
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let ndofs1 = multibody1.map(|mb| mb.0.ndofs()).unwrap_or(0);
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let ndofs2 = multibody2.map(|mb| mb.0.ndofs()).unwrap_or(0);
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// NOTE: we use the generic constraint for non-dynamic bodies because this will
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// reduce all ops to nothing because its ndofs will be zero.
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let generic_constraint_mask = (multibody1.is_some() as u8)
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| ((multibody2.is_some() as u8) << 1)
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| (!rb_type1.is_dynamic() as u8)
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| ((!rb_type2.is_dynamic() as u8) << 1);
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let constraint = GenericVelocityConstraint {
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velocity_constraint: constraint,
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j_id: chunk_j_id,
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ndofs1,
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ndofs2,
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generic_constraint_mask,
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};
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if push {
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out_constraints.push(AnyGenericVelocityConstraint::Nongrouped(constraint));
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} else {
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out_constraints[manifold.data.constraint_index + _l] =
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AnyGenericVelocityConstraint::Nongrouped(constraint);
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}
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}
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}
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pub fn solve(
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&mut self,
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cfm_factor: Real,
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jacobians: &DVector<Real>,
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mj_lambdas: &mut [DeltaVel<Real>],
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generic_mj_lambdas: &mut DVector<Real>,
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solve_restitution: bool,
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solve_friction: bool,
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) {
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let mut mj_lambda1 = if self.generic_constraint_mask & 0b01 == 0 {
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GenericRhs::DeltaVel(mj_lambdas[self.velocity_constraint.mj_lambda1 as usize])
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} else {
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GenericRhs::GenericId(self.velocity_constraint.mj_lambda1 as usize)
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};
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let mut mj_lambda2 = if self.generic_constraint_mask & 0b10 == 0 {
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GenericRhs::DeltaVel(mj_lambdas[self.velocity_constraint.mj_lambda2 as usize])
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} else {
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GenericRhs::GenericId(self.velocity_constraint.mj_lambda2 as usize)
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};
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let elements = &mut self.velocity_constraint.elements
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[..self.velocity_constraint.num_contacts as usize];
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VelocityConstraintElement::generic_solve_group(
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cfm_factor,
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elements,
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jacobians,
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&self.velocity_constraint.dir1,
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#[cfg(feature = "dim3")]
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&self.velocity_constraint.tangent1,
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&self.velocity_constraint.im1,
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&self.velocity_constraint.im2,
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self.velocity_constraint.limit,
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self.ndofs1,
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self.ndofs2,
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self.j_id,
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&mut mj_lambda1,
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&mut mj_lambda2,
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generic_mj_lambdas,
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solve_restitution,
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solve_friction,
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);
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if let GenericRhs::DeltaVel(mj_lambda1) = mj_lambda1 {
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mj_lambdas[self.velocity_constraint.mj_lambda1 as usize] = mj_lambda1;
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}
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if let GenericRhs::DeltaVel(mj_lambda2) = mj_lambda2 {
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mj_lambdas[self.velocity_constraint.mj_lambda2 as usize] = mj_lambda2;
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}
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}
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pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
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self.velocity_constraint.writeback_impulses(manifolds_all);
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}
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pub fn remove_bias_from_rhs(&mut self) {
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self.velocity_constraint.remove_bias_from_rhs();
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}
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}
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