816 lines
32 KiB
Rust
816 lines
32 KiB
Rust
use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
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use crate::dynamics::solver::DeltaVel;
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use crate::dynamics::{
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IntegrationParameters, JointGraphEdge, JointIndex, JointParams, PrismaticJoint, RigidBody,
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};
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use crate::math::{
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AngVector, AngularInertia, Isometry, Point, Real, SimdBool, SimdReal, Vector, SIMD_WIDTH,
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};
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use crate::utils::{WAngularInertia, WCross, WCrossMatrix, WDot};
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#[cfg(feature = "dim3")]
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use na::{Cholesky, Matrix3x2, Matrix5, Vector3, Vector5, U2, U3};
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#[cfg(feature = "dim2")]
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use {
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na::{Matrix2, Vector2},
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parry::utils::SdpMatrix2,
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};
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#[cfg(feature = "dim2")]
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type LinImpulseDim = na::U1;
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#[cfg(feature = "dim3")]
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type LinImpulseDim = na::U2;
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#[derive(Debug)]
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pub(crate) struct WPrismaticVelocityConstraint {
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mj_lambda1: [usize; SIMD_WIDTH],
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mj_lambda2: [usize; SIMD_WIDTH],
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joint_id: [JointIndex; SIMD_WIDTH],
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r1: Vector<SimdReal>,
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r2: Vector<SimdReal>,
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#[cfg(feature = "dim3")]
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inv_lhs: Matrix5<SimdReal>,
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#[cfg(feature = "dim3")]
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rhs: Vector5<SimdReal>,
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#[cfg(feature = "dim3")]
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impulse: Vector5<SimdReal>,
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#[cfg(feature = "dim2")]
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inv_lhs: Matrix2<SimdReal>,
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#[cfg(feature = "dim2")]
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rhs: Vector2<SimdReal>,
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#[cfg(feature = "dim2")]
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impulse: Vector2<SimdReal>,
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limits_impulse: SimdReal,
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limits_forcedirs: Option<(Vector<SimdReal>, Vector<SimdReal>)>,
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limits_rhs: SimdReal,
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limits_inv_lhs: SimdReal,
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#[cfg(feature = "dim2")]
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basis1: Vector2<SimdReal>,
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#[cfg(feature = "dim3")]
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basis1: Matrix3x2<SimdReal>,
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im1: SimdReal,
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im2: SimdReal,
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ii1_sqrt: AngularInertia<SimdReal>,
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ii2_sqrt: AngularInertia<SimdReal>,
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}
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impl WPrismaticVelocityConstraint {
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pub fn from_params(
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params: &IntegrationParameters,
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joint_id: [JointIndex; SIMD_WIDTH],
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rbs1: [&RigidBody; SIMD_WIDTH],
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rbs2: [&RigidBody; SIMD_WIDTH],
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cparams: [&PrismaticJoint; SIMD_WIDTH],
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) -> Self {
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let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
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let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
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let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
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let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
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let im1 = SimdReal::from(array![|ii| rbs1[ii].effective_inv_mass; SIMD_WIDTH]);
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let ii1_sqrt = AngularInertia::<SimdReal>::from(
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array![|ii| rbs1[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
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);
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let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
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let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
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let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
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let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
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let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
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let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]);
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let ii2_sqrt = AngularInertia::<SimdReal>::from(
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array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
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);
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let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
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let local_anchor1 = Point::from(array![|ii| cparams[ii].local_anchor1; SIMD_WIDTH]);
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let local_anchor2 = Point::from(array![|ii| cparams[ii].local_anchor2; SIMD_WIDTH]);
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let local_axis1 = Vector::from(array![|ii| *cparams[ii].local_axis1; SIMD_WIDTH]);
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let local_axis2 = Vector::from(array![|ii| *cparams[ii].local_axis2; SIMD_WIDTH]);
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#[cfg(feature = "dim2")]
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let local_basis1 = [Vector::from(array![|ii| cparams[ii].basis1[0]; SIMD_WIDTH])];
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#[cfg(feature = "dim3")]
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let local_basis1 = [
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Vector::from(array![|ii| cparams[ii].basis1[0]; SIMD_WIDTH]),
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Vector::from(array![|ii| cparams[ii].basis1[1]; SIMD_WIDTH]),
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];
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#[cfg(feature = "dim2")]
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let impulse = Vector2::from(array![|ii| cparams[ii].impulse; SIMD_WIDTH]);
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#[cfg(feature = "dim3")]
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let impulse = Vector5::from(array![|ii| cparams[ii].impulse; SIMD_WIDTH]);
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let anchor1 = position1 * local_anchor1;
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let anchor2 = position2 * local_anchor2;
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let axis1 = position1 * local_axis1;
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let axis2 = position2 * local_axis2;
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#[cfg(feature = "dim2")]
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let basis1 = position1 * local_basis1[0];
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#[cfg(feature = "dim3")]
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let basis1 =
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Matrix3x2::from_columns(&[position1 * local_basis1[0], position1 * local_basis1[1]]);
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// #[cfg(feature = "dim2")]
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// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
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// .to_rotation_matrix()
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// .into_inner();
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// #[cfg(feature = "dim3")]
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// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
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// .unwrap_or_else(Rotation::identity)
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// .to_rotation_matrix()
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// .into_inner();
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// let basis2 = r21 * basis1;
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// NOTE: we use basis2 := basis1 for now is that allows
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// simplifications of the computation without introducing
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// much instabilities.
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let ii1 = ii1_sqrt.squared();
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let r1 = anchor1 - world_com1;
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let r1_mat = r1.gcross_matrix();
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let ii2 = ii2_sqrt.squared();
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let r2 = anchor2 - world_com2;
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let r2_mat = r2.gcross_matrix();
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#[allow(unused_mut)] // For 2D.
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let mut lhs;
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#[cfg(feature = "dim3")]
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{
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let r1_mat_b1 = r1_mat * basis1;
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let r2_mat_b1 = r2_mat * basis1;
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lhs = Matrix5::zeros();
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let lhs00 = ii1.quadform3x2(&r1_mat_b1).add_diagonal(im1)
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+ ii2.quadform3x2(&r2_mat_b1).add_diagonal(im2);
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let lhs10 = ii1 * r1_mat_b1 + ii2 * r2_mat_b1;
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let lhs11 = (ii1 + ii2).into_matrix();
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lhs.fixed_slice_mut::<U2, U2>(0, 0)
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.copy_from(&lhs00.into_matrix());
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lhs.fixed_slice_mut::<U3, U2>(2, 0).copy_from(&lhs10);
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lhs.fixed_slice_mut::<U3, U3>(2, 2).copy_from(&lhs11);
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}
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#[cfg(feature = "dim2")]
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{
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let b1r1 = basis1.dot(&r1_mat);
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let b2r2 = basis1.dot(&r2_mat);
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let m11 = im1 + im2 + b1r1 * ii1 * b1r1 + b2r2 * ii2 * b2r2;
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let m12 = basis1.dot(&r1_mat) * ii1 + basis1.dot(&r2_mat) * ii2;
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let m22 = ii1 + ii2;
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lhs = SdpMatrix2::new(m11, m12, m22);
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}
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let anchor_linvel1 = linvel1 + angvel1.gcross(r1);
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let anchor_linvel2 = linvel2 + angvel2.gcross(r2);
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// NOTE: we don't use Cholesky in 2D because we only have a 2x2 matrix
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// for which a textbook inverse is still efficient.
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#[cfg(feature = "dim2")]
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let inv_lhs = lhs.inverse_unchecked().into_matrix();
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#[cfg(feature = "dim3")]
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let inv_lhs = Cholesky::new_unchecked(lhs).inverse();
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let linvel_err = basis1.tr_mul(&(anchor_linvel2 - anchor_linvel1));
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let angvel_err = angvel2 - angvel1;
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let velocity_solve_fraction = SimdReal::splat(params.velocity_solve_fraction);
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#[cfg(feature = "dim2")]
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let mut rhs = Vector2::new(linvel_err.x, angvel_err) * velocity_solve_fraction;
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#[cfg(feature = "dim3")]
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let mut rhs = Vector5::new(
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linvel_err.x,
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linvel_err.y,
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angvel_err.x,
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angvel_err.y,
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angvel_err.z,
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) * velocity_solve_fraction;
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let limits_enabled =
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SimdBool::from(array![|ii| cparams[ii].limits_enabled; SIMD_WIDTH]).any();
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let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt();
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if velocity_based_erp_inv_dt != 0.0 {
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let velocity_based_erp_inv_dt = SimdReal::splat(velocity_based_erp_inv_dt);
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let dpos = anchor2 - anchor1;
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let limit_err = dpos.dot(&axis1);
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let mut linear_err = dpos - axis1 * limit_err;
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let local_frame1 = Isometry::from(array![|ii| cparams[ii].local_frame1(); SIMD_WIDTH]);
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let local_frame2 = Isometry::from(array![|ii| cparams[ii].local_frame2(); SIMD_WIDTH]);
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let frame1 = position1 * local_frame1;
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let frame2 = position2 * local_frame2;
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let ang_err = frame2.rotation * frame1.rotation.inverse();
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if limits_enabled {
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let min_limit = SimdReal::from(array![|ii| cparams[ii].limits[0]; SIMD_WIDTH]);
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let max_limit = SimdReal::from(array![|ii| cparams[ii].limits[1]; SIMD_WIDTH]);
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let zero: SimdReal = na::zero();
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linear_err += axis1
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* ((limit_err - max_limit).simd_max(zero)
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- (min_limit - limit_err).simd_max(zero));
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}
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#[cfg(feature = "dim2")]
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{
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rhs += Vector2::new(linear_err.x, ang_err.angle()) * velocity_based_erp_inv_dt;
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}
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#[cfg(feature = "dim3")]
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{
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let ang_err =
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Vector3::from(array![|ii| ang_err.extract(ii).scaled_axis(); SIMD_WIDTH]);
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rhs += Vector5::new(linear_err.x, linear_err.y, ang_err.x, ang_err.y, ang_err.z)
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* velocity_based_erp_inv_dt;
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}
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}
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/*
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* Setup limit constraint.
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*/
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let mut limits_forcedirs = None;
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let mut limits_rhs = na::zero();
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let mut limits_impulse = na::zero();
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let mut limits_inv_lhs = na::zero();
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let limits_enabled = SimdBool::from(array![|ii| cparams[ii].limits_enabled; SIMD_WIDTH]);
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if limits_enabled {
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let danchor = anchor2 - anchor1;
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let dist = danchor.dot(&axis1);
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// FIXME: we should allow both limits to be active at
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// the same time + allow predictive constraint activation.
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let min_limit = SimdReal::from(array![|ii| cparams[ii].limits[0]; SIMD_WIDTH]);
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let max_limit = SimdReal::from(array![|ii| cparams[ii].limits[1]; SIMD_WIDTH]);
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let lim_impulse = SimdReal::from(array![|ii| cparams[ii].limits_impulse; SIMD_WIDTH]);
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let min_enabled = dist.simd_lt(min_limit);
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let max_enabled = dist.simd_gt(max_limit);
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let _0: SimdReal = na::zero();
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let _1: SimdReal = na::one();
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let sign = _1.select(min_enabled, (-_1).select(max_enabled, _0));
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if sign != _0 {
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let gcross1 = r1.gcross(axis1);
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let gcross2 = r2.gcross(axis2);
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limits_forcedirs = Some((axis1 * -sign, axis2 * sign));
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limits_rhs = (anchor_linvel2.dot(&axis2) - anchor_linvel1.dot(&axis1)) * sign;
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limits_impulse = lim_impulse.select(min_enabled | max_enabled, _0);
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limits_inv_lhs = SimdReal::splat(1.0)
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/ (im1
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+ im2
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+ gcross1.gdot(ii1.transform_vector(gcross1))
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+ gcross2.gdot(ii2.transform_vector(gcross2)));
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}
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}
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WPrismaticVelocityConstraint {
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joint_id,
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mj_lambda1,
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mj_lambda2,
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im1,
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ii1_sqrt,
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im2,
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ii2_sqrt,
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impulse: impulse * SimdReal::splat(params.warmstart_coeff),
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limits_impulse: limits_impulse * SimdReal::splat(params.warmstart_coeff),
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limits_forcedirs,
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limits_rhs,
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limits_inv_lhs,
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basis1,
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inv_lhs,
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rhs,
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r1,
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r2,
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}
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}
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pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
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let mut mj_lambda1 = DeltaVel {
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linear: Vector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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let mut mj_lambda2 = DeltaVel {
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linear: Vector::from(
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array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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let lin_impulse = self.basis1 * self.impulse.fixed_rows::<LinImpulseDim>(0).into_owned();
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#[cfg(feature = "dim2")]
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let ang_impulse = self.impulse.y;
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#[cfg(feature = "dim3")]
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let ang_impulse = self.impulse.fixed_rows::<U3>(2).into_owned();
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mj_lambda1.linear += lin_impulse * self.im1;
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mj_lambda1.angular += self
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.ii1_sqrt
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.transform_vector(ang_impulse + self.r1.gcross(lin_impulse));
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mj_lambda2.linear -= lin_impulse * self.im2;
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mj_lambda2.angular -= self
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.ii2_sqrt
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.transform_vector(ang_impulse + self.r2.gcross(lin_impulse));
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// Warmstart limits.
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if let Some((limits_forcedir1, limits_forcedir2)) = self.limits_forcedirs {
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let limit_impulse1 = limits_forcedir1 * self.limits_impulse;
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let limit_impulse2 = limits_forcedir2 * self.limits_impulse;
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mj_lambda1.linear += limit_impulse1 * self.im1;
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mj_lambda1.angular += self
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.ii1_sqrt
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.transform_vector(self.r1.gcross(limit_impulse1));
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mj_lambda2.linear += limit_impulse2 * self.im2;
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mj_lambda2.angular += self
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.ii2_sqrt
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.transform_vector(self.r2.gcross(limit_impulse2));
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}
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for ii in 0..SIMD_WIDTH {
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mj_lambdas[self.mj_lambda1[ii] as usize].linear = mj_lambda1.linear.extract(ii);
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mj_lambdas[self.mj_lambda1[ii] as usize].angular = mj_lambda1.angular.extract(ii);
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}
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for ii in 0..SIMD_WIDTH {
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mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii);
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mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii);
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}
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}
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fn solve_dofs(
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&mut self,
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mj_lambda1: &mut DeltaVel<SimdReal>,
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mj_lambda2: &mut DeltaVel<SimdReal>,
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) {
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let ang_vel1 = self.ii1_sqrt.transform_vector(mj_lambda1.angular);
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let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular);
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let lin_vel1 = mj_lambda1.linear + ang_vel1.gcross(self.r1);
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let lin_vel2 = mj_lambda2.linear + ang_vel2.gcross(self.r2);
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let lin_dvel = self.basis1.tr_mul(&(lin_vel2 - lin_vel1));
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let ang_dvel = ang_vel2 - ang_vel1;
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#[cfg(feature = "dim2")]
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let rhs = Vector2::new(lin_dvel.x, ang_dvel) + self.rhs;
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#[cfg(feature = "dim3")]
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let rhs =
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Vector5::new(lin_dvel.x, lin_dvel.y, ang_dvel.x, ang_dvel.y, ang_dvel.z) + self.rhs;
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let impulse = self.inv_lhs * rhs;
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self.impulse += impulse;
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let lin_impulse = self.basis1 * impulse.fixed_rows::<LinImpulseDim>(0).into_owned();
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#[cfg(feature = "dim2")]
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let ang_impulse = impulse.y;
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#[cfg(feature = "dim3")]
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let ang_impulse = impulse.fixed_rows::<U3>(2).into_owned();
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mj_lambda1.linear += lin_impulse * self.im1;
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mj_lambda1.angular += self
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.ii1_sqrt
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.transform_vector(ang_impulse + self.r1.gcross(lin_impulse));
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mj_lambda2.linear -= lin_impulse * self.im2;
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mj_lambda2.angular -= self
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.ii2_sqrt
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.transform_vector(ang_impulse + self.r2.gcross(lin_impulse));
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}
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fn solve_limits(
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&mut self,
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mj_lambda1: &mut DeltaVel<SimdReal>,
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mj_lambda2: &mut DeltaVel<SimdReal>,
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) {
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if let Some((limits_forcedir1, limits_forcedir2)) = self.limits_forcedirs {
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let ang_vel1 = self.ii1_sqrt.transform_vector(mj_lambda1.angular);
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let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular);
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let lin_dvel = limits_forcedir2.dot(&(mj_lambda2.linear + ang_vel2.gcross(self.r2)))
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+ limits_forcedir1.dot(&(mj_lambda1.linear + ang_vel1.gcross(self.r1)))
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+ self.limits_rhs;
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let new_impulse =
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(self.limits_impulse - lin_dvel * self.limits_inv_lhs).simd_max(na::zero());
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let dimpulse = new_impulse - self.limits_impulse;
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|
self.limits_impulse = new_impulse;
|
|
|
|
let lin_impulse1 = limits_forcedir1 * dimpulse;
|
|
let lin_impulse2 = limits_forcedir2 * dimpulse;
|
|
|
|
mj_lambda1.linear += lin_impulse1 * self.im1;
|
|
mj_lambda1.angular += self.ii1_sqrt.transform_vector(self.r1.gcross(lin_impulse1));
|
|
mj_lambda2.linear += lin_impulse2 * self.im2;
|
|
mj_lambda2.angular += self.ii2_sqrt.transform_vector(self.r2.gcross(lin_impulse2));
|
|
}
|
|
}
|
|
|
|
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
|
|
let mut mj_lambda1 = DeltaVel {
|
|
linear: Vector::from(
|
|
array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
|
|
),
|
|
angular: AngVector::from(
|
|
array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH],
|
|
),
|
|
};
|
|
let mut mj_lambda2 = DeltaVel {
|
|
linear: Vector::from(
|
|
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
|
|
),
|
|
angular: AngVector::from(
|
|
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH],
|
|
),
|
|
};
|
|
|
|
self.solve_dofs(&mut mj_lambda1, &mut mj_lambda2);
|
|
self.solve_limits(&mut mj_lambda1, &mut mj_lambda2);
|
|
|
|
for ii in 0..SIMD_WIDTH {
|
|
mj_lambdas[self.mj_lambda1[ii] as usize].linear = mj_lambda1.linear.extract(ii);
|
|
mj_lambdas[self.mj_lambda1[ii] as usize].angular = mj_lambda1.angular.extract(ii);
|
|
}
|
|
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 writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
|
|
for ii in 0..SIMD_WIDTH {
|
|
let joint = &mut joints_all[self.joint_id[ii]].weight;
|
|
if let JointParams::PrismaticJoint(rev) = &mut joint.params {
|
|
rev.impulse = self.impulse.extract(ii);
|
|
rev.limits_impulse = self.limits_impulse.extract(ii);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#[derive(Debug)]
|
|
pub(crate) struct WPrismaticVelocityGroundConstraint {
|
|
mj_lambda2: [usize; SIMD_WIDTH],
|
|
|
|
joint_id: [JointIndex; SIMD_WIDTH],
|
|
|
|
r2: Vector<SimdReal>,
|
|
|
|
#[cfg(feature = "dim2")]
|
|
inv_lhs: Matrix2<SimdReal>,
|
|
#[cfg(feature = "dim2")]
|
|
rhs: Vector2<SimdReal>,
|
|
#[cfg(feature = "dim2")]
|
|
impulse: Vector2<SimdReal>,
|
|
|
|
#[cfg(feature = "dim3")]
|
|
inv_lhs: Matrix5<SimdReal>,
|
|
#[cfg(feature = "dim3")]
|
|
rhs: Vector5<SimdReal>,
|
|
#[cfg(feature = "dim3")]
|
|
impulse: Vector5<SimdReal>,
|
|
|
|
limits_impulse: SimdReal,
|
|
limits_rhs: SimdReal,
|
|
|
|
axis2: Vector<SimdReal>,
|
|
#[cfg(feature = "dim2")]
|
|
basis1: Vector2<SimdReal>,
|
|
#[cfg(feature = "dim3")]
|
|
basis1: Matrix3x2<SimdReal>,
|
|
limits_forcedir2: Option<Vector<SimdReal>>,
|
|
|
|
im2: SimdReal,
|
|
ii2_sqrt: AngularInertia<SimdReal>,
|
|
}
|
|
|
|
impl WPrismaticVelocityGroundConstraint {
|
|
pub fn from_params(
|
|
params: &IntegrationParameters,
|
|
joint_id: [JointIndex; SIMD_WIDTH],
|
|
rbs1: [&RigidBody; SIMD_WIDTH],
|
|
rbs2: [&RigidBody; SIMD_WIDTH],
|
|
cparams: [&PrismaticJoint; SIMD_WIDTH],
|
|
flipped: [bool; SIMD_WIDTH],
|
|
) -> Self {
|
|
let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
|
|
let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
|
|
let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
|
|
let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
|
|
|
|
let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
|
|
let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
|
|
let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
|
|
let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
|
|
let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]);
|
|
let ii2_sqrt = AngularInertia::<SimdReal>::from(
|
|
array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
|
|
);
|
|
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
|
|
|
|
#[cfg(feature = "dim2")]
|
|
let impulse = Vector2::from(array![|ii| cparams[ii].impulse; SIMD_WIDTH]);
|
|
#[cfg(feature = "dim3")]
|
|
let impulse = Vector5::from(array![|ii| cparams[ii].impulse; SIMD_WIDTH]);
|
|
|
|
let local_anchor1 = Point::from(
|
|
array![|ii| if flipped[ii] { cparams[ii].local_anchor2 } else { cparams[ii].local_anchor1 }; SIMD_WIDTH],
|
|
);
|
|
let local_anchor2 = Point::from(
|
|
array![|ii| if flipped[ii] { cparams[ii].local_anchor1 } else { cparams[ii].local_anchor2 }; SIMD_WIDTH],
|
|
);
|
|
let local_axis1 = Vector::from(
|
|
array![|ii| if flipped[ii] { *cparams[ii].local_axis2 } else { *cparams[ii].local_axis1 }; SIMD_WIDTH],
|
|
);
|
|
let local_axis2 = Vector::from(
|
|
array![|ii| if flipped[ii] { *cparams[ii].local_axis1 } else { *cparams[ii].local_axis2 }; SIMD_WIDTH],
|
|
);
|
|
|
|
#[cfg(feature = "dim2")]
|
|
let basis1 = position1
|
|
* Vector::from(
|
|
array![|ii| if flipped[ii] { cparams[ii].basis2[0] } else { cparams[ii].basis1[0] }; SIMD_WIDTH],
|
|
);
|
|
#[cfg(feature = "dim3")]
|
|
let basis1 = Matrix3x2::from_columns(&[
|
|
position1
|
|
* Vector::from(
|
|
array![|ii| if flipped[ii] { cparams[ii].basis2[0] } else { cparams[ii].basis1[0] }; SIMD_WIDTH],
|
|
),
|
|
position1
|
|
* Vector::from(
|
|
array![|ii| if flipped[ii] { cparams[ii].basis2[1] } else { cparams[ii].basis1[1] }; SIMD_WIDTH],
|
|
),
|
|
]);
|
|
|
|
let anchor1 = position1 * local_anchor1;
|
|
let anchor2 = position2 * local_anchor2;
|
|
let axis1 = position1 * local_axis1;
|
|
let axis2 = position2 * local_axis2;
|
|
|
|
let ii2 = ii2_sqrt.squared();
|
|
let r1 = anchor1 - world_com1;
|
|
let r2 = anchor2 - world_com2;
|
|
let r2_mat = r2.gcross_matrix();
|
|
|
|
#[allow(unused_mut)] // For 2D.
|
|
let mut lhs;
|
|
|
|
#[cfg(feature = "dim3")]
|
|
{
|
|
let r2_mat_b1 = r2_mat * basis1;
|
|
|
|
lhs = Matrix5::zeros();
|
|
let lhs00 = ii2.quadform3x2(&r2_mat_b1).add_diagonal(im2);
|
|
let lhs10 = ii2 * r2_mat_b1;
|
|
let lhs11 = ii2.into_matrix();
|
|
lhs.fixed_slice_mut::<U2, U2>(0, 0)
|
|
.copy_from(&lhs00.into_matrix());
|
|
lhs.fixed_slice_mut::<U3, U2>(2, 0).copy_from(&lhs10);
|
|
lhs.fixed_slice_mut::<U3, U3>(2, 2).copy_from(&lhs11);
|
|
}
|
|
|
|
#[cfg(feature = "dim2")]
|
|
{
|
|
let b2r2 = basis1.dot(&r2_mat);
|
|
let m11 = im2 + b2r2 * ii2 * b2r2;
|
|
let m12 = basis1.dot(&r2_mat) * ii2;
|
|
let m22 = ii2;
|
|
lhs = SdpMatrix2::new(m11, m12, m22);
|
|
}
|
|
|
|
let anchor_linvel1 = linvel1 + angvel1.gcross(r1);
|
|
let anchor_linvel2 = linvel2 + angvel2.gcross(r2);
|
|
|
|
// NOTE: we don't use Cholesky in 2D because we only have a 2x2 matrix
|
|
// for which a textbook inverse is still efficient.
|
|
#[cfg(feature = "dim2")]
|
|
let inv_lhs = lhs.inverse_unchecked().into_matrix();
|
|
#[cfg(feature = "dim3")]
|
|
let inv_lhs = Cholesky::new_unchecked(lhs).inverse();
|
|
|
|
let linvel_err = basis1.tr_mul(&(anchor_linvel2 - anchor_linvel1));
|
|
let angvel_err = angvel2 - angvel1;
|
|
|
|
let velocity_solve_fraction = SimdReal::splat(params.velocity_solve_fraction);
|
|
|
|
#[cfg(feature = "dim2")]
|
|
let mut rhs = Vector2::new(linvel_err.x, angvel_err) * velocity_solve_fraction;
|
|
#[cfg(feature = "dim3")]
|
|
let mut rhs = Vector5::new(
|
|
linvel_err.x,
|
|
linvel_err.y,
|
|
angvel_err.x,
|
|
angvel_err.y,
|
|
angvel_err.z,
|
|
) * velocity_solve_fraction;
|
|
|
|
let limits_enabled =
|
|
SimdBool::from(array![|ii| cparams[ii].limits_enabled; SIMD_WIDTH]).any();
|
|
|
|
let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt();
|
|
if velocity_based_erp_inv_dt != 0.0 {
|
|
let velocity_based_erp_inv_dt = SimdReal::splat(velocity_based_erp_inv_dt);
|
|
|
|
let dpos = anchor2 - anchor1;
|
|
let limit_err = dpos.dot(&axis1);
|
|
let mut linear_err = dpos - axis1 * limit_err;
|
|
|
|
let frame1 = position1
|
|
* Isometry::from(
|
|
array![|ii| if flipped[ii] { cparams[ii].local_frame2() } else { cparams[ii].local_frame1() }; SIMD_WIDTH],
|
|
);
|
|
let frame2 = position2
|
|
* Isometry::from(
|
|
array![|ii| if flipped[ii] { cparams[ii].local_frame1() } else { cparams[ii].local_frame2() }; SIMD_WIDTH],
|
|
);
|
|
|
|
let ang_err = frame2.rotation * frame1.rotation.inverse();
|
|
|
|
if limits_enabled {
|
|
let min_limit = SimdReal::from(array![|ii| cparams[ii].limits[0]; SIMD_WIDTH]);
|
|
let max_limit = SimdReal::from(array![|ii| cparams[ii].limits[1]; SIMD_WIDTH]);
|
|
|
|
let zero: SimdReal = na::zero();
|
|
linear_err += axis1
|
|
* ((limit_err - max_limit).simd_max(zero)
|
|
- (min_limit - limit_err).simd_max(zero));
|
|
}
|
|
|
|
#[cfg(feature = "dim2")]
|
|
{
|
|
rhs += Vector2::new(linear_err.x, ang_err.angle()) * velocity_based_erp_inv_dt;
|
|
}
|
|
|
|
#[cfg(feature = "dim3")]
|
|
{
|
|
let ang_err =
|
|
Vector3::from(array![|ii| ang_err.extract(ii).scaled_axis(); SIMD_WIDTH]);
|
|
rhs += Vector5::new(linear_err.x, linear_err.y, ang_err.x, ang_err.y, ang_err.z)
|
|
* velocity_based_erp_inv_dt;
|
|
}
|
|
}
|
|
|
|
// Setup limit constraint.
|
|
let mut limits_forcedir2 = None;
|
|
let mut limits_rhs = na::zero();
|
|
let mut limits_impulse = na::zero();
|
|
|
|
if limits_enabled {
|
|
let danchor = anchor2 - anchor1;
|
|
let dist = danchor.dot(&axis1);
|
|
|
|
// FIXME: we should allow both limits to be active at
|
|
// the same time + allow predictive constraint activation.
|
|
let min_limit = SimdReal::from(array![|ii| cparams[ii].limits[0]; SIMD_WIDTH]);
|
|
let max_limit = SimdReal::from(array![|ii| cparams[ii].limits[1]; SIMD_WIDTH]);
|
|
let lim_impulse = SimdReal::from(array![|ii| cparams[ii].limits_impulse; SIMD_WIDTH]);
|
|
|
|
let use_min = dist.simd_lt(min_limit);
|
|
let use_max = dist.simd_gt(max_limit);
|
|
let _0: SimdReal = na::zero();
|
|
let _1: SimdReal = na::one();
|
|
let sign = _1.select(use_min, (-_1).select(use_max, _0));
|
|
|
|
if sign != _0 {
|
|
limits_forcedir2 = Some(axis2 * sign);
|
|
limits_rhs = anchor_linvel2.dot(&axis2) * sign - anchor_linvel1.dot(&axis1) * sign;
|
|
limits_impulse = lim_impulse.select(use_min | use_max, _0);
|
|
}
|
|
}
|
|
|
|
WPrismaticVelocityGroundConstraint {
|
|
joint_id,
|
|
mj_lambda2,
|
|
im2,
|
|
ii2_sqrt,
|
|
impulse: impulse * SimdReal::splat(params.warmstart_coeff),
|
|
limits_impulse: limits_impulse * SimdReal::splat(params.warmstart_coeff),
|
|
basis1,
|
|
inv_lhs,
|
|
rhs,
|
|
r2,
|
|
axis2,
|
|
limits_forcedir2,
|
|
limits_rhs,
|
|
}
|
|
}
|
|
|
|
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
|
|
let mut mj_lambda2 = DeltaVel {
|
|
linear: Vector::from(
|
|
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
|
|
),
|
|
angular: AngVector::from(
|
|
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH],
|
|
),
|
|
};
|
|
|
|
let lin_impulse = self.basis1 * self.impulse.fixed_rows::<LinImpulseDim>(0).into_owned();
|
|
#[cfg(feature = "dim2")]
|
|
let ang_impulse = self.impulse.y;
|
|
#[cfg(feature = "dim3")]
|
|
let ang_impulse = self.impulse.fixed_rows::<U3>(2).into_owned();
|
|
|
|
mj_lambda2.linear -= lin_impulse * self.im2;
|
|
mj_lambda2.angular -= self
|
|
.ii2_sqrt
|
|
.transform_vector(ang_impulse + self.r2.gcross(lin_impulse));
|
|
|
|
if let Some(limits_forcedir2) = self.limits_forcedir2 {
|
|
mj_lambda2.linear += limits_forcedir2 * (self.im2 * self.limits_impulse);
|
|
}
|
|
|
|
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);
|
|
}
|
|
}
|
|
|
|
fn solve_dofs(&mut self, mj_lambda2: &mut DeltaVel<SimdReal>) {
|
|
let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular);
|
|
let lin_vel2 = mj_lambda2.linear + ang_vel2.gcross(self.r2);
|
|
let lin_dvel = self.basis1.tr_mul(&lin_vel2);
|
|
let ang_dvel = ang_vel2;
|
|
#[cfg(feature = "dim2")]
|
|
let rhs = Vector2::new(lin_dvel.x, ang_dvel) + self.rhs;
|
|
#[cfg(feature = "dim3")]
|
|
let rhs =
|
|
Vector5::new(lin_dvel.x, lin_dvel.y, ang_dvel.x, ang_dvel.y, ang_dvel.z) + self.rhs;
|
|
let impulse = self.inv_lhs * rhs;
|
|
self.impulse += impulse;
|
|
let lin_impulse = self.basis1 * impulse.fixed_rows::<LinImpulseDim>(0).into_owned();
|
|
#[cfg(feature = "dim2")]
|
|
let ang_impulse = impulse.y;
|
|
#[cfg(feature = "dim3")]
|
|
let ang_impulse = impulse.fixed_rows::<U3>(2).into_owned();
|
|
|
|
mj_lambda2.linear -= lin_impulse * self.im2;
|
|
mj_lambda2.angular -= self
|
|
.ii2_sqrt
|
|
.transform_vector(ang_impulse + self.r2.gcross(lin_impulse));
|
|
}
|
|
|
|
fn solve_limits(&mut self, mj_lambda2: &mut DeltaVel<SimdReal>) {
|
|
if let Some(limits_forcedir2) = self.limits_forcedir2 {
|
|
// FIXME: the transformation by ii2_sqrt could be avoided by
|
|
// reusing some computations above.
|
|
let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular);
|
|
|
|
let lin_dvel = limits_forcedir2.dot(&(mj_lambda2.linear + ang_vel2.gcross(self.r2)))
|
|
+ self.limits_rhs;
|
|
let new_impulse = (self.limits_impulse - lin_dvel / self.im2).simd_max(na::zero());
|
|
let dimpulse = new_impulse - self.limits_impulse;
|
|
self.limits_impulse = new_impulse;
|
|
|
|
mj_lambda2.linear += limits_forcedir2 * (self.im2 * dimpulse);
|
|
}
|
|
}
|
|
|
|
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
|
|
let mut mj_lambda2 = DeltaVel {
|
|
linear: Vector::from(
|
|
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
|
|
),
|
|
angular: AngVector::from(
|
|
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH],
|
|
),
|
|
};
|
|
|
|
self.solve_dofs(&mut mj_lambda2);
|
|
self.solve_limits(&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 writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
|
|
for ii in 0..SIMD_WIDTH {
|
|
let joint = &mut joints_all[self.joint_id[ii]].weight;
|
|
if let JointParams::PrismaticJoint(rev) = &mut joint.params {
|
|
rev.impulse = self.impulse.extract(ii);
|
|
rev.limits_impulse = self.limits_impulse.extract(ii);
|
|
}
|
|
}
|
|
}
|
|
}
|