208 lines
8.4 KiB
Rust
208 lines
8.4 KiB
Rust
use super::AnyPositionConstraint;
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use crate::dynamics::{IntegrationParameters, RigidBodySet};
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use crate::geometry::{ContactManifold, KinematicsCategory};
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use crate::math::{
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AngularInertia, Isometry, Point, Rotation, SimdFloat, Translation, Vector, MAX_MANIFOLD_POINTS,
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SIMD_WIDTH,
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};
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use crate::utils::{WAngularInertia, WCross, WDot};
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use num::Zero;
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use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue};
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pub(crate) struct WPositionGroundConstraint {
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pub rb2: [usize; SIMD_WIDTH],
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// NOTE: the points are relative to the center of masses.
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pub p1: [Point<SimdFloat>; MAX_MANIFOLD_POINTS],
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pub local_p2: [Point<SimdFloat>; MAX_MANIFOLD_POINTS],
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pub n1: Vector<SimdFloat>,
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pub radius: SimdFloat,
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pub im2: SimdFloat,
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pub ii2: AngularInertia<SimdFloat>,
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pub erp: SimdFloat,
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pub max_linear_correction: SimdFloat,
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pub num_contacts: u8,
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}
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impl WPositionGroundConstraint {
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pub fn generate(
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params: &IntegrationParameters,
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manifolds: [&ContactManifold; SIMD_WIDTH],
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bodies: &RigidBodySet,
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out_constraints: &mut Vec<AnyPositionConstraint>,
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push: bool,
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) {
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let mut rbs1 = array![|ii| bodies.get(manifolds[ii].body_pair.body1).unwrap(); SIMD_WIDTH];
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let mut rbs2 = array![|ii| bodies.get(manifolds[ii].body_pair.body2).unwrap(); SIMD_WIDTH];
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let mut flipped = [false; SIMD_WIDTH];
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for ii in 0..SIMD_WIDTH {
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if !rbs2[ii].is_dynamic() {
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flipped[ii] = true;
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std::mem::swap(&mut rbs1[ii], &mut rbs2[ii]);
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}
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}
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let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
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let sqrt_ii2: AngularInertia<SimdFloat> =
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AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
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let local_n1 = Vector::from(
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array![|ii| if flipped[ii] { manifolds[ii].local_n2 } else { manifolds[ii].local_n1 }; SIMD_WIDTH],
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);
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let local_n2 = Vector::from(
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array![|ii| if flipped[ii] { manifolds[ii].local_n1 } else { manifolds[ii].local_n2 }; SIMD_WIDTH],
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);
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let delta1 = Isometry::from(
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array![|ii| if flipped[ii] { manifolds[ii].delta2 } else { manifolds[ii].delta1 }; SIMD_WIDTH],
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);
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let delta2 = Isometry::from(
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array![|ii| if flipped[ii] { manifolds[ii].delta1 } else { manifolds[ii].delta2 }; SIMD_WIDTH],
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);
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let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
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let radius2 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
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let coll_pos1 =
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delta1 * Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
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let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
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let radius = radius1 + radius2 /*- SimdFloat::splat(params.allowed_linear_error)*/;
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let n1 = coll_pos1 * local_n1;
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for l in (0..manifolds[0].num_active_contacts()).step_by(MAX_MANIFOLD_POINTS) {
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let manifold_points = array![|ii| &manifolds[ii].active_contacts()[l..]; SIMD_WIDTH];
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let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
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let mut constraint = WPositionGroundConstraint {
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rb2,
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p1: [Point::origin(); MAX_MANIFOLD_POINTS],
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local_p2: [Point::origin(); MAX_MANIFOLD_POINTS],
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n1,
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radius,
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im2,
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ii2: sqrt_ii2.squared(),
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erp: SimdFloat::splat(params.erp),
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max_linear_correction: SimdFloat::splat(params.max_linear_correction),
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num_contacts: num_points as u8,
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};
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for i in 0..num_points {
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let local_p1 = Point::from(
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array![|ii| if flipped[ii] { manifold_points[ii][i].local_p2 } else { manifold_points[ii][i].local_p1 }; SIMD_WIDTH],
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);
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let local_p2 = Point::from(
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array![|ii| if flipped[ii] { manifold_points[ii][i].local_p1 } else { manifold_points[ii][i].local_p2 }; SIMD_WIDTH],
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);
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constraint.p1[i] = coll_pos1 * local_p1 - n1 * radius1;
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constraint.local_p2[i] = delta2 * (local_p2 - local_n2 * radius2);
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}
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if push {
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if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
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out_constraints
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.push(AnyPositionConstraint::GroupedPointPointGround(constraint));
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} else {
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out_constraints
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.push(AnyPositionConstraint::GroupedPlanePointGround(constraint));
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}
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} else {
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if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
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out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
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AnyPositionConstraint::GroupedPointPointGround(constraint);
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} else {
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out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
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AnyPositionConstraint::GroupedPlanePointGround(constraint);
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}
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}
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}
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}
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pub fn solve_point_point(
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&self,
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params: &IntegrationParameters,
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positions: &mut [Isometry<f32>],
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) {
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// FIXME: can we avoid most of the multiplications by pos1/pos2?
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// Compute jacobians.
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let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
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let allowed_err = SimdFloat::splat(params.allowed_linear_error);
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let target_dist = self.radius - allowed_err;
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for k in 0..self.num_contacts as usize {
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let p1 = self.p1[k];
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let p2 = pos2 * self.local_p2[k];
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let dpos = p2 - p1;
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let sqdist = dpos.norm_squared();
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if sqdist.simd_lt(target_dist * target_dist).any() {
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let dist = sqdist.simd_sqrt();
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let n = dpos / dist;
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let err = ((dist - target_dist) * self.erp)
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.simd_clamp(-self.max_linear_correction, SimdFloat::zero());
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let dp2 = p2.coords - pos2.translation.vector;
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let gcross2 = -dp2.gcross(n);
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let ii_gcross2 = self.ii2.transform_vector(gcross2);
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// Compute impulse.
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let inv_r = self.im2 + gcross2.gdot(ii_gcross2);
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let impulse = err / inv_r;
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// Apply impulse.
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pos2.translation = Translation::from(n * (-impulse * self.im2)) * pos2.translation;
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pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
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}
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}
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for ii in 0..SIMD_WIDTH {
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positions[self.rb2[ii]] = pos2.extract(ii);
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}
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}
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pub fn solve_plane_point(
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&self,
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params: &IntegrationParameters,
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positions: &mut [Isometry<f32>],
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) {
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// FIXME: can we avoid most of the multiplications by pos1/pos2?
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// Compute jacobians.
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let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
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let allowed_err = SimdFloat::splat(params.allowed_linear_error);
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let target_dist = self.radius - allowed_err;
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for k in 0..self.num_contacts as usize {
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let n1 = self.n1;
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let p1 = self.p1[k];
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let p2 = pos2 * self.local_p2[k];
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let dpos = p2 - p1;
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let dist = dpos.dot(&n1);
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// NOTE: this condition does not seem to be useful perfomancewise?
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if dist.simd_lt(target_dist).any() {
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let err = ((dist - target_dist) * self.erp)
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.simd_clamp(-self.max_linear_correction, SimdFloat::zero());
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let dp2 = p2.coords - pos2.translation.vector;
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let gcross2 = -dp2.gcross(n1);
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let ii_gcross2 = self.ii2.transform_vector(gcross2);
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// Compute impulse.
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let inv_r = self.im2 + gcross2.gdot(ii_gcross2);
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let impulse = err / inv_r;
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// Apply impulse.
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pos2.translation = Translation::from(n1 * (-impulse * self.im2)) * pos2.translation;
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pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
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}
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}
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for ii in 0..SIMD_WIDTH {
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positions[self.rb2[ii]] = pos2.extract(ii);
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}
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}
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}
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